E-GRA Robot Arm with Keypad Controller Programming Example

E–Gizmo Robotic Arm Keypad Controller with gizDuino ATmega328 UNO (Project Making)

An Entry Level Robotic Arm for Pick N’ Place

Works with USB (**5V Input Supply), additional features 4 suction caps that you can attach on the wall such as glass, metals etc. using suction cup and 4 servo motors.

Demo Video:

Materials Need:

1  x   E-GRA

1 x    GizDuino Atmega328P UNO version5 (Arduino UNO compatible)

1  x   4×4 Keypad kit

1 x    9V 1A Adaptor

1  x   USB Cable

14 x  1pin Jumper wire (male-male)

Wiring Diagram:

* In Buck converter (Optional),  check the voltage output  5V for the Servo Motors.

** Caution: If you want to use it with USB powered, please make sure you calibrated the degrees of each servos correctly, before you plug-in the USB. If the servo motor gets stuck in a long time, it will be broken. ( The servo gets heat or there’s an annoying sounds if it is stuck up). Remove immediately any source of power supply then adjust your code for the initial position:


int G_POS = 120;
int E_POS = 70;
int S_POS = 130;
int B_POS = 80;

Also, adjust the range of each servo. Start in Gripper servo. Open the Serial Monitor. (You can unscrew the servo shaft to see end to end range for grabbing/releasing). See the Keypad Function (section).

Change G_POS value.


void G_GRABING(){
G_POS = G_POS+DEGREES;
if(G_POS>=120){
G_POS=120;
}
GRIPPER.write(G_POS);
Serial.println(G_POS);
}


Keypad Functions:


Pad Number/Letter      Functions
A  ................... Gripper Grab/Hold
B  ................... Gripper Release
3  ................... Elbow Extend
9  ................... Elbow Retract
2  ................... Shoulder Turn Up
8  ................... Shoulder Turn Down
4  ................... Base Turn to the Left
6  ................... Base Turn to the Right


Arduino Library:

SERVO

KEYPAD

Code:

	/*
	E-GRA SG-90 SAMPLE CODES
	THIS IS A COMPLETE CODE FOR CONTROLLING THE
	ROBOTIC ARM (GRIPPER, ELBOW, SHOULDER, BASE)
	INTERFACE TO GIZDUINO 328 UNO AND KEYPAD.
	OPEN THE SERIAL MONITOR TO SEE THE POSITIONS
	OR DEGREES.
	LIBRARY USED:
	SERVO LIBRARY
	KEYPAD LIBRARY
	THE WIRING CONNECTIONS:
	EGRA TO GIZDUINO 328
	GRIPPER - PIN 3
	ELBOW - PIN 5
	SHOULDER - PIN 6
	BASE - PIN 9
	(NOTE: USE THE PWM PINS FOR THIS APPLICATION)
	KEYPAD TO GIZDUINO 328
	COLUMNS:
	C1,C2,C3,C4 - 13,12,11,10
	ROWS:
	R1,R2,R3,R4 - 14,15,16,17
	KEYPAD FUNCTIONS:
	A = GRIPPER GRAB/HOLD
	B = GRIPPER RELEASE
	3 = ELBOW EXTENDED
	9 = ELBOW RETRACT
	2 = SHOULDER TURN UP
	8 = SHOULDER TURN DOWN
	4 = BASE TURN LEFT
	6 = BASE TURN RIGHT
	CODE BY E-GIZMO MECHATRONIX CENTRAL
	http://www.e-Gizmo.net
	JANUARY 16,2018
	*/
	#include <Keypad.h>
	#include <Servo.h>
	const byte ROWS = 4; //four rows
	const byte COLS = 4; //three columns
	char KEYS[ROWS][COLS] = {
	{
	'1','2','3','A' }
	,
	{
	'4','5','6','B' }
	,
	{
	'7','8','9','C' }
	,
	{
	'*','0','#','D' }
	};
	byte ROWPINS[ROWS] = {
	14, 15, 16, 17}; //connect to the row pinouts of the keypad
	byte COLPINS[COLS] = {
	13, 12, 11, 10}; //connect to the column pinouts of the keypad
	Keypad keypad = Keypad( makeKeymap(KEYS), ROWPINS, COLPINS, ROWS, COLS );
	char HOLDKEY;
	unsigned long T_HOLD;
	//SERVOS
	Servo GRIPPER;
	Servo ELBOW;
	Servo SHOULDER;
	Servo BASE;
	//INITIAL POSITIONS (MUST CHANGE)
	// TO GET THE EXACT CALIBRATION
	int G_POS = 120;
	int E_POS = 70;
	int S_POS = 130;
	int B_POS = 80;
	int DEGREES = 10;
	void setup(){
	Serial.begin(9600);
	GRIPPER.attach(3);
	ELBOW.attach(5);
	SHOULDER.attach(6);
	BASE.attach(9);
	//INITIAL POSITION
	GRIPPER.write(G_POS);
	ELBOW.write(E_POS);
	SHOULDER.write(S_POS);
	BASE.write(B_POS);
	}
	void loop(){
	char KEY = keypad.getKey();
	if(KEY){
	HOLDKEY = KEY;
	Serial.println(KEY);
	}
	if(keypad.getState() == HOLD){
	if ((millis() - T_HOLD)>100){
	switch(HOLDKEY){
	case 'A':
	G_GRABING();
	break;
	case 'B':
	G_RELEASING();
	break;
	case '2':
	S_TURNUP();
	break;
	case '8':
	S_TURNDOWN();
	break;
	case '4':
	B_TURNLEFT();
	break;
	case '6':
	B_TURNRIGHT();
	break;
	case '3':
	E_EXTENDED();
	break;
	case '9':
	E_RETRACT();
	break;
	}
	T_HOLD = millis();
	}
	}
	}
	// E-GRA FUNCTIONS //
	// YOU MAY MODIFY THIS SECTION, FOR CALIBRATION OF SERVO MOTORS //
	void G_GRABING(){
	G_POS = G_POS+DEGREES;
	if(G_POS>=120){
	G_POS=120;
	}
	GRIPPER.write(G_POS);
	Serial.println(G_POS);
	}
	void G_RELEASING(){
	G_POS = G_POS-DEGREES;
	if(G_POS<=80){
	G_POS=80;
	}
	GRIPPER.write(G_POS);
	Serial.println(G_POS);
	}
	void E_EXTENDED(){
	E_POS = E_POS+DEGREES;
	if(E_POS>=180){
	E_POS=180;
	}
	ELBOW.write(E_POS);
	Serial.println(E_POS);
	}
	void E_RETRACT(){
	E_POS = E_POS-DEGREES;
	if(E_POS<=70){
	E_POS=70;
	}
	ELBOW.write(E_POS);
	Serial.println(E_POS);
	}
	void S_TURNDOWN(){
	S_POS = S_POS+DEGREES;
	if(S_POS>=180){
	S_POS=180.;
	}
	SHOULDER.write(S_POS);
	Serial.println(S_POS);
	}
	void S_TURNUP(){
	S_POS = S_POS-DEGREES;
	if(S_POS<=80){
	S_POS=80.;
	}
	SHOULDER.write(S_POS);
	Serial.println(S_POS);
	}
	void B_TURNLEFT(){
	B_POS = B_POS+DEGREES;
	if(B_POS>=160){
	B_POS=160.;
	}
	BASE.write(B_POS);
	Serial.println(B_POS);
	}
	void B_TURNRIGHT(){
	B_POS = B_POS-DEGREES;
	if(B_POS<=10){
	B_POS=10;
	}
	BASE.write(B_POS);
	Serial.println(B_POS);
	}

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