Hey,
Yes, I did, but I'm still having problems getting the android to control my robot. It comes up with Error 516L Unable to write: Broken Pipe, so I researched and found that converting the 5v to 3.3v on the RX pin was helpful, but it still doesn't work.
This is my Arduino code, and this is my block code on the MIT App Inventor. Not sure what the issue is.
Blockquote
#include <SoftwareSerial.h>
#include <Servo.h>
Servo servo01;
Servo servo02;
Servo servo03;
Servo servo04;
Servo servo05;
SoftwareSerial Bluetooth(19, 18); // Arduino(RX, TX) - HC-05 Bluetooth (TX, RX)
int servo1Pos, servo2Pos, servo3Pos, servo4Pos, servo5Pos; // current position
int servo1PPos, servo2PPos, servo3PPos, servo4PPos, servo5PPos; // previous position
int servo01SP[50], servo02SP[50], servo03SP[50], servo04SP[50], servo05SP[50]; // for storing positions/steps
int speedDelay = 20;
int index = 0;
String dataIn = "";
void setup() {
servo01.attach(10);
servo02.attach(9);
servo03.attach(47);
servo04.attach(38);
servo05.attach(32);
Serial3.begin(9600); // Default baud rate of the Bluetooth module
Bluetooth.setTimeout(1);
delay(20);
// Robot arm initial position
servo1PPos = 0;
servo01.write(servo1PPos); // base
servo2PPos = 150;
servo02.write(servo2PPos); // neck 1
servo3PPos = 100;
servo03.write(servo3PPos); // neck 2
servo4PPos = 70;
servo04.write(servo4PPos);
servo5PPos = 90;
servo05.write(servo5PPos);
}
void loop() {
// Check for incoming data
if (Bluetooth.available() > 0) {
dataIn = Bluetooth.readString(); // Read the data as string
// If "Waist" slider has changed value - Move Servo 1 to position
if (dataIn.startsWith("s1")) {
String dataInS = dataIn.substring(2, dataIn.length()); // Extract only the number. E.g. from "s1120" to "120"
servo1Pos = dataInS.toInt(); // Convert the string into integer
// We use for loops so we can control the speed of the servo
// If previous position is bigger then current position
if (servo1PPos > servo1Pos) {
for ( int j = servo1PPos; j >= servo1Pos; j--) { // Run servo down
servo01.write(j);
delay(20); // defines the speed at which the servo rotates
}
}
// If previous position is smaller then current position
if (servo1PPos < servo1Pos) {
for ( int j = servo1PPos; j <= servo1Pos; j++) { // Run servo up
servo01.write(j);
delay(20);
}
}
servo1PPos = servo1Pos; // set current position as previous position
}
// Move Servo 2
if (dataIn.startsWith("s2")) {
String dataInS = dataIn.substring(2, dataIn.length());
servo2Pos = dataInS.toInt();
if (servo2PPos > servo2Pos) {
for ( int j = servo2PPos; j >= servo2Pos; j--) {
servo02.write(j);
delay(50);
}
}
if (servo2PPos < servo2Pos) {
for ( int j = servo2PPos; j <= servo2Pos; j++) {
servo02.write(j);
delay(50);
}
}
servo2PPos = servo2Pos;
}
// Move Servo 3
if (dataIn.startsWith("s3")) {
String dataInS = dataIn.substring(2, dataIn.length());
servo3Pos = dataInS.toInt();
if (servo3PPos > servo3Pos) {
for ( int j = servo3PPos; j >= servo3Pos; j--) {
servo03.write(j);
delay(30);
}
}
if (servo3PPos < servo3Pos) {
for ( int j = servo3PPos; j <= servo3Pos; j++) {
servo03.write(j);
delay(30);
}
}
servo3PPos = servo3Pos;
}
// Move Servo 4
if (dataIn.startsWith("s4")) {
String dataInS = dataIn.substring(2, dataIn.length());
servo4Pos = dataInS.toInt();
if (servo4PPos > servo4Pos) {
for ( int j = servo4PPos; j >= servo4Pos; j--) {
servo04.write(j);
delay(30);
}
}
if (servo4PPos < servo4Pos) {
for ( int j = servo4PPos; j <= servo4Pos; j++) {
servo04.write(j);
delay(30);
}
}
servo4PPos = servo4Pos;
}
// Move Servo 5
