*/#include "remotexy.h" // Include the header file for remote
XY#include // Include the servo control library#include // Include
the watchdog libraryServo left, right, waist, shoulder, elbow,
gripper ; // create servo objects to control servosint waistPos =
74; // variable to store the base servo position// Set to 10 to
prevent movement at startint shoulderPos = 64; // variable to store
the shoulder servo position// Set to 50 to prevent movement at
startint elbowPos = 98; // variable to store the elbow servo
position// Set to 70 to prevent movement at startint gripperPos =
0; // variable to store the gripper servo position// Set to 0 to
prevent movement at startint leftPos = 89; // variable to store the
left servo position// set to 89 to prevent movement at startint
rightPos = 89; // variable to store the right servo position// set
to 89 to prevent movement at startvoid setup(){ Serial.begin(9600);
RemoteXY_Init (); // Initialise the remote XY code - set screen and
buttons etc left.attach(5); // attaches the left drive servo on pin
5 to the servo object right.attach(3); // attaches the right drive
servo on pin 4 to the servo object waist.attach(9); // attaches the
waist servo on pin 9 to the servo object shoulder.attach(8); //
attaches the uppoer shoulder servo on pin 9 to the servo object
elbow.attach(7); // attaches the lower shoulder servo on pin 7 to
the servo object gripper.attach(6); // attaches the gripper servo
on pin 6 to the servo object left.write(leftPos); // Halt left
servo right.write(rightPos); // Halt right servo
waist.write(waistPos); // set intial waist position
shoulder.write(shoulderPos); // set initial shoulder position
elbow.write(elbowPos); // Set inital elbow position
gripper.write(gripperPos); // Ensure gripper is open!}void loop(){
RemoteXY_Handler (); //read user data from mobile phone if
(RemoteXY.roverForwards == 1) // move rover forwards button pressed
{ moveForward(); } if (RemoteXY.roverBackwards == 1) // move rover
backwards button pressed { moveBackward(); } if (RemoteXY.roverLeft
== 1) // move rover left button pressed { leftTurn(); } if
(RemoteXY.roverRight == 1) // move rover right button pressed {
rightTurn(); } if (RemoteXY.roverStop == 1) // stop rover button
pressed { roverStop(); } if (RemoteXY.waistAntiClockwise == 1) //
move meArm waist antiClockwise button pressed {
moveWaistAntiClockwise(); } if (RemoteXY.waistClockwise == 1) //
move meArm waist clockwise button pressed { moveWaistClockwise(); }
if (RemoteXY.shoulderExtend == 1) // extend meArm shoulder button
pressed { shoulderExtend(); } if (RemoteXY.shoulderRetract == 1) //
retract meArm shoulder button pressed { shoulderRetract(); } if
(RemoteXY.elbowUp == 1) // extend meArm elbow button pressed {
elbowUp(); } if (RemoteXY.elbowDown == 1) // retract meArm elbow
button pressed { elbowDown(); } if (RemoteXY.gripperOpen == 1) //
open meArm gripper button pressed { openGripper(); } if
(RemoteXY.gripperClose == 1) // close meArm gripper button pressed
{ closeGripper(); } if (RemoteXY.stopAllMovement == 1) // stop all
movement button pressed { stopMoving(); } if
(RemoteXY.startAllMovement == 1) // start all movement button
pressed { startMoving(); } if (RemoteXY.resetArduino == 1) // reset
arduino button pressed { resetArduino(); }}void moveForward() //
move the rover forwards{ left.attach(5); // attaches the left drive
servo on pin 5 to the servo object right.attach(3); // attaches the
right drive servo on pin 4 to the servo object //set left servo
going forward leftPos = 179; left.write(leftPos); //set Right servo
going forward rightPos = 0; right.write(rightPos); Serial2.flush();
Serial.flush(); delay(15);}void moveBackward() // move the rover
backwards{ left.attach(5); // attaches the left drive servo on pin
5 to the servo object right.attach(3); // attaches the right drive
servo on pin 4 to the servo object //set left servo going back
leftPos = 0; left.write(leftPos); //set light servo going back
rightPos = 179; right.write(rightPos); Serial2.flush();
Serial.flush(); delay(15);}void leftTurn() // turn rover left{
left.attach(5); // attaches the left drive servo on pin 5 to the
servo object right.attach(3); // attaches the right drive servo on
pin 4 to the servo object //set left servo going left leftPos = 0;
left.write(leftPos); //set Right servo going left rightPos = 0;
right.write(rightPos); Serial2.flush(); Serial.flush();
delay(15);}void rightTurn() //turn rover right{ left.attach(5); //
attaches the left drive servo on pin 5 to the servo object
right.attach(3); // attaches the right drive servo on pin 4 to the
