├── Diagrams
    └── Robot Arm Car.png
├── GetBluetoothMacAddress
    └── GetBluetoothMacAddress.ino
├── LICENSE
├── README.md
└── Robot_Arm_Car
    └── Robot_Arm_Car.ino


/Diagrams/Robot Arm Car.png:
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https://raw.githubusercontent.com/un0038998/RobotArmCar/98d3e1aaec26d1fa62869fa5bdd5dd60c1bcfbef/Diagrams/Robot Arm Car.png


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/GetBluetoothMacAddress/GetBluetoothMacAddress.ino:
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 1 | #include <Ps3Controller.h>
 2 | 
 3 | void setup()
 4 | {
 5 |     Serial.begin(115200);
 6 |     Ps3.begin();
 7 | 
 8 |     String address = Ps3.getAddress();
 9 | 
10 |     Serial.print("The ESP32's Bluetooth MAC address is: ");
11 |     Serial.println(address);
12 | }
13 | 
14 | void loop()
15 | {
16 | 
17 | }
18 | 


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/LICENSE:
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 1 | MIT License
 2 | 
 3 | Copyright (c) 2022 Ujwal Nandanwar
 4 | 
 5 | Permission is hereby granted, free of charge, to any person obtaining a copy
 6 | of this software and associated documentation files (the "Software"), to deal
 7 | in the Software without restriction, including without limitation the rights
 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 | 
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 | 
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 | 


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/README.md:
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1 | # Robot-Arm-Car
2 | This repository contains code and diagram for Robot Arm Car with PS3 Controller and esp32
3 | 


