Arduinoロボットアームの作り方：サーボの選び方、トルク計算、PCA9685とBluetooth

1#include <Servo.h>
2
3const byte SERVO_PIN[4] = {3, 5, 6, 9};   // taban, omuz, dirsek, kıskaç / base, shoulder, elbow, gripper
4const byte TEST = 1;                       // denenecek servo (0–3) / servo under test (0–3)
5const bool CENTER_ONLY = true;             // true: hepsi 90°'de bekler / true: all wait at 90°
6
7Servo servo[4];
8
9void setup() {
10  Serial.begin(9600);
11  for (byte i = 0; i < 4; i++) {
12    servo[i].write(90);                    // önce açıyı ver / set the angle first
13    servo[i].attach(SERVO_PIN[i]);         // sonra bağla: zıplamaz / then attach: no jump
14    delay(300);                            // akım darbelerini ayır / spread the current surges
15  }
16}
17
18void loop() {
19  if (CENTER_ONLY) return;                 // korna takarken burada kal / stay here while fitting horns
20  int angle = map(analogRead(A0), 0, 1023, 0, 180);   // A0'daki pot / pot on A0
21  servo[TEST].write(angle);
22  Serial.print(F("Servo "));
23  Serial.print(TEST);
24  Serial.print(F(" aci / angle: "));
25  Serial.println(angle);                   // sınırları buradan oku / read the limits here
26  delay(50);
27}

1#include <Servo.h>
2
3const byte SERVO_PIN[4] = {3, 5, 6, 9};        // taban, omuz, dirsek, kıskaç / base, shoulder, elbow, gripper
4const byte POT_PIN[4]   = {A0, A1, A2, A3};    // her eklem için bir pot / one pot per joint
5const byte MIN_A[4] = {0, 15, 20, 40};         // kalibrasyonda bulduğun alt sınırlar / lower limits from calibration
6const byte MAX_A[4] = {180, 165, 160, 110};    // üst sınırlar / upper limits
7
8Servo servo[4];
9float smooth[4];                               // süzülmüş pot değeri / filtered pot value
10int lastAngle[4];                              // son yazılan açı / last written angle
11
12void setup() {
13  for (byte i = 0; i < 4; i++) {
14    smooth[i] = analogRead(POT_PIN[i]);
15    lastAngle[i] = map((int)smooth[i], 0, 1023, MIN_A[i], MAX_A[i]);
16    servo[i].write(lastAngle[i]);              // önce açı, sonra attach / angle first, then attach
17    servo[i].attach(SERVO_PIN[i]);
18    delay(300);                                // servolar sırayla uyansın / wake the servos one by one
19  }
20}
21
22void loop() {
23  for (byte i = 0; i < 4; i++) {
24    smooth[i] += (analogRead(POT_PIN[i]) - smooth[i]) * 0.2;   // yumuşatma filtresi / low-pass filter
25    int angle = map((int)smooth[i], 0, 1023, MIN_A[i], MAX_A[i]);
26    if (abs(angle - lastAngle[i]) >= 2) {      // ölü bant: küçük gürültüyü yok say / deadband: ignore small noise
27      servo[i].write(angle);
28      lastAngle[i] = angle;
29    }
30  }
31  delay(15);
32}

1#include <Servo.h>
2#include <EEPROM.h>
3
4const byte SERVO_PIN[4] = {3, 5, 6, 9};        // taban, omuz, dirsek, kıskaç / base, shoulder, elbow, gripper
5const byte POT_PIN[4]   = {A0, A1, A2, A3};
6const byte MIN_A[4] = {0, 15, 20, 40};         // güvenli sınırlar / safe limits
7const byte MAX_A[4] = {180, 165, 160, 110};
8const byte BTN_REC = 7, BTN_PLAY = 8, LED = 13; // butonların diğer ucu GND'de / buttons go to GND
9const byte MAX_STEPS = 100;                    // 100 adım x 4 bayt = 400 bayt / 100 steps x 4 bytes
10
11Servo servo[4];
12float smooth[4];                               // süzülmüş pot değeri / filtered pot value
13byte pos[4];                                   // servoların şu anki açısı / current servo angles
14byte stepCount;                                // kayıtlı adım sayısı / number of saved steps
15
16bool pressed(byte pin) {                       // basılıyken true / true while pressed
17  return digitalRead(pin) == LOW;
18}
19
20byte potAngle(byte i) {
21  smooth[i] += (analogRead(POT_PIN[i]) - smooth[i]) * 0.2;   // yumuşatma / smoothing
