Published April 17, 2020 © GPL3+

What Do I Build Next? RC Tank with 4DOF Arm

What Do I Build Next? This time a RC Tank with a 4DOF arm controlled with a PS2 controller. Sounds easy... Not

BeginnerFull instructions provided2 hours1,099

What Do I Build Next? RC Tank with 4DOF Arm

Things used in this project

Hardware components

Amazon Web Services RC Tank kit with 4DOF ARM

Amazon Web Services 18650 batteries

Amazon Web Services AAA battery

Software apps and online services

Arduino IDE

Amazon Web Services Makerbuying-Small Hammer Website

Hand tools and fabrication machines

Phillips screwdriver

Plier, Long Nose

Plier, Cutting

Story

What Do I Build Next? A RC Tank with 4DOF arm operated by a PS2 Controller. In January, I was gifted "what else" an Amazon Gift Card for $100.00. Lucky for me, Amazon had an interesting RC Tank with a 4DOF Arm that caught my interest.

SNAR20 RC Arduino tank robot

This kit apparently was available also as two seperate kits that some marketing guy bundled together. It required 3 different write-ups to piece together.

The SN7300 RC Arduino tank robot " https://smallhammer.cc/docs/sn7300 "

SN7300 Tank Chassis

, the 4DOF Manipulator Arm " https://smallhammer.cc/docs/snar23 or https://smallhammer.cc/docs/snam5000/ "

SNAR23 4DOF Manipulator Arm

, and then joining them together assembly " https://smallhammer.cc/docs/snar20 "

SNAR20 RC Tank with 4DOF Manipulator Arm

This kit was easy to build, written documentation and pictures could be clearer to understand but email support was required and quick responses followed due to missing hardware and a mislabelled battery holder- be careful- I will explain later.

1 / 2 • Be advised this is a parallel battery holder but is mislabelled for series

The lack of clear documentation of this oversight led to three weeks of downtime and many emails. The picture above is one of two battery holders, notice the imprinted battery pictures indicating a series orientation (7.4vdc output), but both ends have solid bars across metal tabs or springs, thus making them in parallel (3.7vdc output), so when I placed the two 18650 3.7vdc batteries into this holder following the orientation indicated the battery holder caught on fire and luckily for me I dropped it on the floor and the batteries popped out stopping the fire. End result.... a melted battery holder. The seller later replied to me that I was supposed to install one battery in this holder which was slated to drive the 4DOF servos. Also, in another email, it was indicated that this battery holder was not required since the primary Arduino battery holder (7.4vdc) was adequate to drive both the tank and the arm servos.

My kit did not have all the required length screws to assemble the servos to the brackets, it did have screws but they were all same length, but too short. I was also missing one bearing assembly. The vendor ensured me of prompt reshipment but COVID 19 outbreak in China caused shipping delays in required replacement parts.

Now for the Build.

Unbox

1 / 7 • The arrival

Download-access documentation for each component assembly-URL links or QR code

SN7300 Acrylic Tank Chassis 1 " https://smallhammer.cc/docs/sn7300 "

SNAM5000 4dof ps2 rc arduino arm install guide " https://smallhammer.cc/docs/snam5000 "

SNAR20 RC Arduino tank robot arm guide

" https://smallhammer.cc/docs/snar20 "

Assemble the Tank chassis

1 / 10 • Again my pet peeve...peeling protective paper

Attach the DC Motors

1 / 8 • hardware laid out

Assemble and Attach the Drive wheels

1 / 15 • Gather and layout all hardware

Assemble Sprockets

1 / 9 • gather hardware

Assemble and Attach the Tank Tracks

1 / 21 • gather hardware

Prepare Electronics

1 / 9 • gather hardware

Assemble and Install 4DOF Arm onto Tank chassis

1 / 12 • gather hardware

Attach the servos- all servos must be set to mid position (centered) before installation to ensure proper range of motion.

https://learn.parallax.com/tutorials/robot/shield-bot/robotics-board-education-shield-arduino/chapter-2-shield-lights-servo-5

http://www.bpesolutions.com/atechnical/ServoInfo.Center.pdf

https://www.rcgroups.com/forums/showthread.php?2182690-Centering-Servos-How-To

or https://www.youtube.com/watch?v=XpvVhnIrUyo

1 / 18 • attach servo 1 to Tank chassis

Attach Claw to servo Arm

1 / 17 • gather hardware for servo 4 claw/manipulator

Position/Prep Decktop

There really wasn't a definitive location to mount the Arduino board and both battery holders. The 4DOF arm attached to the chassis via a servo cutout so that determined where everything else end-up...but that Arm was added after the Tank was assembled and the Arduino and battery holders were installed. I ultimately ended up moving the Arduino board "redrilling holes" and also filing down the edges on one servo bracket so that left to right pivot/rotation would be un-impeded.

