1. Program the robotic arm

2. Servo motor Know the color code Orange – signal (S) Red – 5V (V)
Brown – Ground (G)
Connect the 4 servo motors to the shield
Try to use

3. Arduino shield

4. Servo motor basics Servo motor can only turn from 0 to 180
The motor is controlled by pulse

5. Program Arduino
Need to tell Arduino to output the pulse to control the motor
Easy – using the software library Servo.h
Define a servo object in the program for each servo Servo myservo
Need to tell the Arduino where is the servo motor attach
Use the write function to tell control the turning degree

6. Sample program Download sample program from ftp site
ftp://ftp.ee.polyu.edu.hk/yffung/freshman_project/

7. How to program
Start the Arduino IDE (integrated development environment)
File -> new
Write the program
Select the proper Arduino board
Tools -> board -> Arduino Uno
Select the proper Port
Tools -> Port

8. Exercise Program the arm so that it can Pick up an object
Turn left and put down the object
Return to the starting position
Record angle used by different servo motors in order to achieve the task

9. Control the arm with serialPort
The arm will be controlled by the camera (next week)
The notebook and the Arduino are connected by the serialport
In the Arduino program – need to wait for signal from serialport
Based on received signal – arm carries out different operations

10. Arm control Example If receive ‘R’ then pick up object and turn left
If receive ‘B’ then pick up object and turn right

11. Exercise Program the arm so that
Receive ‘B’ pickup object-> turn left-> put down object -> return to starting position
Receive ‘D’ pickup object -> turn right-> put down object -> return to starting position
Use the Serial Monitor to simulate the signal coming from the serialport