22  return map((int)smooth[i], 0, 1023, MIN_A[i], MAX_A[i]);
23}
24
25void blink(byte n) {
26  for (byte k = 0; k < n; k++) {
27    digitalWrite(LED, HIGH); delay(80);
28    digitalWrite(LED, LOW);  delay(80);
29  }
30}
31
32// Tüm eklemleri aynı anda hedefe götürür / moves all joints to the target together
33void moveTo(const byte target[4], byte msPerDegree) {
34  byte start[4];
35  int steps = 0;
36  for (byte i = 0; i < 4; i++) {
37    start[i] = pos[i];
38    int d = abs((int)target[i] - (int)start[i]);
39    if (d > steps) steps = d;                  // en uzun hareket / longest move
40  }
41  for (int s = 1; s <= steps; s++) {
42    for (byte i = 0; i < 4; i++) {
43      pos[i] = start[i] + (long)((int)target[i] - (int)start[i]) * s / steps;   // ara açı / in-between angle
44      servo[i].write(pos[i]);
45    }
46    delay(msPerDegree);
47  }
48}
49
50void saveStep() {
51  if (stepCount >= MAX_STEPS) { blink(3); return; }           // hafıza dolu / memory full
52  for (byte i = 0; i < 4; i++) EEPROM.update(1 + stepCount * 4 + i, pos[i]);
53  stepCount++;
54  EEPROM.update(0, stepCount);                 // 0. bayt adım sayısını tutar / byte 0 holds the step count
55  blink(1);
56}
57
58void playBack() {
59  byte target[4];
60  for (byte s = 0; s < stepCount; s++) {
61    for (byte i = 0; i < 4; i++) target[i] = EEPROM.read(1 + s * 4 + i);
62    moveTo(target, 12);                        // derece başına 12 ms / 12 ms per degree
63    delay(400);                                // her pozda kısa bekleme / short pause at each pose
64    if (pressed(BTN_PLAY)) break;              // oynatırken basınca durur / press again to stop
65  }
66}
67
68void syncToPots() {                            // potların konumuna yumuşakça dön / ease back to the pots
69  byte target[4];
70  for (byte i = 0; i < 4; i++) {
71    smooth[i] = analogRead(POT_PIN[i]);
72    target[i] = map((int)smooth[i], 0, 1023, MIN_A[i], MAX_A[i]);
73  }
74  moveTo(target, 12);
75}
76
77void setup() {
78  pinMode(BTN_REC, INPUT_PULLUP);
79  pinMode(BTN_PLAY, INPUT_PULLUP);
80  pinMode(LED, OUTPUT);
81  stepCount = EEPROM.read(0);
82  if (stepCount > MAX_STEPS) stepCount = 0;    // boş EEPROM 255 okur / a blank EEPROM reads 255
83  for (byte i = 0; i < 4; i++) {
84    smooth[i] = analogRead(POT_PIN[i]);
85    pos[i] = potAngle(i);
86    servo[i].write(pos[i]);                    // önce açı, sonra attach / angle first, then attach
87    servo[i].attach(SERVO_PIN[i]);
88    delay(300);
89  }
90}
91
92void loop() {
93  // Kayıt: kısa bas = pozu kaydet, 2 sn basılı tut = hepsini sil / Record: short press = save pose, hold 2 s = erase all
94  if (pressed(BTN_REC)) {
95    unsigned long t0 = millis();
96    while (pressed(BTN_REC) && millis() - t0 < 2000) {}
97    if (millis() - t0 >= 2000) {
98      stepCount = 0;
99      EEPROM.update(0, 0);
100      blink(5);
101    } else {
102      saveStep();
103    }
104    while (pressed(BTN_REC)) {}                // bırakılmasını bekle / wait for release
105    delay(50);                                 // buton arkı / debounce
106  }
107
108  // Oynat: kaydedilen pozları sırayla tekrarla / play: repeat the saved poses in order
109  if (pressed(BTN_PLAY) && stepCount > 0) {
110    while (pressed(BTN_PLAY)) {}
111    delay(50);
112    digitalWrite(LED, HIGH);
113    playBack();
114    while (pressed(BTN_PLAY)) {}
115    syncToPots();
116    digitalWrite(LED, LOW);
117  }
118
119  // Normal mod: kolu potlarla sür / normal mode: drive the arm with the pots
120  for (byte i = 0; i < 4; i++) {
121    byte a = potAngle(i);
122    if (abs((int)a - (int)pos[i]) >= 2) {
123      pos[i] = a;
124      servo[i].write(a);
125    }