1 / 8 • rough layout of electronics

Attach Electronics

1 / 15 • position Arduino

Interconnect

1 / 9 • verify servos are home- readjust to proper orientation midpoint

Schematics

Install software onto Arduino-

" http://downcdn.xiaodingchui.com/Motor_Shield.zip "

Completed PS2 controlled RC Tank with 4DOF Arm with claw DEMO

1st DEMO Video

This is a fast moving RC Tank. The batteries in the PS2 controller for whatever reason kept draining on me...I suspect old "AAA" batteries on my part.

Code

#include "PS2X_lib.h"  //for v1.6
#include <Wire.h>
#include "Adafruit_MotorShield.h"
#include "Adafruit_MS_PWMServoDriver.h"

/******************************************************************
 * set pins connected to PS2 controller:
 *   - 1e column: original 
 *   - 2e colmun: Stef?
 * replace pin numbers by the ones you use
 ******************************************************************/
#define PS2_DAT        12  
#define PS2_CMD        11  
#define PS2_SEL        10 
#define PS2_CLK        13 

/******************************************************************
 * select modes of PS2 controller:
 *   - pressures = analog reading of push-butttons 
 *   - rumble    = motor rumbling
 * uncomment 1 of the lines for each mode selection
 ******************************************************************/
//#define pressures   true
#define pressures   true 
//#define rumble      true
#define rumble      true

PS2X ps2x; // create PS2 Controller Class

//right now, the library does NOT support hot pluggable controllers, meaning 
//you must always either restart your Arduino after you connect the controller, 
//or call config_gamepad(pins) again after connecting the controller.

int error = 0;
byte type = 0;
byte vibrate = 0;

int lx = 0;
int ly=  0;
int L_Speed = 0;
int R_Speed = 0;
// Create the motor shield object with the default I2C address
Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 
// Or, create it with a different I2C address (say for stacking)
// Adafruit_MotorShield AFMS = Adafruit_MotorShield(0x61); 

// Select which 'port' M1, M2, M3 or M4. In this case, M1
Adafruit_DCMotor *L_M3 = AFMS.getMotor(3);
Adafruit_DCMotor *R_M4 = AFMS.getMotor(4);
// You can also make another motor on port M2
//Adafruit_DCMotor *myOtherMotor = AFMS.getMotor(2);


const int SERVOS = 4;
const int ACC = 10; // the accurancy of the potentiometer value before idle starts counting
int PIN[SERVOS], value[SERVOS], idle[SERVOS], currentAngle[SERVOS], MIN[SERVOS], MAX[SERVOS], INITANGLE[SERVOS], previousAngle[SERVOS],ANA[SERVOS];

void setServoPulse(uint8_t n, double pulse) {
  double pulselength;
  pulselength = 1000000;   // 1,000,000 us per second
  pulselength /= 50;   // 50 Hz
  Serial.print(pulselength); Serial.println(" us per period"); 
  pulselength /= 4096;  // 12 bits of resolution
  Serial.print(pulselength); Serial.println(" us per bit"); 
  pulse *= 1000;
  pulse /= pulselength;
  Serial.println(pulse);
  AFMS.setPWM(n, pulse);
}

// Angle to PWM
void writeServo(uint8_t n,uint8_t angle){
  double pulse;
  pulse=0.5+angle/90.0;
  setServoPulse(n,pulse);
}

void setup(){
  Serial.begin(57600);
  delay(2000);  //added delay to give wireless ps2 module some time to startup, before configuring it
  Serial.print("Search Controller..");
  //CHANGES for v1.6 HERE!!! **************PAY ATTENTION*************
  do{
  //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?) check for error
    error = ps2x.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, pressures, rumble);
    if(error == 0){
      Serial.println("\nConfigured successful ");
      break;
    }else{
      Serial.print(".");
      delay(100);
    }
  }while(1);  
  type = ps2x.readType(); 
  switch(type) {
    case 0:
      Serial.println("Unknown Controller type found ");
      break;
    case 1:
      Serial.println("DualShock Controller found ");
      break;
    case 2:
      Serial.println("GuitarHero Controller found ");
      break;
    case 3:
      Serial.println("Wireless Sony DualShock Controller found ");
      break;
   }
   ps2x.read_gamepad(true, 200);
   delay(500);
   ps2x.read_gamepad(false, 200);
   delay(300);
   ps2x.read_gamepad(true, 200);
   delay(500);
   