if (dataIn.startsWith("s5")) {
String dataInS = dataIn.substring(2, dataIn.length());
servo5Pos = dataInS.toInt();
if (servo5PPos > servo5Pos) {
for ( int j = servo5PPos; j >= servo5Pos; j--) {
servo05.write(j);
delay(30);
}
}
if (servo5PPos < servo5Pos) {
for ( int j = servo5PPos; j <= servo5Pos; j++) {
servo05.write(j);
delay(30);
}
}
servo5PPos = servo5Pos;
}
// If button "SAVE" is pressed
if (dataIn.startsWith("SAVE")) {
servo01SP[index] = servo1PPos; // save position into the array
servo02SP[index] = servo2PPos;
servo03SP[index] = servo3PPos;
servo04SP[index] = servo4PPos;
servo05SP[index] = servo5PPos;
index++; // Increase the array index
}
// If button "RUN" is pressed
if (dataIn.startsWith("RUN")) {
runservo(); // Automatic mode - run the saved steps
}
// If button "RESET" is pressed
if ( dataIn == "RESET") {
memset(servo01SP, 0, sizeof(servo01SP)); // Clear the array data to 0
memset(servo02SP, 0, sizeof(servo02SP));
memset(servo03SP, 0, sizeof(servo03SP));
memset(servo04SP, 0, sizeof(servo04SP));
memset(servo05SP, 0, sizeof(servo05SP));
index = 0; // Index to 0
}
}
}
// Automatic mode custom function - run the saved steps
void runservo() {
while (dataIn != "RESET") { // Run the steps over and over again until "RESET" button is pressed
for (int i = 0; i <= index - 2; i++) { // Run through all steps(index)
if (Bluetooth.available() > 0) { // Check for incomding data
dataIn = Bluetooth.readString();
if ( dataIn == "PAUSE") { // If button "PAUSE" is pressed
while (dataIn != "RUN") { // Wait until "RUN" is pressed again
if (Bluetooth.available() > 0) {
dataIn = Bluetooth.readString();
if ( dataIn == "RESET") {
break;
}
}
}
}
// If speed slider is changed
if (dataIn.startsWith("ss")) {
String dataInS = dataIn.substring(2, dataIn.length());
speedDelay = dataInS.toInt(); // Change servo speed (delay time)
}
}
// Servo 1
if (servo01SP[i] == servo01SP[i + 1]) {
}
if (servo01SP[i] > servo01SP[i + 1]) {
for ( int j = servo01SP[i]; j >= servo01SP[i + 1]; j--) {
servo01.write(j);
delay(speedDelay);
}
}
if (servo01SP[i] < servo01SP[i + 1]) {
for ( int j = servo01SP[i]; j <= servo01SP[i + 1]; j++) {
servo01.write(j);
delay(speedDelay);
}
}
// Servo 2
if (servo02SP[i] == servo02SP[i + 1]) {
}
if (servo02SP[i] > servo02SP[i + 1]) {
for ( int j = servo02SP[i]; j >= servo02SP[i + 1]; j--) {
servo02.write(j);
delay(speedDelay);
}
}
if (servo02SP[i] < servo02SP[i + 1]) {
for ( int j = servo02SP[i]; j <= servo02SP[i + 1]; j++) {
servo02.write(j);
delay(speedDelay);
}
}
// Servo 3
if (servo03SP[i] == servo03SP[i + 1]) {
}
if (servo03SP[i] > servo03SP[i + 1]) {
for ( int j = servo03SP[i]; j >= servo03SP[i + 1]; j--) {
servo03.write(j);
delay(speedDelay);
}
}
if (servo03SP[i] < servo03SP[i + 1]) {
for ( int j = servo03SP[i]; j <= servo03SP[i + 1]; j++) {
servo03.write(j);
delay(speedDelay);
}
}
// Servo 4
if (servo04SP[i] == servo04SP[i + 1]) {
}
if (servo04SP[i] > servo04SP[i + 1]) {
for ( int j = servo04SP[i]; j >= servo04SP[i + 1]; j--) {
servo04.write(j);
delay(speedDelay);
}
}
if (servo04SP[i] < servo04SP[i + 1]) {
for ( int j = servo04SP[i]; j <= servo04SP[i + 1]; j++) {
servo04.write(j);
delay(speedDelay);
}
}
// Servo 5
if (servo05SP[i] == servo05SP[i + 1]) {
}
if (servo05SP[i] > servo05SP[i + 1]) {
for ( int j = servo05SP[i]; j >= servo05SP[i + 1]; j--) {
servo05.write(j);
delay(speedDelay);
}
}
if (servo05SP[i] < servo05SP[i + 1]) {
for ( int j = servo05SP[i]; j <= servo05SP[i + 1]; j++) {
servo05.write(j);
delay(speedDelay);
}
}
}
}
}
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