Circuit Documentation

Summary

This circuit is designed to control multiple servos using an Arduino Uno R3 microcontroller. It includes a 16-Channel PWM Servo Driver to manage the servos, a 16x2 I2C LCD for display purposes, and several sensors including flex resistors and joystick modules. The circuit is powered by a pair of 18650 Li-ion batteries regulated by an XL4016 module.

Component List

Arduino Uno R3

• Description: Microcontroller board based on the ATmega328P.
• Pins: D8, D9, D10, D11, D12, D13, GND, AREF, SDA, SCL, D0/RX, D1/Tx, D2, D3, D4, D5, 6, D7, A5/SCL, A4/SDA, A3, A2, A1, A0, Vin, 5V, 3.3V, RESET, IOREF, NONE, USB Jack, Power Jack

16-Channel PWM Servo Driver

• Description: PWM driver for controlling up to 16 servos.
• Pins: V+, VCC, SDA, SCL, OE, GND, Vin+, Vin-, PWM1, PWM2, PWM3, PWM4, PWM5, PWM6, PWM7, PWM8, PWM9, PWM10, PWM11, PWM12, PWM13, PWM14, PWM15, PWM16

16x2 I2C LCD

• Description: LCD display with I2C interface.
• Pins: GND, VCC, SDA, SCL

Servo (Wokwi Compatible)

• Description: Standard servo motor.
• Pins: GND, V+, PWM

Servo

• Description: Standard servo motor.
• Pins: GND, VCC, PWM

Tower Pro SG90 Servo

• Description: Micro servo motor.
• Pins: Signal, +5V, GND

2.2 inch Basic Flex Resistor

• Description: Flex sensor for detecting bending.
• Pins: Pin 2, pin 1

KY-023 Dual Axis Joystick Module

• Description: Joystick module with X and Y axis control.
• Pins: GND, +5V, VRx, VRy, SW

XL4016

• Description: DC-DC step-down power supply module.
• Pins: In+, In-GND, Out-GND, Out+

18650 Li-ion Battery x 2

• Description: Rechargeable lithium-ion batteries.
• Pins: +, -

Resistor

• Description: 10k Ohm resistor.
• Pins: pin1, pin2

Wiring Details

Arduino Uno R3

• GND: Connected to GND of 16-Channel PWM Servo Driver, 16x2 I2C LCD, and KY-023 Dual Axis Joystick Modules.
• 5V: Connected to VCC of 16-Channel PWM Servo Driver, 16x2 I2C LCD, and +5V of KY-023 Dual Axis Joystick Modules.
• A3: Connected to pin 1 of 2.2 inch Basic Flex Resistors.
• D4: Connected to Pin 2 of 2.2 inch Basic Flex Resistor.
• D5: Connected to Pin 2 of another 2.2 inch Basic Flex Resistor.
• A0: Connected to VRx of KY-023 Dual Axis Joystick Module.
• A1: Connected to VRx of another KY-023 Dual Axis Joystick Module.
• A2: Connected to VRx of another KY-023 Dual Axis Joystick Module.
• A4/SDA: Connected to SDA of 16-Channel PWM Servo Driver and 16x2 I2C LCD.
• A5/SCL: Connected to SCL of 16-Channel PWM Servo Driver and 16x2 I2C LCD.

16-Channel PWM Servo Driver

• GND: Connected to GND of Arduino Uno R3, Servo (Wokwi Compatible), Servo, and Tower Pro SG90 Servos.
• VCC: Connected to 5V of Arduino Uno R3.
• V+: Connected to V+ of Servo (Wokwi Compatible), VCC of Servo, and +5V of Tower Pro SG90 Servos.
• SDA: Connected to A4/SDA of Arduino Uno R3 and SDA of 16x2 I2C LCD.
• SCL: Connected to A5/SCL of Arduino Uno R3 and SCL of 16x2 I2C LCD.
• PWM1: Connected to PWM of Servo (Wokwi Compatible).
• PWM2: Connected to PWM of Servo.
• PWM3: Connected to Signal of Tower Pro SG90 Servo.
• PWM4: Connected to Signal of another Tower Pro SG90 Servo.
• PWM5: Connected to Signal of another Tower Pro SG90 Servo.
• PWM6: Connected to Signal of another Tower Pro SG90 Servo.
• PWM7: Connected to Signal of another Tower Pro SG90 Servo.
• Vin+: Connected to Out+ of XL4016.
• Vin-: Connected to Out-GND of XL4016.