    //Middle Servo
  PIN[0] = 0;
  MIN[0] = 10;
  MAX[0] = 170;
  INITANGLE[0] = 90;
  ANA[0] = 3;
  //Left Side
  PIN[1] = 1;
  MIN[1] = 10; // This should bring the lever to just below 90deg to ground
  MAX[1] = 140;
  INITANGLE[1] = 90; // This should bring the lever parallel with the ground
  ANA[1] = 2;
  //Right Side
  PIN[2] = 14;
  MIN[2] = 40;
  MAX[2] = 170;
  INITANGLE[2] = 90;
  ANA[2] = 0;
  //Claw Servo
  PIN[3] = 15;
  MIN[3] = 0;
  MAX[3] = 120;
  INITANGLE[3] = 60;
  ANA[3] = 1;
  
  AFMS.begin(50);  // create with the default frequency 1.6KHz
  for (int i = 0; i < SERVOS; i++){
    value[i] = 0;
    idle[i] = 0;
    previousAngle[i]=INITANGLE[i];
    currentAngle[i]=INITANGLE[i];
    writeServo(PIN[i],INITANGLE[i]);
  }
  

   
}

void loop() {
  /* You must Read Gamepad to get new values and set vibration values
     ps2x.read_gamepad(small motor on/off, larger motor strenght from 0-255)
     if you don't enable the rumble, use ps2x.read_gamepad(); with no values
     You should call this at least once a second
   */  
    ps2x.read_gamepad(false, vibrate); //read controller and set large motor to spin at 'vibrate' speed
    
    if(ps2x.Button(PSB_START)){         //will be TRUE as long as button is pressed
      Serial.println("Start is being held");
      ps2x.read_gamepad(true, 200);
    }
    if(ps2x.Button(PSB_SELECT))
      Serial.println("Select is being held");      

  
    if(ps2x.Button(PSB_PAD_UP)) {      //will be TRUE as long as button is pressed
      Serial.print("Up held this hard: ");
      Serial.println(ps2x.Analog(PSAB_PAD_UP), DEC);
      L_M3->run(FORWARD);
      R_M4->run(FORWARD);
      L_Speed = ps2x.Analog(PSAB_PAD_UP);
      R_Speed = ps2x.Analog(PSAB_PAD_UP);  
    }else if(ps2x.ButtonReleased(PSB_PAD_UP))  {
      L_M3->run(RELEASE);
      R_M4->run(RELEASE);      
    }
    if(ps2x.Button(PSB_PAD_DOWN)){
      Serial.print("DOWN held this hard: ");
      Serial.println(ps2x.Analog(PSAB_PAD_DOWN), DEC);
      L_Speed = ps2x.Analog(PSAB_PAD_DOWN);
      R_Speed = ps2x.Analog(PSAB_PAD_DOWN);       
      L_M3->run(BACKWARD);
      R_M4->run(BACKWARD);
    }else if(ps2x.ButtonReleased(PSB_PAD_DOWN))  {
      L_M3->run(RELEASE);
      R_M4->run(RELEASE);      
    }
    if(ps2x.Button(PSB_R1)){
      R_Speed = 0;
    }
    if(ps2x.Button(PSB_L1)){
      L_Speed = 0;
    }
    L_M3->setSpeed(L_Speed);
    R_M4->setSpeed(R_Speed);
    