servo object //set left servo going right leftPos = 179;
left.write(leftPos); //set Right servo going right rightPos = 179;
right.write(rightPos); Serial2.flush(); Serial.flush();
delay(15);}void roverStop() // halt the rover{ Serial.print("Robot
Halted"); Serial.println(); //Halt left servo leftPos = 89;
left.write(leftPos); //Halt right servo rightPos = 89;
right.write(rightPos); left.detach(); right.detach();
Serial2.flush(); Serial.flush(); delay(15);}void
moveWaistAntiClockwise() // move waist anti clockwise{
Serial.print("Moving waist Anti clockwise "); Serial.println();
Serial.print("Waist Position Value: "); Serial.print(waistPos);
Serial.println(); if (waistPos >= 0 && waistPos != 179)
{ waistPos++; waist.write(waistPos); delay(15); } if (waistPos ==
179) { Serial.print("Reached end of travel....stopping");
Serial.println(); } Serial2.flush(); Serial.flush();
delay(15);}void moveWaistClockwise() // move waist clockwise{
Serial.print("Moving base clockwise "); Serial.println();
Serial.print("waistPos Value: "); Serial.print(waistPos);
Serial.println(); if (waistPos = 32 && shoulderPos != 179)
{ shoulderPos++; shoulder.write(shoulderPos); delay(15); } if
(shoulderPos == 179) { Serial.print("Reached end of
travel....stopping"); Serial.println(); } Serial2.flush();
Serial.flush(); delay(15);}void shoulderRetract() // retract
shoulder section{ Serial.print("Retracting from shoulder");
Serial.println(); Serial.print("shoulderPos Value: ");
Serial.print(shoulderPos); Serial.println(); if (shoulderPos = 45
&& elbowPos != 147) { elbowPos++; elbow.write(elbowPos);
delay(15); } if (elbowPos == 147) { Serial.print("Reached end of
travel....stopping"); Serial.println(); } Serial2.flush();
Serial.flush(); delay(15);}void elbowDown() // move elbow down{
Serial.print("Retracting elbow"); Serial.println();
Serial.print("elbowPos Value: "); Serial.print(elbowPos);
Serial.println(); if (elbowPos = 0 && gripperPos != 40) {
gripperPos++; gripper.write(gripperPos); delay(15); } if
(gripperPos == 40) { Serial.print("Reached end of
travel....stopping"); Serial.println(); } Serial2.flush();
Serial.flush(); delay(15);}void openGripper() // open gripper{
Serial.print("Opening Gripper Jaws "); Serial.println();
Serial.print("gripperPos Value: "); Serial.print(gripperPos);
Serial.print(gripperPos); Serial.println(); if (gripperPos 8,
&crc); RemoteXY_WriteByte (RemoteXY_State.command, &crc);
while (len--) { RemoteXY_WriteByte (*(p++), &crc); }
RemoteXY_SerialWrite (crc); } void RemoteXY_Receive (unsigned char
*p, unsigned int len) { unsigned char *pi = RemoteXY_buffer; while
(len--) { *p++=*pi++; } } void RemoteXY_Handler (void) { unsigned
char c; unsigned long tim; while (RemoteXY_SerialAvailable() >
0) { c = RemoteXY_SerialRead (); RemoteXY_State.crc+=c; switch
(RemoteXY_State.index) { case 0: RemoteXY_State.count=c; break;
case 1: RemoteXY_State.count+=cREMOTEXY_TIMOUT) {
RemoteXY_State.index = 0; RemoteXY_State.crc = 0; } } if
(millis()-RemoteXY_State.timeout>REMOTEXY_TIMOUT_DISCONNECTED) {
RemoteXY.connect_flag=0; } }Here is the remotexy.h:#ifndef
_REMOTEXY_H_ #define _REMOTEXY_H_ /* enter your serial port */
#define REMOTEXY_SERIAL Serial2 /* this structure defines all the
variables of your control interface */ typedef struct { /* input
variable */ unsigned char roverForwards; /* =1 if button pressed,
else =0 */ unsigned char roverBackwards; /* =1 if button pressed,
else =0 */ unsigned char roverLeft; /* =1 if button pressed, else
=0 */ unsigned char roverRight; /* =1 if button pressed, else =0 */
unsigned char waistAntiClockwise; /* =1 if button pressed, else =0
*/ unsigned char waistClockwise; /* =1 if button pressed, else =0
*/ unsigned char shoulderRetract; /* =1 if button pressed, else =0
*/ unsigned char shoulderExtend; /* =1 if button pressed, else =0
*/ unsigned char elbowUp; /* =1 if button pressed, else =0 */
unsigned char elbowDown; /* =1 if button pressed, else =0 */
unsigned char gripperOpen; /* =1 if button pressed, else =0 */
unsigned char gripperClose; /* =1 if button pressed, else =0 */
unsigned char stopAllMovement; /* =1 if button pressed, else =0 */
unsigned char startAllMovement; /* =1 if button pressed, else =0 */
unsigned char roverStop; /* =1 if button pressed, else =0 */
unsigned char resetArduino; /* =1 if button pressed, else =0 */ /*
other variable */ unsigned char connect_flag; /* =1 if wire
connected, else =0 */} RemoteXY_TypeDef; /* this variable must be
used for data transfer */ extern RemoteXY_TypeDef RemoteXY; void
RemoteXY_Init (void); void RemoteXY_Handler (void); #endif
//_REMOTEXY_H_