16x2 I2C LCD

• GND: Connected to GND of Arduino Uno R3.
• VCC: Connected to 5V of Arduino Uno R3.
• SDA: Connected to A4/SDA of Arduino Uno R3 and SDA of 16-Channel PWM Servo Driver.
• SCL: Connected to A5/SCL of Arduino Uno R3 and SCL of 16-Channel PWM Servo Driver.

Servo (Wokwi Compatible)

• GND: Connected to GND of 16-Channel PWM Servo Driver.
• V+: Connected to V+ of 16-Channel PWM Servo Driver.
• PWM: Connected to PWM1 of 16-Channel PWM Servo Driver.

Servo

• GND: Connected to GND of 16-Channel PWM Servo Driver.
• VCC: Connected to V+ of 16-Channel PWM Servo Driver.
• PWM: Connected to PWM2 of 16-Channel PWM Servo Driver.

Tower Pro SG90 Servo

• Signal: Connected to PWM3, PWM4, PWM5, PWM6, PWM7 of 16-Channel PWM Servo Driver.
• +5V: Connected to V+ of 16-Channel PWM Servo Driver.
• GND: Connected to GND of 16-Channel PWM Servo Driver.

2.2 inch Basic Flex Resistor

• Pin 2: Connected to D4, D5 of Arduino Uno R3.
• pin 1: Connected to A3 of Arduino Uno R3.

KY-023 Dual Axis Joystick Module

• GND: Connected to GND of Arduino Uno R3.
• +5V: Connected to 5V of Arduino Uno R3.
• VRx: Connected to A0, A1, A2 of Arduino Uno R3.

XL4016

• In+: Connected to + of 18650 Li-ion Battery x 2.
• In-GND: Connected to - of 18650 Li-ion Battery x 2.
• Out+: Connected to Vin+ of 16-Channel PWM Servo Driver.
• Out-GND: Connected to Vin- of 16-Channel PWM Servo Driver.

18650 Li-ion Battery x 2

• +: Connected to In+ of XL4016.
• -: Connected to In-GND of XL4016.

Resistor

• pin1: Connected to pin2 of another Resistor.
• pin2: Connected to pin1 of another Resistor and GND of Arduino Uno R3.

Code Documentation

#include <Wire.h>
#include <Adafruit_PWMServoDriver.h>
#include <LiquidCrystal_I2C.h>

#define SERVOMIN 102  
#define SERVOMAX 492  

int joystickMG995Pin = A0;  
int joystickMG90Pin = A1;   
int joystickSG90Pin = A2;   
int flexPin = A3;
int flexPower1 = 4;        
int flexPower2 = 5;         
int flexThreshold = 110; 
int flexThreshold2 = 130;   
int servoMG995Channel = 0;  
int servoMG90Channel = 1;   
int sg90Channels[5] = {2, 3, 4, 5, 6};

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

LiquidCrystal_I2C lcd(0x27, 16, 2); 

int bendCount1 = 0;       
int bendCount2 = 0;        
bool isFlexed1 = false;    
bool isFlexed2 = false;

int currentMG995Angle = 0;
int stepDelay = 8;

void setup() {
  pwm.begin();            
  pwm.setPWMFreq(50);      
  Serial.begin(9600);      

  pinMode(flexPower1, OUTPUT); 
  pinMode(flexPower2, OUTPUT); 
  
  lcd.begin(16, 2);
  lcd.backlight