    if(ps2x.Button(PSB_PAD_LEFT)){
      L_M3->run(BACKWARD);
      R_M4->run(FORWARD);
      L_M3->setSpeed(250);
      R_M4->setSpeed(250);
    }else if(ps2x.ButtonReleased(PSB_PAD_LEFT))  {
      L_M3->run(RELEASE);
      R_M4->run(RELEASE);      
    }
    if(ps2x.Button(PSB_PAD_RIGHT)){
      Serial.println(ps2x.Analog(PSB_PAD_RIGHT));
      L_M3->run(FORWARD);
      R_M4->run(BACKWARD);
      L_M3->setSpeed(250);
      R_M4->setSpeed(250);
    }else if(ps2x.ButtonReleased(PSB_PAD_RIGHT))  {
      Serial.println("*****PSB_PAD_RIGHT***** ");
      L_M3->run(RELEASE);
      R_M4->run(RELEASE);      
    }

    
    vibrate = ps2x.Analog(PSAB_CROSS);  //this will set the large motor vibrate speed based on how hard you press the blue (X) button
    if (ps2x.NewButtonState()) {        //will be TRUE if any button changes state (on to off, or off to on)
      if(ps2x.Button(PSB_L3))
        Serial.println("L3 pressed");
      if(ps2x.Button(PSB_R3))
        Serial.println("R3 pressed");
      if(ps2x.Button(PSB_L2))
        Serial.println("L2 pressed");
      if(ps2x.Button(PSB_R2))
        Serial.println("R2 pressed");
      if(ps2x.Button(PSB_TRIANGLE))
        Serial.println("Triangle pressed");        
    }

    if(ps2x.ButtonPressed(PSB_CIRCLE)){               //will be TRUE if button was JUST pressed
      Serial.println("Circle just pressed");
      openGripper(); 
    }
    if(ps2x.NewButtonState(PSB_CROSS)) {              //will be TRUE if button was JUST pressed OR released
      Serial.println("X just changed");
      ps2x.read_gamepad(true, vibrate);   
  }
    if(ps2x.ButtonPressed(PSB_SQUARE)) {             //will be TRUE if button was JUST released
      Serial.println("Square just released");
      closeGripper() ;
    }
    if(ps2x.Button(PSB_L1) || ps2x.Button(PSB_R1)) { //print stick values if either is TRUE
      Serial.print("Stick Values:");
      Serial.print(ps2x.Analog(PSS_LY), DEC); //Left stick, Y axis. Other options: LX, RY, RX  
      Serial.print(",");
      Serial.print(ps2x.Analog(PSS_LX), DEC); 
      Serial.print(",");
      Serial.print(ps2x.Analog(PSS_RY), DEC); 
      Serial.print(",");
      Serial.println(ps2x.Analog(PSS_RX), DEC); 
      
    }     
  
  
  value[0] = ps2x.Analog(PSS_LX);
  value[1] = ps2x.Analog(PSS_RY);
  value[2] = ps2x.Analog(PSS_LY);
  value[3] = ps2x.Analog(PSS_RX);
  
   for (int i = 0; i < SERVOS; i++){
    if (value[i] > 130) {
      if (currentAngle[i] < MAX[i]) currentAngle[i]+=1;
      writeServo(PIN[i],currentAngle[i]);     
    } else if (value[i] < 120) {
      if (currentAngle[i] > MIN[i]) currentAngle[i]-=1;
      writeServo(PIN[i],currentAngle[i]);    
    }  
  }  
  
  delay(10);
}


//Grab something
void openGripper() {
  writeServo(PIN[3],MIN[3]);
  delay(300);
}

//Let go of something
void closeGripper() {
  writeServo(PIN[3],MAX[3]);
  delay(300);
}

