Circuit Documentation

Summary

This circuit involves an Arduino UNO and an Arduino Nano, which are used to control multiple servos and read sensor data. The servos are controlled via a PCA9685 PWM driver, and the sensor data is read from flex sensors and an MPU-6050 accelerometer. The data is communicated between the Arduino Nano and Arduino UNO using Bluetooth modules.

Component List

Micro Servo 9G

• Description: Small servo motor used for precise control of angular position.
• Pins: GND, +5V, PWM

Arduino UNO

• Description: A microcontroller board based on the ATmega328P.
• Pins: UNUSED, IOREF, Reset, 3.3V, 5V, GND, Vin, A0, A1, A2, A3, A4, A5, SCL, SDA, AREF, D13, D12, D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1, D0

Adafruit PCA9685 PWM Servo Breakout

• Description: 16-channel, 12-bit PWM driver.
• Pins: 5.0V, GND, PWRIN, PWM7, PWM6, PWM5, PWM4, PWM3, PWM2, PWM1, PWM0, VCC, SDA, SCL, OE, PWM15, PWM14, PWM13, PWM12, PWM11, PWM10, PWM9, PWM8

Arduino Nano

• Description: A small, complete, and breadboard-friendly board based on the ATmega328P.
• Pins: D1/TX, D0/RX, RESET, GND, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11/MOSI, D12/MISO, VIN, 5V, A7, A6, A5, A4, A3, A2, A1, A0, AREF, 3V3, D13/SCK

HC-05 Bluetooth Module

• Description: Bluetooth module for wireless communication.
• Pins: Key, VCC, TXD, RXD, State, GND

2.2 inch Basic Flex Resistor

• Description: Flex sensor used to measure the amount of bend.
• Pins: Pin 2, Pin 1

Resistor

• Description: 10 Ohm resistor.
• Pins: pin1, pin2
• Properties: Resistance: 10 Ohms

MPU-6050

• Description: 6-axis motion tracking device.
• Pins: VCC, GND, SCL, SDA, XDA, XCL, AD0, INT

Wiring Details

Micro Servo 9G

• GND connected to GND of Adafruit PCA9685 PWM Servo Breakout
• +5V connected to 5.0V of Adafruit PCA9685 PWM Servo Breakout
• PWM connected to:
  • PWM0 of Adafruit PCA9685 PWM Servo Breakout
  • PWM4 of Adafruit PCA9685 PWM Servo Breakout
  • PWM8 of Adafruit PCA9685 PWM Servo Breakout

Arduino UNO

• 5V connected to:
  • VCC of HC-05 Bluetooth Module
  • OE of Adafruit PCA9685 PWM Servo Breakout
• GND connected to:
  • GND of HC-05 Bluetooth Module
  • GND of Adafruit PCA9685 PWM Servo Breakout
• D10 connected to TXD of HC-05 Bluetooth Module
• D11 connected to RXD of HC-05 Bluetooth Module
• A4 connected to SDA of Adafruit PCA9685 PWM Servo Breakout
• A5 connected to SCL of Adafruit PCA9685 PWM Servo Breakout

Adafruit PCA9685 PWM Servo Breakout

• GND connected to:
  • GND of Micro Servo 9G
  • GND of Arduino UNO
• 5.0V connected to:
  • +5V of Micro Servo 9G
  • 5V of Arduino UNO
• PWM0 connected to PWM of Micro Servo 9G
• PWM4 connected to PWM of Micro Servo 9G
• PWM8 connected to PWM of Micro Servo 9G
• SDA connected to A4 of Arduino UNO
• SCL connected to A5 of Arduino UNO

Arduino Nano

• A4 connected to SDA of MPU-6050
• A5 connected to SCL of MPU-6050
• A6 connected to:
  • pin1 of Resistor
  • pin 1 of 2.2 inch Basic Flex Resistor
• A7 connected to:
  • pin1 of Resistor
  • pin 1 of 2.2 inch Basic Flex Resistor
• D2 connected to TXD of HC-05 Bluetooth Module
• D3 connected to RXD of HC-05 Bluetooth Module
• 5V connected to:
  • pin2 of Resistor
  • VCC of MPU-6050
  • VCC of HC-05 Bluetooth Module
  • Pin 2 of 2.2 inch Basic Flex Resistor
• GND connected to:
  • GND of MPU-6050
  • GND of HC-05 Bluetooth Module

HC-05 Bluetooth Module

• VCC connected to:
  • 5V of Arduino Nano
  • OE of Adafruit PCA9685 PWM Servo Breakout
• GND connected to:
  • GND of Arduino Nano
  • GND of Adafruit PCA9685 PWM Servo Breakout
• TXD connected to D2 of Arduino Nano
• RXD connected to D3 of Arduino Nano

2.2 inch Basic Flex Resistor

• Pin 2 connected to:
  • 5V of Arduino Nano
  • pin2 of Resistor
• Pin 1 connected to:
  • A6 of Arduino Nano
  • pin1 of Resistor

Resistor

• pin1 connected to:
  • A6 of Arduino Nano
  • pin 1 of 2.2 inch Basic Flex Resistor
• pin2 connected to:
  • 5V of Arduino Nano
  • Pin 2 of 2.2 inch Basic Flex Resistor

MPU-6050

• VCC connected to 5V of Arduino Nano
• GND connected to GND of Arduino Nano
• SDA connected to A4 of Arduino Nano
• SCL connected to A5 of Arduino Nano

Code Documentation

Arduino UNO Sketch

/*
 * Arduino UNO Sketch
 * This code controls three servos connected via a PCA9685 PWM driver.
 * The servos are connected to PWM channels 0, 4, and 8 of the PCA9685.
 * The servos will move slowly back and forth.
 */

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

const int servoMin = 150; // Minimum pulse length count (out of 4096)
const int servoMax = 600; // Maximum pulse length count (out of 4096)

void setup() {
  pwm.begin();
  pwm.setPWMFreq(60); // Analog servos run at ~60 Hz updates
}

void loop() {
  for (uint16_t pulselen = servoMin; pulselen < servoMax; pulselen++) {
    pwm.setPWM(0, 0, pulselen);
    pwm.setPWM(4, 0, pulselen);
    pwm.setPWM(8, 0, pulselen);
    delay(10);
  }
  for (uint16_t pulselen = servoMax; pulselen > servoMin; pulselen--) {
    pwm.setPWM(0, 0, pulselen);
    pwm.setPWM(4, 0, pulselen);
    pwm.setPWM(8, 0, pulselen);
    delay(10);
  }
}

Arduino Nano Sketch

/*
 * Arduino Nano Sketch
 * This code reads values from two flex sensors and an MPU-6050 accelerometer
 * and sends the data to an Arduino UNO via Serial communication.
 * The flex sensors are connected to analog pins A6 and A7.
 * The MPU-6050 is connected via I2C to pins A4 (SDA) and A5 (SCL).
 * The data is sent over a Bluetooth module