Robotic arm Circuit and Codes

Mutasim Ali erorr62@hotmail.com Tutorial Robotic Arm !!ROBOTIC ARM - LEAP MOTION - ARDUINO

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The Wiring Circuit !

� !!Wifi tx = arduino rxWifi rx = arduino tx!

The Arduino Code !

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#include <Servo.h> !//string hold the income data String readstring; !//define motors Servo m,m1,m2,m3,m4; void setup() { !//start Serial connection Serial.begin(115200); ! m.attach(9); //x m1.attach(10); //z m2.attach(5); //y m3.attach(11);//p m4.attach(6);}//g !void loop() { !//serial available and working while (Serial.available()) { !//delay to get all the income delayMicroseconds(65); !//if there is income data if (Serial.available() >0) { !// store character char c =Serial.read(); !//add it to the income string readstring += c;}} ! 3//if the string has value if(readstring.length() >0) { String P=readstring.substring(0,readstring.indexOf(‘P’));//position “P” String Q=readstring.substring(readstring.indexOf(‘P')+1,readstring.indexOf('Q')); //position “Q” String F=readstring.substring(readstring.indexOf(‘Q')+1,readstring.indexOf('F')); //position “F” String K=readstring.substring(readstring.indexOf(‘F')+1,readstring.indexOf('K')); //position “K” String L=readstring.substring(readstring.indexOf(‘K')+1,readstring.indexOf('L')); //position “L” char carrayP[P.length() + 1]; //define a new string for “P” data char carrayQ[Q.length() + 1]; //define a new string for “Q” data char carrayF[F.length() + 1]; //define a new string for “F” data char carrayK[K.length() + 1]; //define a new string for “K” data char carrayL[L.length() + 1]; //define a new string for “L” data P.toCharArray(carrayP, sizeof(carrayP)); // initialize the string “P” Q.toCharArray(carrayQ, sizeof(carrayQ)); // initialize the string “Q” F.toCharArray(carrayF, sizeof(carrayF)); // initialize the string “F” K.toCharArray(carrayK, sizeof(carrayK)); // initialize the string “K” L.toCharArray(carrayL, sizeof(carrayL)); // initialize the string “L” int pv = atoi(carrayP); //convert from string to int to write to the motor int qv = atoi(carrayQ); //convert from string to int to write to the motor int fv = atoi(carrayF); //convert from string to int to write to the motor int kv = atoi(carrayK); //convert from string to int to write to the motor int lv = atoi(carrayL); //convert from string to int to write to the motor m.write(pv); //write the int to motor to move m1.write(qv); //write the int to motor to move m2.write(fv); //write the int to motor to move m3.write(kv); //write the int to motor to move m4.write(lv); //write the int to motor to move ! } readstring=""; // sign the income string to nothing }

Processing Code (java) !import com.leapmotion.leap.*;import processing.net.*;!Client arm; // define a tcp clientController leap; //define the leap motion controllerboolean work=false; // boolean for case the hand and the finger is detected void setup() { size(300, 200); //set the app window size leap = new Controller(); // initialize leap motion controller arm = new Client(this, "192.168.0.1", 55555); //start the client connection ip + port}//base motor formula double cba(double a) { float n = 100*3; a = 1.5+2*a/n; double angle = 90+Math.cos(a)*90; return angle;}!void draw(){ //leap motion HandList hands = leap.frame().hands(); Hand hand = hands.get(0); FingerList fingers = hand.fingers(); Vector hp = hand.palmPosition();! Pointable f1=fingers.get(0); Pointable f2=fingers.get(1);! float ff1=f1.tipPosition().getX(); float ff2=f2.tipPosition().getX(); float sub=ff1-ff2; // get the distance between the two fingers float pitch = hand.direction().pitch()* 100; // get pitch ! //set maximum and minimum values for the controller range if(hp.getY()<150) hp.setY(150); if(hp.getY()>445) hp.setY(445); if(hp.getZ()<-180) hp.setZ(-180); if(hp.getZ()>180) hp.setZ(180); float zv=map(hp.getZ(),-180,180,160,8); // map z float yv=map(hp.getY(),150,445,0,179); //map y! double xv=180-cba(-hand.palmPosition().getX()/1.5); // get x float pv=map(pitch,-90,100,160,6); // map pitch float gv=map(sub,20,90,145,73); //map fingers distance if(fingers.count()>=2){work=true;} // set the caseelse{work=false;}//if in rangeif(work&&zv<=180&&zv>=0&&yv<=150&&yv>=0&&xv<=180&&xv>=0&&pv<=160&&pv>=6&&gv<=145&&gv>=73){ String v1=(int)xv+"P"; String v2=(int)zv+"Q"; String v3=(int)yv+"F"; String v4=(int)pv+"K"; String v5=(int)gv+"L";arm.write(v1+v2+v3+v4+v5); // write to the MCU} //leap motion background(205);//set background color}