126  }
127  delay(15);
128}

1#include <Wire.h>
2#include <Adafruit_PWMServoDriver.h>
3
4Adafruit_PWMServoDriver pca = Adafruit_PWMServoDriver(0x40);   // varsayılan adres / default address
5
6// Kanal: 0 taban, 1 omuz, 2 dirsek, 3 bilek, 4 bilek dönüşü, 5 kıskaç / Channel: 0 base, 1 shoulder, 2 elbow, 3 wrist, 4 wrist roll, 5 gripper
7const byte N = 6;
8const float MIN_A[N] = {0, 15, 20, 10, 0, 40};        // güvenli sınırlar / safe limits
9const float MAX_A[N] = {180, 165, 160, 170, 180, 110};
10const float HOME[N]  = {90, 90, 90, 90, 90, 40};      // başlangıç pozu, kıskaç açık / home pose, gripper open
11const byte JOY[4] = {A0, A1, A2, A3};                  // J1 X, J1 Y, J2 Y, J2 X → kanal / channel 0, 1, 2, 3
12const int8_t DIR[4] = {1, -1, 1, 1};                   // ters giden ekseni -1 yap / set -1 to invert an axis
13const byte BTN_GRIP = 2, BTN_HOME = 4;                 // joystick SW pinleri / joystick SW pins
14const float MAX_SPEED = 90;                            // en yüksek hız, derece/sn / top speed, degrees/s
15const float DT = 0.02;                                 // 20 ms döngü / 20 ms loop
16const int DEADZONE = 60;                               // ortadaki ölü bölge / dead zone around center
17
18float target[N], current[N];
19bool gripClosed = false;
20
21void writeServo(byte ch, float a) {
22  // Servo.h ile aynı 544–2400 µs aralığı / same 544–2400 µs range as Servo.h
23  pca.writeMicroseconds(ch, (uint16_t)(544 + a * (2400 - 544) / 180.0));
24}
25
26bool newPress(byte pin, byte k) {                      // her basışta bir kez true / true once per press
27  static bool prev[2] = {HIGH, HIGH};
28  bool now = digitalRead(pin);
29  bool edge = (prev[k] == HIGH && now == LOW);
30  prev[k] = now;
31  return edge;
32}
33
34void setup() {
35  pinMode(BTN_GRIP, INPUT_PULLUP);
36  pinMode(BTN_HOME, INPUT_PULLUP);
37  pca.begin();
38  pca.setOscillatorFrequency(27000000);                // çoğu modülde ~27 MHz / ~27 MHz on most boards
39  pca.setPWMFreq(50);                                  // servolar için 50 Hz / 50 Hz for servos
40  Wire.setClock(400000);                               // hızlı I2C / fast I2C
41  for (byte i = 0; i < N; i++) {
42    target[i] = current[i] = HOME[i];
43    writeServo(i, HOME[i]);
44    delay(300);                                        // servolar sırayla uyansın / wake servos one by one
45  }
46}
47
48void loop() {
49  static unsigned long last = 0;
50  if (millis() - last < 20) return;                    // 50 Hz güncelleme / 50 Hz update
51  last = millis();
52
53  // Joystick hızı belirler, konumu değil / the joystick sets speed, not position
54  for (byte i = 0; i < 4; i++) {
55    int v = analogRead(JOY[i]) - 512;
56    if (abs(v) > DEADZONE) {
57      target[i] += DIR[i] * (v / 512.0) * MAX_SPEED * DT;
58      target[i] = constrain(target[i], MIN_A[i], MAX_A[i]);
59    }
60  }
61  if (newPress(BTN_GRIP, 0)) {                         // kıskaç aç/kapa / toggle gripper
62    gripClosed = !gripClosed;
63    target[5] = gripClosed ? MAX_A[5] : MIN_A[5];
64  }
65  if (newPress(BTN_HOME, 1)) {                         // başlangıç pozuna dön / go to home pose
66    for (byte i = 0; i < N; i++) target[i] = HOME[i];
67    gripClosed = false;
68  }
69
70  // Her eklem hedefe hız sınırıyla gider / each joint follows its target with a speed limit
71  for (byte i = 0; i < N; i++) {
72    float d = constrain(target[i] - current[i], -MAX_SPEED * DT, MAX_SPEED * DT);
73    if (d != 0) {
74      current[i] += d;
75      writeServo(i, current[i]);
76    }
77  }
78}

1#include <Wire.h>
2#include <SoftwareSerial.h>
3#include <Adafruit_PWMServoDriver.h>
4
5SoftwareSerial bt(10, 11);                 // D10 ← HC-05 TXD, D11 → bölücü / divider → HC-05 RXD
