Basic Arduino Control Of InMoov Robot Arm

Eric · Post by **Eric** » Tue Apr 15, 2014 5:44 pm

As some of you know I built a fully 3D printed robot arm (known as InMoov) and incorporated a human brain to arduino interface. During the testing of the servos controlling the 3D printed arm I needed a very basic arduino sketch to control it. Below is the code I received and modified from Gael. It is pretty self-explanatory for function. Hopefully it helps someone someday!

Cheers

#include <Servo.h>

Servo servothumb; // Define thumb servo
Servo servoindex; // Define index servo
Servo servomajeure;
Servo servoringfinger;
Servo servopinky;
Servo servowrist;
Servo servobiceps;
Servo servorotate;
Servo servoshoulder;
Servo servoomoplat;
Servo servoneck;
Servo servorothead;

void setup() {
  servothumb.attach(2); // Set thumb servo to digital pin 2
  servoindex.attach(3); // Set index servo to digital pin 3
  servomajeure.attach(4);
  servoringfinger.attach(5);
  servopinky.attach(6);
  servowrist.attach(7);
  servobiceps.attach(8);
  servorotate.attach(9);
  servoshoulder.attach(10);
  servoomoplat.attach(11);
  servoneck.attach(12);
  servorothead.attach(13);

}

void loop() { // Loop through motion tests
  //alltovirtual(); // Example: alltovirtual
  //delay(4000); // Wait 4000 milliseconds (4 seconds)
//delay(8000);
alltorest();           // Uncomment to use this
delay(1500); // Uncomment to use this
alltomax();            // Uncomment to use this
delay(1500); // Uncomment to use this
peace();           // Uncomment to use this
delay(1500);
alltorest();
delay(2000);// Uncomment to use this
rock();           // Uncomment to use this
delay(1500);
alltorest();
delay(1000);// Uncomment to use this
point();           // Uncomment to use this
delay(1500);
alltorest();
delay(1500);// Uncomment to use this
pinch();           // Uncomment to use this
delay(1500);// Uncomment to use this
}
// Motion to set the servo into "virtual" 0 position: alltovirtual
void alltovirtual() {
  servothumb.write(0);
  servoindex.write(0);
  servomajeure.write(0);
  servoringfinger.write(0);
  servopinky.write(0);
  servowrist.write(0);
  servobiceps.write(0);
  servorotate.write(20); //Never less then (20 degree)
  servoshoulder.write(30); //Never less then (30 degree)
  servoomoplat.write(10); //Never less then (10 degree)
  servoneck.write(0);
  servorothead.write(0);
}
// Motion to set the servo into "rest" position: alltorest
void alltorest() {
   servothumb.write(0);
  servoindex.write(0);
  servomajeure.write(0);
  servoringfinger.write(0);
  servopinky.write(0);
  servowrist.write(0);
  servobiceps.write(0);
  servorotate.write(90); //Never less then (20 degree)
  servoshoulder.write(30); //Never less then (30 degree)
  servoomoplat.write(10); //Never less then (10 degree)
  servoneck.write(90);
  servorothead.write(90);
}

// Motion to set the servo into "max" position: alltomax
void alltomax() {
  servothumb.write(90);
  servoindex.write(90);
  servomajeure.write(90);
  servoringfinger.write(90);
  servopinky.write(90);
  servowrist.write(120);
  servobiceps.write(85); //Never more then (85 or 90degree)
  servorotate.write(110); //Never more then (110 degree)
  servoshoulder.write(130); //Never more then (130 degree)
  servoomoplat.write(70); //Never more then (70 degree)
  servoneck.write(180);
  servorothead.write(180);

}
void peace() {
  servothumb.write(90);
  servoindex.write(0);
  servomajeure.write(0);
  servoringfinger.write(90);
  servopinky.write(90);
  servowrist.write(120);
  servobiceps.write(85); //Never more then (85 or 90degree)
  servorotate.write(110); //Never more then (110 degree)
  servoshoulder.write(130); //Never more then (130 degree)
  servoomoplat.write(70); //Never more then (70 degree)
  servoneck.write(180);
  servorothead.write(180);

}

void rock() {
  servothumb.write(90);
  servoindex.write(0);
  servomajeure.write(90);
  servoringfinger.write(90);
  servopinky.write(0);
  servowrist.write(120);
  servobiceps.write(85); //Never more then (85 or 90degree)
  servorotate.write(110); //Never more then (110 degree)
  servoshoulder.write(130); //Never more then (130 degree)
  servoomoplat.write(70); //Never more then (70 degree)
  servoneck.write(180);
  servorothead.write(180);

}

void point() {
  servothumb.write(90);
  servoindex.write(0);
  servomajeure.write(90);
  servoringfinger.write(90);
  servopinky.write(90);
  servowrist.write(120);
  servobiceps.write(85); //Never more then (85 or 90degree)
  servorotate.write(110); //Never more then (110 degree)
  servoshoulder.write(130); //Never more then (130 degree)
  servoomoplat.write(70); //Never more then (70 degree)
  servoneck.write(180);
  servorothead.write(180);

}
void pinch() {
  servothumb.write(90);
  servoindex.write(90);
  servomajeure.write(0);
  servoringfinger.write(0);
  servopinky.write(0);
  servowrist.write(120);
  servobiceps.write(85); //Never more then (85 or 90degree)
  servorotate.write(110); //Never more then (110 degree)
  servoshoulder.write(130); //Never more then (130 degree)
  servoomoplat.write(70); //Never more then (70 degree)
  servoneck.write(180);
  servorothead.write(180);

}