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/Robot_Arm_Car/Robot_Arm_Car.ino:
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  1 | #include <Ps3Controller.h>
  2 | #include <ESP32Servo.h>
  3 | 
  4 | #define SERVO_FORWARD_STEP_ANGLE 1
  5 | #define SERVO_BACKWARD_STEP_ANGLE -1
  6 | 
  7 | struct ServoPins
  8 | {
  9 |   Servo servo;
 10 |   int servoPin;
 11 |   String servoName;
 12 |   int initialPosition;  
 13 | };
 14 | std::vector<ServoPins> servoPins = 
 15 | {
 16 |   { Servo(), 27 , "Base", 90},
 17 |   { Servo(), 26 , "Shoulder", 90},
 18 |   { Servo(), 25 , "Elbow", 90},
 19 |   { Servo(), 33 , "Gripper", 90},
 20 | };
 21 | 
 22 | bool gripperSwitch = false;
 23 | 
 24 | //Right motor
 25 | int enableRightMotor=22; 
 26 | int rightMotorPin1=16;
 27 | int rightMotorPin2=17;
 28 | //Left motor
 29 | int enableLeftMotor=23;
 30 | int leftMotorPin1=18;
 31 | int leftMotorPin2=19;
 32 | 
 33 | #define MAX_MOTOR_SPEED 200  //Its value can range from 0-255. 255 is maximum speed.
 34 | 
 35 | const int PWMFreq = 1000; /* 1 KHz */
 36 | const int PWMResolution = 8;
 37 | const int PWMSpeedChannel = 4;
 38 | 
 39 | void writeServoValues(int servoIndex, int servoMoveStepSize, bool servoStepSizeIsActualServoPosition = false)
 40 | {
 41 |   int servoPosition;
 42 |   if (servoStepSizeIsActualServoPosition)
 43 |   {
 44 |     servoPosition = servoMoveStepSize; 
 45 |   }
 46 |   else
 47 |   {
 48 |     servoPosition = servoPins[servoIndex].servo.read();
 49 |     servoPosition = servoPosition + servoMoveStepSize;
 50 |   }
 51 |   if (servoPosition > 180 || servoPosition < 0)
 52 |   {
 53 |     return;
 54 |   }
 55 | 
 56 |   servoPins[servoIndex].servo.write(servoPosition);   
 57 | }
 58 | 
 59 | 
 60 | void notify()
 61 | {
 62 |   int rx =(Ps3.data.analog.stick.rx);  //Base       =>  Right stick - x axis
 63 |   int ry =(Ps3.data.analog.stick.ry);  //Shoulder   =>  Right stick  - y axis
 64 |   int ly =(Ps3.data.analog.stick.ly);  //Elbow      =>  Left stick  - y axis 
 65 |   int lx =(Ps3.data.analog.stick.lx);  //Gripper    =>  Left stick - x axis
 66 | 
 67 |   if (rx > 50)
 68 |   {
 69 |     writeServoValues(0, SERVO_BACKWARD_STEP_ANGLE);  
 70 |   }
 71 |   else if (rx < -50)
 72 |   {
 73 |     writeServoValues(0, SERVO_FORWARD_STEP_ANGLE);  
 74 |   }
 75 | 
 76 |   if (ry > 50)
 77 |   {
 78 |     writeServoValues(1, SERVO_BACKWARD_STEP_ANGLE);  
 79 |   }
 80 |   else if (ry < -50)
 81 |   {
 82 |     writeServoValues(1, SERVO_FORWARD_STEP_ANGLE);  
 83 |   }
 84 | 
 85 |   if (ly > 50)
 86 |   {
 87 |     writeServoValues(2, SERVO_FORWARD_STEP_ANGLE);  
 88 |   }
 89 |   else if (ly < -50)
 90 |   {
 91 |     writeServoValues(2, SERVO_BACKWARD_STEP_ANGLE);  
 92 |   }
 93 | 
 94 |   if (lx > 50)
 95 |   {
 96 |     writeServoValues(3, SERVO_BACKWARD_STEP_ANGLE);  
 97 |   }
 98 |   else if (lx < -50)
 99 |   {
100 |     writeServoValues(3, SERVO_FORWARD_STEP_ANGLE);  
101 |   }
102 | 
103 |   if (Ps3.event.button_down.r2)
104 |   {
105 |     gripperSwitch = !gripperSwitch;  //Toggle gripper close / open
106 |     gripperSwitch ? writeServoValues(3, 170, true) :  writeServoValues(3, 100, true) ;
107 |   }
108 | 
109 |   if (Ps3.data.button.up)             //Move car Forward
110 |   {
111 |     rotateMotor(MAX_MOTOR_SPEED, MAX_MOTOR_SPEED);
112 |   }
113 |   else if (Ps3.data.button.down)      //Move car Backward
114 |   {
115 |     rotateMotor(-MAX_MOTOR_SPEED, -MAX_MOTOR_SPEED);
116 |   }
117 |   else if (Ps3.data.button.right)     //Move car Right
118 |   {
119 |     rotateMotor(-MAX_MOTOR_SPEED, MAX_MOTOR_SPEED);
120 |   }
121 |   else if (Ps3.data.button.left)      //Move car Left
122 |   {
123 |     rotateMotor(MAX_MOTOR_SPEED, -MAX_MOTOR_SPEED);
124 |   }
125 |   else                                //Stop the car
126 |   {
127 |     rotateMotor(0, 0);
128 |   } 
129 |     
130 |   delay(10);
131 |   
132 | }
133 | 
134 | void onConnect()
135 | {
136 |   Serial.println("Connected!.");
137 | }
138 | 
139 | void onDisConnect()
140 | {
141 |   Serial.println("Disconnected!.");    
142 | }
143 | 
144 | void rotateMotor(int rightMotorSpeed, int leftMotorSpeed)
145 | {
146 |   if (rightMotorSpeed < 0)
147 |   {
148 |     digitalWrite(rightMotorPin1,LOW);
149 |     digitalWrite(rightMotorPin2,HIGH);    
150 |   }
151 |   else if (rightMotorSpeed > 0)
152 |   {
153 |     digitalWrite(rightMotorPin1,HIGH);
154 |     digitalWrite(rightMotorPin2,LOW);      
155 |   }
156 |   else
157 |   {
158 |     digitalWrite(rightMotorPin1,LOW);
159 |     digitalWrite(rightMotorPin2,LOW);      
160 |   }
161 |   
162 |   if (leftMotorSpeed < 0)
163 |   {
164 |     digitalWrite(leftMotorPin1,LOW);
165 |     digitalWrite(leftMotorPin2,HIGH);    
166 |   }
167 |   else if (leftMotorSpeed > 0)
168 |   {
169 |     digitalWrite(leftMotorPin1,HIGH);
170 |     digitalWrite(leftMotorPin2,LOW);      
171 |   }
172 |   else
173 |   {
174 |     digitalWrite(leftMotorPin1,LOW);
175 |     digitalWrite(leftMotorPin2,LOW);      
176 |   }  
177 | }
178 | 
179 | void setUpPinModes()
180 | {
181 |   for (int i = 0; i < servoPins.size(); i++)
182 |   {
183 |     servoPins[i].servo.attach(servoPins[i].servoPin);
184 |     servoPins[i].servo.write(servoPins[i].initialPosition);    
185 |   }
186 | 
187 |   pinMode(enableRightMotor,OUTPUT);
188 |   pinMode(rightMotorPin1,OUTPUT);
189 |   pinMode(rightMotorPin2,OUTPUT);
190 |   
191 |   pinMode(enableLeftMotor,OUTPUT);
192 |   pinMode(leftMotorPin1,OUTPUT);
193 |   pinMode(leftMotorPin2,OUTPUT);
194 | 
195 |   //Set up PWM for motor speed
196 |   ledcSetup(PWMSpeedChannel, PWMFreq, PWMResolution);
197 |   ledcAttachPin(enableRightMotor, PWMSpeedChannel);
198 |   ledcAttachPin(enableLeftMotor, PWMSpeedChannel);  
199 |   ledcWrite(PWMSpeedChannel, MAX_MOTOR_SPEED);
200 |   
201 |   rotateMotor(0, 0);  
202 | }
203 | 
204 | 
205 | void setup()
206 | {
207 |   setUpPinModes();
208 |   Serial.begin(115200);
209 |   Ps3.attach(notify);
210 |   Ps3.attachOnConnect(onConnect);
211 |   Ps3.attachOnDisconnect(onDisConnect);
212 |   Ps3.begin();
213 |   Serial.println("Ready.");
214 | }
215 | 
216 | void loop()
217 | {
218 | }
219 | 


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