Lesson 14 · Code Claw Motor And Find Limits For Motors

Suggested Time: 45-60 minutes

Lesson Overview

I show you how to wire the claw motor and to find the minimum and maximum angles for all the motors.

Sample Code

/*
Challenge #1: Wire and test claw motor
Challenge #2: Find min and max angles for all motors and create the macros
Challenge #3: Run through all the motors using the min/max values
Challenge #4: Code the robot to pick up a marker
*/

#include <Servo.h>

#define CLAW_OPEN 120
#define CLAW_CLOSE 5

#define BASE_MAX 180
#define BASE_MIN 0

#define TILT_MAX 180
#define TILT_MIN 120

#define EXTEND_MAX 150
#define EXTEND_MIN 75

//- servos move half a circle 0-180 degrees.
Servo baseMotor;
Servo tiltMotor;
Servo extendMotor;
Servo clawMotor;

//- runs only once when you turn on
void setup() {
baseMotor.attach(6);
tiltMotor.attach(9);
extendMotor.attach(10);
clawMotor.attach(11);

home();

delay(1000);

}

void home() {
tiltMotor.write(90);
baseMotor.write(90);
extendMotor.write(90);
clawMotor.write(90);
}

void moveMotor(Servo motor, int target) {

//- figure out if we need to move up or down

//- if myCurrentAngle is > target, go down
if (myCurrentAngle > target) {
moveAngleDown(target,motor);
}

//- if myCurrentAngle is < target, go up
if (myCurrentAngle < target) {
moveAngleUp(target,motor);
}

}

void moveAngleUp(int target, Servo motor) {

while (angle <= target) {

//-do this code
motor.write(angle);
delay(100);

angle = angle + 5;

}

}

void moveAngleDown(int target, Servo motor) {

while (angle >= target) {

motor.write(angle);
delay(100);

angle = angle - 5;

}
}

//- runs forever in a loop after setup
void loop() {

moveMotor(clawMotor,CLAW_CLOSE);
delay(1000);
moveMotor(clawMotor,CLAW_OPEN);
delay(1000);
moveMotor(clawMotor,CLAW_CLOSE);

moveMotor(baseMotor,BASE_MIN);
delay(1000);
moveMotor(baseMotor,BASE_MAX);
delay(1000);
moveMotor(baseMotor,BASE_MIN);
delay(1000);

moveMotor(tiltMotor,TILT_MIN);
delay(1000);
moveMotor(tiltMotor,TILT_MAX);
delay(1000);
moveMotor(tiltMotor,TILT_MIN);

moveMotor(extendMotor,EXTEND_MIN);
delay(1000);
moveMotor(extendMotor,EXTEND_MAX);
delay(1000);
moveMotor(extendMotor,EXTEND_MIN);

while (1==1) {
//-do nothing
}

}