6Adafruit_PWMServoDriver pca = Adafruit_PWMServoDriver(0x40);
7
8const byte N = 6;
9const char NAME[N] = {'B', 'S', 'E', 'W', 'R', 'G'};   // taban, omuz, dirsek, bilek, dönüş, kıskaç / base, shoulder, elbow, wrist, roll, gripper
10const byte MIN_A[N] = {0, 15, 20, 10, 0, 40};          // güvenli sınırlar / safe limits
11const byte MAX_A[N] = {180, 165, 160, 170, 180, 110};
12const byte HOME[N]  = {90, 90, 90, 90, 90, 40};
13const byte MAX_POSES = 30;
14const float SPEED = 1.5;                   // 20 ms'de en fazla 1,5° (75°/sn) / max 1.5° per 20 ms (75°/s)
15
16float current[N];
17byte target[N];
18byte poses[MAX_POSES][N];                  // kaydedilen pozlar (RAM) / recorded poses (RAM)
19byte poseCount = 0, playIndex = 0;
20bool playing = false;
21char buf[12];
22byte len = 0;
23
24void writeServo(byte ch, float a) {
25  pca.writeMicroseconds(ch, (uint16_t)(544 + a * (2400 - 544) / 180.0));   // 544–2400 µs
26}
27
28void handle(char *cmd) {                   // ör. / e.g. "S120", "H", "K", "P"
29  char c = toupper(cmd[0]);
30  if (c == 'H') {                          // başlangıç pozu / home pose
31    for (byte i = 0; i < N; i++) target[i] = HOME[i];
32    playing = false;
33  } else if (c == 'K') {                   // pozu kaydet / save pose
34    if (poseCount < MAX_POSES) {
35      for (byte i = 0; i < N; i++) poses[poseCount][i] = target[i];
36      poseCount++;
37    }
38    bt.print(F("Poz / pose: "));
39    bt.println(poseCount);
40  } else if (c == 'P') {                   // döngüyle oynat / play in a loop
41    if (poseCount > 0) { playing = true; playIndex = 0; }
42  } else if (c == 'X') {                   // durdur / stop
43    playing = false;
44  } else if (c == 'C') {                   // kayıtları sil / clear poses
45    poseCount = 0;
46    playing = false;
47  } else {
48    for (byte i = 0; i < N; i++) {
49      if (c == NAME[i]) {
50        target[i] = constrain(atoi(cmd + 1), MIN_A[i], MAX_A[i]);
51        playing = false;                   // elle komut oynatmayı keser / a manual command stops playback
52      }
53    }
54  }
55}
56
57bool arrived() {
58  for (byte i = 0; i < N; i++)
59    if (fabs(target[i] - current[i]) > 0.5) return false;
60  return true;
61}
62
63void setup() {
64  bt.begin(9600);                          // HC-05 varsayılan hızı / HC-05 default baud
65  pca.begin();
66  pca.setOscillatorFrequency(27000000);
67  pca.setPWMFreq(50);
68  for (byte i = 0; i < N; i++) {
69    target[i] = HOME[i];
70    current[i] = HOME[i];
71    writeServo(i, HOME[i]);
72    delay(300);                            // servolar sırayla uyansın / wake servos one by one
73  }
74}
75
76void loop() {
77  // Komutları satır satır topla / collect commands line by line
78  while (bt.available()) {
79    char ch = bt.read();
80    if (ch == '\n' || ch == '\r' || ch == ';') {
81      if (len > 0) { buf[len] = '\0'; handle(buf); len = 0; }
82    } else if (len < sizeof(buf) - 1) {
83      buf[len++] = ch;
84    }
85  }
86
87  static unsigned long last = 0, arrivedAt = 0;
88  if (millis() - last < 20) return;        // 50 Hz güncelleme / 50 Hz update
89  last = millis();
90
91  if (playing) {
92    if (!arrived()) arrivedAt = millis();  // hareket sürüyor / still moving
93    else if (millis() - arrivedAt > 300) { // her pozda 300 ms bekle / hold each pose 300 ms
94      for (byte i = 0; i < N; i++) target[i] = poses[playIndex][i];
95      playIndex = (playIndex + 1) % poseCount;   // sona gelince başa dön / wrap around
96      arrivedAt = millis();
97    }
98  }
99
100  for (byte i = 0; i < N; i++) {
101    float d = constrain(target[i] - current[i], -SPEED, SPEED);   // hız sınırı / speed limit
102    if (d != 0) {
