Brazo Robotico

// MeArmMeCon-A04.ino //Use With MeCon.exe Ver0.4 Windows Software for MeArm Motion Control #include <Servo.h> //MeArm HAS 4 SERVOS Servo xServo; // create servo object, arm base servo - left right motion Servo yServo; // create servo object, left side servo - forward backwards motion Servo zServo; // create servo object, right side servo - forward backwards motion Servo clawServo; // create servo object, end of arm srevo - open,close the claw hand //servo positions values, expects 1-180 deg. int xPos; int yPos; int zPos; int clawPos; //*************** INIT AT STARTUP ******************************************************************* void setup() { the board

// the setup function runs once when you press reset or power

// assign servo to pin numbers xServo.attach(11); // attaches the servo on pin 11 to the servo object yServo.attach(10); // attaches the servo on pin 10 to the servo object zServo.attach(9); // attaches the servo on pin 9 to the servo object clawServo.attach(6); // attaches the servo on pin 6 to the servo object // initialize serial port Serial.begin(9600); // Debug only send serial message to host com port terminal window in Arduino IDE //Serial.print("*** MeCom Test V04 ***."); // send program name, uncomment for debug connection test } // *********************************************************************************** ******************* // ********************************** MAIN PROGRAM LOOP START ******************************************* // *********************************************************************************** ******************* void loop() { //serial in packet patern = xVal,yVal,zVal,clawVal + end of packet char 'x' while (Serial.available() > 0) { xPos = Serial.parseInt(); yPos = Serial.parseInt(); zPos = Serial.parseInt(); clawPos = Serial.parseInt();

if (Serial.read() == 'x') { // Detect end of packet char 'x', go ahead and update servo positions // UPDATE SERVO POSITIONS xServo.write(xPos); yServo.write(yPos); zServo.write(zPos); clawServo.write(clawPos); } } }