Redesign

For the redesign, I will be focusing on the coding and aesthetics of the robot.

Today I started compiling the code. Basically, it is supposed to make the servo turn ninety degrees once it sees an object that is within reach of the claw, about 15 centimeters.

After a significant amount of trial and error, I finally got the code to work.

Here it is:

#include <Servo.h>

#define trigpin 5//set trigpin

#define echopin 6//set echopin

Servo myservo;// declare servo name type servo

int duration, distance;//declare variable for unltrasonic sensor

void setup() {

Serial.begin(9600);

pinMode(trigpin, OUTPUT);

pinMode(echopin, INPUT);

myservo.attach(2);// attach your servo

myservo.writeMicroseconds(1500);

// put your setup code here, to run once:

}

void loop() {

myservo.write(90);// always set servo to 90 to position it to the middle

//ultrasonic code

digitalWrite(trigpin,HIGH);

_delay_ms(10000);// change the delay to make claw hold objects longer

digitalWrite(trigpin, LOW);

duration=pulseIn(echopin,HIGH);

distance=(duration/2)/29.1;

if(distance <=15)// if ultrasonic sensor detects an obstacle less than 1cm in 90 degree angle.

{

myservo.write(0); //servo rotates at full speed to the right

delay(600);

}

else

{

myservo.write(90);// else servo stays at 90 degree angle.

delay(600);

}

Serial.print("cm"); //print distance unit cm

Serial.println(distance);//distance

// put your main code here, to run repeatedly:

}

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Basically, what it is telling the claw to do is open and close when it sees something that is 15 cm away, hold the closed position for 10 seconds, then open and close again. (The numbers in bold can be changed if you want the claw to hold an object longer or shorter than 10 seconds, or see something that is closer or farther away than 15 cm.)

I decided to 3D print a piece that would hold the servo in place and would be screwed into the robot.