/******************************************************************
*  Super amazing PS2 controller Arduino Library v1.8
*		details and example sketch: 
*			http://www.billporter.info/?p=240
*
*    Original code by Shutter on Arduino Forums
*
*    Revamped, made into lib by and supporting continued development:
*              Bill Porter
*              www.billporter.info
*
*	 Contributers:
*		Eric Wetzel (thewetzel@gmail.com)
*		Kurt Eckhardt
*
*  Lib version history
*    0.1 made into library, added analog stick support. 
*    0.2 fixed config_gamepad miss-spelling
*        added new functions:
*          NewButtonState();
*          NewButtonState(unsigned int);
*          ButtonPressed(unsigned int);
*          ButtonReleased(unsigned int);
*        removed 'PS' from begining of ever function
*    1.0 found and fixed bug that wasn't configuring controller
*        added ability to define pins
*        added time checking to reconfigure controller if not polled enough
*        Analog sticks and pressures all through 'ps2x.Analog()' function
*        added:
*          enableRumble();
*          enablePressures();
*    1.1  
*        added some debug stuff for end user. Reports if no controller found
*        added auto-increasing sentence delay to see if it helps compatibility.
*    1.2
*        found bad math by Shutter for original clock. Was running at 50kHz, not the required 500kHz. 
*        fixed some of the debug reporting. 
*	1.3 
*	    Changed clock back to 50kHz. CuriousInventor says it's suppose to be 500kHz, but doesn't seem to work for everybody. 
*	1.4
*		Removed redundant functions.
*		Fixed mode check to include two other possible modes the controller could be in.
*       Added debug code enabled by compiler directives. See below to enable debug mode.
*		Added button definitions for shapes as well as colors.
*	1.41
*		Some simple bug fixes
*		Added Keywords.txt file
*	1.5
*		Added proper Guitar Hero compatibility
*		Fixed issue with DEBUG mode, had to send serial at once instead of in bits
*	1.6
*		Changed config_gamepad() call to include rumble and pressures options
*			This was to fix controllers that will only go into config mode once
*			Old methods should still work for backwards compatibility 
*    1.7
*		Integrated Kurt's fixes for the interrupts messing with servo signals
*		Reorganized directory so examples show up in Arduino IDE menu
*    1.8
*		Added Arduino 1.0 compatibility. 
*    1.9
*       Kurt - Added detection and recovery from dropping from analog mode, plus
*       integreated Chipkit (pic32mx...) support
*
*
*
*This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.
<http://www.gnu.org/licenses/>
*  
******************************************************************/

// $$$$$$$$$$$$ DEBUG ENABLE SECTION $$$$$$$$$$$$$$$$
// to debug ps2 controller, uncomment these two lines to print out debug to uart
//#define PS2X_DEBUG
//#define PS2X_COM_DEBUG

#ifndef PS2X_lib_h
  #define PS2X_lib_h

#if ARDUINO > 22
  #include "Arduino.h"
#else
  #include "WProgram.h"
#endif

#include <math.h>
#include <stdio.h>
#include <stdint.h>
#ifdef __AVR__
  // AVR
  #include <avr/io.h>
  #define CTRL_CLK        4
  #define CTRL_BYTE_DELAY 3
#else
  // Pic32...
  #include <pins_arduino.h>
  #define CTRL_CLK        5
  #define CTRL_CLK_HIGH   5
  #define CTRL_BYTE_DELAY 4
#endif 

//These are our button constants
#define PSB_SELECT      0x0001
#define PSB_L3          0x0002
#define PSB_R3          0x0004
#define PSB_START       0x0008
#define PSB_PAD_UP      0x0010
#define PSB_PAD_RIGHT   0x0020
#define PSB_PAD_DOWN    0x0040
#define PSB_PAD_LEFT    0x0080
#define PSB_L2          0x0100
#define PSB_R2          0x0200
#define PSB_L1          0x0400
#define PSB_R1          0x0800
#define PSB_GREEN       0x1000
#define PSB_RED         0x2000
#define PSB_BLUE        0x4000
#define PSB_PINK        0x8000
#define PSB_TRIANGLE    0x1000
#define PSB_CIRCLE      0x2000
#define PSB_CROSS       0x4000
#define PSB_SQUARE      0x8000

//Guitar  button constants
#define UP_STRUM		0x0010
#define DOWN_STRUM		0x0040
#define STAR_POWER		0x0100
#define GREEN_FRET		0x0200
#define YELLOW_FRET		0x1000
#define RED_FRET		0x2000
#define BLUE_FRET		0x4000
#define ORANGE_FRET		0x8000
#define WHAMMY_BAR		8

//These are stick values
#define PSS_RX 5
#define PSS_RY 6
#define PSS_LX 7
#define PSS_LY 8

//These are analog buttons
#define PSAB_PAD_RIGHT    9
#define PSAB_PAD_UP      11
#define PSAB_PAD_DOWN    12
#define PSAB_PAD_LEFT    10
#define PSAB_L2          19
#define PSAB_R2          20
#define PSAB_L1          17
#define PSAB_R1          18
#define PSAB_GREEN       13
#define PSAB_RED         14
#define PSAB_BLUE        15
#define PSAB_PINK        16
#define PSAB_TRIANGLE    13
#define PSAB_CIRCLE      14
#define PSAB_CROSS       15
#define PSAB_SQUARE      16

