Circuit Documentation

Summary

The circuit in question is designed to control multiple servos using an Arduino UNO and an Adafruit PCA9685 PWM Servo Breakout board. The servos are actuated based on the input from rotary potentiometers and a pushbutton. A toggle switch is used to control the power supply to the PWM breakout board, and a 12V battery provides the power source for the system.

Component List

Arduino UNO

• Microcontroller board based on the ATmega328P
• It has 14 digital input/output pins, 6 analog inputs, a 16 MHz quartz crystal, a USB connection, a power jack, an ICSP header, and a reset button.

Rotary Potentiometer (x4)

• Variable resistor with a knob that can be turned to adjust resistance value.
• Each potentiometer has a resistance of 10,000 Ohms.

Pushbutton

• A simple switch mechanism for controlling some aspect of a machine or a process.

Servo (x5)

• A rotary actuator or linear actuator that allows for precise control of angular or linear position, velocity, and acceleration.

Toggle Switch (x3)

• An electrical switch that is manually actuated by a mechanical lever, handle, or rocking mechanism.

Adafruit PCA9685 PWM Servo Breakout

• A 16-channel, 12-bit PWM Fm+ I2C-bus LED controller ideal for driving servos.

12v Battery

• Provides the power source for the circuit.

Wiring Details

Arduino UNO

• Vin connected to Adafruit PCA9685 PWM Servo Breakout 5.0V
• 5V connected to Adafruit PCA9685 PWM Servo Breakout VCC
• SDA connected to Adafruit PCA9685 PWM Servo Breakout SDA
• SCL connected to Adafruit PCA9685 PWM Servo Breakout SCL
• GND connected to Adafruit PCA9685 PWM Servo Breakout GND
• A0 connected to Rotary Potentiometer wiper (Base)
• A1 connected to Rotary Potentiometer wiper (Shoulder)
• A2 connected to Rotary Potentiometer wiper (Elbow)
• A3 connected to Rotary Potentiometer wiper (Wrist)
• D13 connected to Pushbutton Pin 4 (out)

Rotary Potentiometer (x4)

• leg1 connected to Adafruit PCA9685 PWM Servo Breakout VCC
• wiper connected to Arduino UNO Analog Pins (A0-A3)
• leg2 connected to Adafruit PCA9685 PWM Servo Breakout GND

Pushbutton

• Pin 1 (in) connected to Adafruit PCA9685 PWM Servo Breakout GND
• Pin 4 (out) connected to Arduino UNO D13

Servo (x5)

• gnd connected to Adafruit PCA9685 PWM Servo Breakout GND
• vcc connected to Adafruit PCA9685 PWM Servo Breakout 5.0V
• pulse connected to Adafruit PCA9685 PWM Servo Breakout PWM channels (11-15)

Toggle Switch (x3)

• L1 connected to Adafruit PCA9685 PWM Servo Breakout PWRIN
• COM connected to 12v Battery +
• L2 not connected

Adafruit PCA9685 PWM Servo Breakout

• PWRIN connected to Toggle Switch L1
• GND connected to 12v Battery - and Arduino UNO GND
• VCC connected to Arduino UNO 5V and Rotary Potentiometer leg1
• SDA connected to Arduino UNO SDA
• SCL connected to Arduino UNO SCL
• PWM channels (11-15) connected to Servo pulse

12v Battery

• + connected to Toggle Switch COM
• - connected to Adafruit PCA9685 PWM Servo Breakout GND

Documented Code

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

#define MIN_PULSE_WIDTH       650
#define MAX_PULSE_WIDTH       2350
#define FREQUENCY             50

Adafruit_PWMServoDriver pwm = Adafruit_PWMServoDriver();

const int pinSDA = A4;
const int pinSCL = A5;
SoftwareWire myWire(pinSDA, pinSCL);

int potMuneca = A3;
int potCodo = A2;
int potHombro = A1;
int potBase = A0;

int mano = 11;
int muneca = 12;
int codo = 13;
int hombro = 14;
int base = 15;

const int botonRutina1 = 2;
const int botonRutina2 = 3;
const int botonRutina3 = 4;

int rutinaActual = 0;

void ejecutarRutina();

void setup() {
  myWire.begin();
  Serial.begin(9600);
  delay(5000);

  pwm.begin();
  pwm.setPWMFreq(FREQUENCY);
  pwm.setPWM(11, 0, 90);

  pinMode(13,INPUT_PULLUP);
  pinMode(botonRutina1, INPUT_PULLUP);
  pinMode(botonRutina2, INPUT_PULLUP);
  pinMode(botonRutina3, INPUT_PULLUP);

  Serial.begin(9600);
}

void moveMotor(int controlIn, int motorOut) {
  int pulse_wide, pulse_width, potVal;

  potVal = analogRead(controlIn);

  pulse_wide = map(potVal, 800, 240, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
  pulse_width = int(float(pulse_wide) / 1000000 * FREQUENCY * 4096);

  pwm.setPWM(motorOut, 0, pulse_width);
}

void loop() {
  myWire.beginTransmission(0x3C);
  myWire.write(0x00);
  myWire.endTransmission();

  if (digitalRead(botonRutina1) == LOW) {
    rutinaActual = 1;
    delay(200);
  } else if (digitalRead(botonRutina2) == LOW) {
    rutinaActual = 2;
    delay(200);
  } else if (digitalRead(botonRutina3) == LOW) {
    rutinaActual = 3;
    delay(200);
  }

  if (rutinaActual > 0) {
    ejecutarRutina();
  } else {
    moveMotor(potMuneca, muneca);
    moveMotor(potCodo, codo);
    moveMotor(potHombro, hombro);
    moveMotor(potBase, base);
  }
  int gripper = digitalRead(13);
  if(gripper == LOW) {
     pwm.setPWM(mano, 0, 180);
  } else {
     pwm.setPWM(mano, 0, 90);
  }
}

void ejecutarRutina() {
  switch (rutinaActual) {
    case 1:
      pwm.setPWM(mano, 0, 70);
      delay(100);
      pwm.setPWM(muneca, 0, 70);
      delay(100);
      pwm.setPWM(codo, 0, 70);
      delay(100);
      pwm.setPWM(hombro, 0, 70);
      delay(100);
      pwm.setPWM(base, 0, 70);
      delay(100);
      break;

    case 2:
      pwm.setPWM(mano, 0, 35);
      pwm.setPWM(muneca, 0, 35);
      pwm.setPWM(codo, 0, 45);
      pwm.setPWM(hombro, 0, 45);
      pwm.setPWM(base, 0, 45);
      break;

    case 3:
      pwm.setPWM(mano, 0, 120);
      pwm.setPWM(muneca, 0, 120);
      pwm.setPWM(codo, 0, 120);
      pwm.setPWM(hombro, 0, 120);
      pwm.setPWM(base, 0, 120);
      break;

    default:
      rutinaActual = 0;
      break;
  }

  rutinaActual = 0;
}

This code is designed to read the position of four potentiometers and use these values to control the position of servos via the PWM breakout board. Additionally, it includes routines that can be triggered by pressing buttons to move the servos to predefined positions. The moveMotor function maps the potentiometer values to servo positions, and the ejecutarRutina function executes the routines based on the selected routine number.