Arduino Uno Robotic Arm with Joystick Control and Flex Sensors
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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