2. Product installation

(1) Install the base of the robotic arm

Components Needed:

The base is installed successfully.

(2) Mount servos onto the base

Components Needed:

Assemble a servo(left) onto the left board

Components Needed:

a.Initialize the left servo

Attach this left servo to G, V and S（6）of servo motor driver shield, upload the following code, plug in power and press the rest button on the V4.0 board. Then the left servo rotates to 180°.

Download code file：Servo_180

Test Code：

#include <Servo.h>
Servo myservo; // create servo object to control a servo

void setup()
{
    Serial.begin(9600);
    delay(1000);
}

void loop()
{
    myservo.attach(6); // Change pin to adjust one by one
    myservo.write(180); //Angle
    delay(1000);
}

Fix the arm：

Mount a servo(right) onto the right board

Components Needed

Note the breach direction of acrylic board

b. Initialize the right servo

Attach this left servo to G, V and S（A0）of servo motor driver shield, upload the following code, plug in power and press the rest button on the V4.0 board. Then the left servo rotates to 0°.

Download code file：Servo_0

Set the servo to 0°：

#include <Servo.h>
Servo myservo; // create servo object to control a servo

void setup()
{
    Serial.begin(9600);
    delay(1000);
}

void loop()
{
    myservo.attach(A0); // Change pin to adjust one by one
    myservo.write(0); //Angle
    delay(1000);
}

Install the holder part

Fix the left part and the mount part together

Fix the right part and the ABS holder together.

Note the direction of the ABS holder.

Install the middle part

Assemble the claw

c. Initialize the servo

Attach this left servo to G, V and S（9）of servo motor driver shield, upload the following code, plug in power and press the rest button on the V4.0 board. Then the left servo rotates to 0°

Set the servo to 0°：

Download code file：1Servo_0.7z

#include <Servo.h>
Servo myservo; // create servo object to control a servo

void setup()
{
    Serial.begin(9600);
    delay(1000);
}

void loop()
{
    myservo.attach(9); // Change pin to adjust one by one
    myservo.write(0); //Angle
    delay(1000);
}

Mount gear wheels：

Components Needed:

Initialize the servo

Attach this left servo to G, V and S（A1）of sevro motor driver shield, upload the following code, plug in power and press the rest button on the V4.0 board. Then the left servo rotates to 80°.

Set the servo to 80°：

Download code file：Servo_80.7z

Test Code

#include <Servo.h>
Servo myservo; // create servo object to control a servo

void setup()
{
    Serial.begin(9600);
    delay(1000);
}

void loop()
{
    myservo.attach(A1); // Change pin to adjust one by one
    myservo.write(80); //Angle
    delay(1000);
}

Install the robotic arm：

Mount the control part

Wiring-up Guide

Joint Rotation and Servo Angle Settings

Name	0°	180°
Servo 1（baseplate）	Rotate toward the rightmost	Rotate toward the leftmost
Servo 2 （right side）	Rocker arm connected to Servo 2 draws back	stretch out
Servo 3 （left side）	Rocker arm connected to Servo 3 stretches out	draw back
Servo 4 (clamp claw)	close	open

Pin Control

Name	IO Pin
Servo 1 (baseplate)	A1
Servo 2 (right side)	A0
Servo 3 (left side)	6
Servo 4 (clamp claw)	9
Right Joystick X	A2
Right Joystick Y	A5
Right Joystick Z (B)	7
Left Joystick X	A3
Left Joystick Y	A4
Left Joystick Z(B)	8
D1/DAT of PS2	12
D0/CMD of PS2	11
CE/SEL of PS2	10
CLK of PS2	13