103      current[i] += d;
104      writeServo(i, current[i]);
105    }
106  }
107}

1#include <Wire.h>
2#include <BluetoothSerial.h>
3#include <Adafruit_PWMServoDriver.h>
4
5BluetoothSerial bt;                        // klasik Bluetooth SPP / classic Bluetooth SPP
6Adafruit_PWMServoDriver pca = Adafruit_PWMServoDriver(0x40);
7
8const int N = 6;
9const char NAME[N] = {'B', 'S', 'E', 'W', 'R', 'G'};   // taban, omuz, dirsek, bilek, dönüş, kıskaç / base, shoulder, elbow, wrist, roll, gripper
10const int MIN_A[N] = {0, 15, 20, 10, 0, 40};
11const int MAX_A[N] = {180, 165, 160, 170, 180, 110};
12const int HOME[N]  = {90, 90, 90, 90, 90, 40};
13float current[N], target[N];
14String line;
15
16void writeServo(int ch, float a) {
17  pca.writeMicroseconds(ch, (uint16_t)(544 + a * (2400 - 544) / 180.0));   // 544–2400 µs
18}
19
20void handle(String cmd) {                  // ör. / e.g. "E45", "H"
21  cmd.trim();
22  if (cmd.length() == 0) return;
23  char c = toupper(cmd[0]);
24  if (c == 'H') {
25    for (int i = 0; i < N; i++) target[i] = HOME[i];
26    return;
27  }
28  int value = cmd.substring(1).toInt();
29  for (int i = 0; i < N; i++)
30    if (c == NAME[i]) target[i] = constrain(value, MIN_A[i], MAX_A[i]);
31}
32
33void setup() {
34  Serial.begin(115200);
35  bt.begin("BlueGrays-RobotKol");          // telefonda görünen ad / name shown on the phone
36  Wire.begin(21, 22);                      // SDA = GPIO 21, SCL = GPIO 22
37  pca.begin();
38  pca.setOscillatorFrequency(27000000);
39  pca.setPWMFreq(50);
40  for (int i = 0; i < N; i++) {
41    current[i] = target[i] = HOME[i];
42    writeServo(i, HOME[i]);
43    delay(300);
44  }
45  Serial.println("Bluetooth hazir / ready");
46}
47
48void loop() {
49  while (bt.available()) {
50    char ch = bt.read();
51    if (ch == '\n' || ch == ';') { handle(line); line = ""; }
52    else if (line.length() < 12) line += ch;
53  }
54
55  static unsigned long last = 0;
56  if (millis() - last < 20) return;        // 50 Hz güncelleme / 50 Hz update
57  last = millis();
58  for (int i = 0; i < N; i++) {
59    float d = constrain(target[i] - current[i], -1.5f, 1.5f);   // yumuşak hareket / smooth motion
60    if (d != 0) {
61      current[i] += d;
62      writeServo(i, current[i]);
63    }
64  }
65}

1from machine import Pin, PWM, ADC
2import time
3
4# Servo pinleri: taban, omuz, dirsek, kıskaç / servo pins: base, shoulder, elbow, gripper
5servos = [PWM(Pin(p)) for p in (10, 11, 12, 13)]
6for s in servos:
7    s.freq(50)                                  # 50 Hz servo sinyali / 50 Hz servo signal
8
9pots = [ADC(26), ADC(27), ADC(28)]              # Pico'da 3 ADC pini var / the Pico has 3 ADC pins
10button = Pin(14, Pin.IN, Pin.PULL_UP)           # kıskaç butonu GND'ye / gripper button to GND
11
12MIN_A = (0, 15, 20, 40)                         # güvenli sınırlar / safe limits
13MAX_A = (180, 165, 160, 110)
14
15def write(i, angle):
16    angle = max(MIN_A[i], min(MAX_A[i], angle))
17    servos[i].duty_ns(544000 + int(angle * 10311))   # 544–2400 µs aralığı / 544–2400 µs range
18
19smooth = [p.read_u16() for p in pots]
20grip_closed = False
21last_btn = 1
22write(3, MIN_A[3])                              # kıskaç açık başlar / gripper starts open
23
24while True:
25    for i in range(3):
26        smooth[i] += (pots[i].read_u16() - smooth[i]) * 0.2   # yumuşatma / smoothing
27        write(i, MIN_A[i] + (MAX_A[i] - MIN_A[i]) * smooth[i] / 65535)
28    b = button.value()
29    if b == 0 and last_btn == 1:                # yeni basış / new press
30        grip_closed = not grip_closed
31        write(3, MAX_A[3] if grip_closed else MIN_A[3])
32    last_btn = b
33    time.sleep_ms(20)                           # 50 Hz döngü / 50 Hz loop