#define SET(x,y) (x|=(1<<y))
#define CLR(x,y) (x&=(~(1<<y)))
#define CHK(x,y) (x & (1<<y))
#define TOG(x,y) (x^=(1<<y))

class PS2X {
  public:
    boolean Button(uint16_t);                //will be TRUE if button is being pressed
    unsigned int ButtonDataByte();
    boolean NewButtonState();
    boolean NewButtonState(unsigned int);    //will be TRUE if button was JUST pressed OR released
    boolean ButtonPressed(unsigned int);     //will be TRUE if button was JUST pressed
    boolean ButtonReleased(unsigned int);    //will be TRUE if button was JUST released
    void read_gamepad();
    boolean  read_gamepad(boolean, byte);
    byte readType();
    byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t);
    byte config_gamepad(uint8_t, uint8_t, uint8_t, uint8_t, bool, bool);
    void enableRumble();
    bool enablePressures();
    byte Analog(byte);
    void reconfig_gamepad();

  private:
    inline void CLK_SET(void);
    inline void CLK_CLR(void);
    inline void CMD_SET(void);
    inline void CMD_CLR(void);
    inline void ATT_SET(void);
    inline void ATT_CLR(void);
    inline bool DAT_CHK(void);
    
    unsigned char _gamepad_shiftinout (char);
    unsigned char PS2data[21];
    void sendCommandString(byte*, byte);
    unsigned char i;
    unsigned int last_buttons;
    unsigned int buttons;
	
    #ifdef __AVR__
      uint8_t maskToBitNum(uint8_t);
      uint8_t _clk_mask; 
      volatile uint8_t *_clk_oreg;
      uint8_t _cmd_mask; 
      volatile uint8_t *_cmd_oreg;
      uint8_t _att_mask; 
      volatile uint8_t *_att_oreg;
      uint8_t _dat_mask; 
      volatile uint8_t *_dat_ireg;
    #else
      uint8_t maskToBitNum(uint8_t);
      uint16_t _clk_mask; 
      volatile uint32_t *_clk_lport_set;
      volatile uint32_t *_clk_lport_clr;
      uint16_t _cmd_mask; 
      volatile uint32_t *_cmd_lport_set;
      volatile uint32_t *_cmd_lport_clr;
      uint16_t _att_mask; 
      volatile uint32_t *_att_lport_set;
      volatile uint32_t *_att_lport_clr;
      uint16_t _dat_mask; 
      volatile uint32_t *_dat_lport;
    #endif
	
    unsigned long last_read;
    byte read_delay;
    byte controller_type;
    boolean en_Rumble;
    boolean en_Pressures;
};

#endif

/*************************************************** 
  This is a library for our Adafruit 16-channel PWM & Servo driver

  Pick one up today in the adafruit shop!
  ------> http://www.adafruit.com/products/815

  These displays use I2C to communicate, 2 pins are required to  
  interface. For Arduino UNOs, thats SCL -> Analog 5, SDA -> Analog 4

  Adafruit invests time and resources providing this open source code, 
  please support Adafruit and open-source hardware by purchasing 
  products from Adafruit!

  Written by Limor Fried/Ladyada for Adafruit Industries.  
  BSD license, all text above must be included in any redistribution
 ****************************************************/

#ifndef _Adafruit_MS_PWMServoDriver_H
#define _Adafruit_MS_PWMServoDriver_H

#if ARDUINO >= 100
 #include "Arduino.h"
#else
 #include "WProgram.h"
#endif


#define PCA9685_SUBADR1 0x2
#define PCA9685_SUBADR2 0x3
#define PCA9685_SUBADR3 0x4

#define PCA9685_MODE1 0x0
#define PCA9685_PRESCALE 0xFE

#define LED0_ON_L 0x6
#define LED0_ON_H 0x7
#define LED0_OFF_L 0x8
#define LED0_OFF_H 0x9

#define ALLLED_ON_L 0xFA
#define ALLLED_ON_H 0xFB
#define ALLLED_OFF_L 0xFC
#define ALLLED_OFF_H 0xFD


class Adafruit_MS_PWMServoDriver {
 public:
  Adafruit_MS_PWMServoDriver(uint8_t addr = 0x40);
  void begin(void);
  void reset(void);
  void setPWMFreq(float freq);
  void setPWM(uint8_t num, uint16_t on, uint16_t off);

 private:
  uint8_t _i2caddr;

  uint8_t read8(uint8_t addr);
  void write8(uint8_t addr, uint8_t d);
};

#endif

/******************************************************************
 This is the library for the Adafruit Motor Shield V2 for Arduino. 
 It supports DC motors & Stepper motors with microstepping as well
 as stacking-support. It is *not* compatible with the V1 library!

 It will only work with https://www.adafruit.com/products/1483
 
 Adafruit invests time and resources providing this open
 source code, please support Adafruit and open-source hardware
 by purchasing products from Adafruit!
 
 Written by Limor Fried/Ladyada for Adafruit Industries.
 BSD license, check license.txt for more information.
 All text above must be included in any redistribution.
 ******************************************************************/

#ifndef _Adafruit_MotorShield_h_
#define _Adafruit_MotorShield_h_

#include <inttypes.h>
#include <Wire.h>
#include "Adafruit_MS_PWMServoDriver.h"

//#define MOTORDEBUG

#define MICROSTEPS 16         // 8 or 16

#define MOTOR1_A 2
#define MOTOR1_B 3
#define MOTOR2_A 1
#define MOTOR2_B 4
#define MOTOR4_A 0
#define MOTOR4_B 6
#define MOTOR3_A 5
#define MOTOR3_B 7

#define FORWARD 1
#define BACKWARD 2
#define BRAKE 3
#define RELEASE 4

#define SINGLE 1
#define DOUBLE 2
#define INTERLEAVE 3
#define MICROSTEP 4

class Adafruit_MotorShield;

class Adafruit_DCMotor
{
 public:
  Adafruit_DCMotor(void);
  friend class Adafruit_MotorShield;
  void run(uint8_t);
  void setSpeed(uint8_t);
  
 private:
  uint8_t PWMpin, IN1pin, IN2pin;
  Adafruit_MotorShield *MC;
  uint8_t motornum;
};

class Adafruit_StepperMotor {
 public:
  Adafruit_StepperMotor(void);
  friend class Adafruit_MotorShield;

  void step(uint16_t steps, uint8_t dir,  uint8_t style = SINGLE);
  void setSpeed(uint16_t);
  uint8_t onestep(uint8_t dir, uint8_t style);
  void release(void);
  uint32_t usperstep;

 private:
  uint8_t PWMApin, AIN1pin, AIN2pin;
  uint8_t PWMBpin, BIN1pin, BIN2pin;
  uint16_t revsteps; // # steps per revolution
  uint8_t currentstep;
  Adafruit_MotorShield *MC;
  uint8_t steppernum;
};

class Adafruit_MotorShield
{
  public:
    Adafruit_MotorShield(uint8_t addr = 0x60);
    friend class Adafruit_DCMotor;
    void begin(uint16_t freq = 1600);

    void setPWM(uint8_t pin, uint16_t val);
    void setPin(uint8_t pin, boolean val);
    Adafruit_DCMotor *getMotor(uint8_t n);
    Adafruit_StepperMotor *getStepper(uint16_t steps, uint8_t n);
 private:
    uint8_t _addr;
    uint16_t _freq;
    Adafruit_DCMotor dcmotors[4];
    Adafruit_StepperMotor steppers[2];
    Adafruit_MS_PWMServoDriver _pwm;
};

#endif

Credits

James Martel

48 projects • 62 followers

Self taught Robotics platform developer with electronics background

What Do I Build Next? RC Tank with 4DOF Arm

Things used in this project

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Software apps and online services

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Story

Schematics

interconnect

interconnect two

Code

PS2X_ArmCar_Shield

PS2X_lib.h

Adafruit_MS_PWMServoDriver.h

Adafruit_MotorShield.h

Motor_Shield.zip

Credits

James Martel

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What Do I Build Next? RC Tank with 4DOF Arm

What Do I Build Next? RC Tank with 4DOF Arm

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Schematics

interconnect

interconnect two

Code

PS2X_ArmCar_Shield

PS2X_lib.h

Adafruit_MS_PWMServoDriver.h

Adafruit_MotorShield.h

Motor_Shield.zip

Credits

James Martel

Comments

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