Delta robots

Quote

Delta robot
By mjcbruin

Copy mouse movement (for now)
Cost to build:
$70
Time to build:
10 hours

* Actuators / output devices: 3 servo's
* Control method: mouse
* CPU: Arduino Decimila
* Operating system: windows XP
* Power source: USB, servo's by arduino
* Programming language: Processing (java), Arduino

Quote

Arduino code

#include

SoftwareServo servo1;
SoftwareServo servo2;
SoftwareServo servo3;
int servo1Pos = 90;
int servo2Pos = 90;
int servo3Pos = 90;
int servo1Afwijking = -2;
int servo2Afwijking = 8;
int servo3Afwijking = 8;

int data = 0;

void setup(){
pinMode(13, OUTPUT);

servo1.attach(10);

servo2.attach(11);

servo3.attach(12);
//pinmode
Serial.begin(115200);
}

void loop(){
if (Serial.available() > 0) {
// read the incoming byte:
data = Serial.read();

if (data == 255){
delay(7);
if (Serial.available() > 0) {
servo1Pos = Serial.read();
}
}

if (data == 254){
delay(7);
if (Serial.available() > 0) {
servo2Pos = Serial.read();
}
}

if (data == 253){
delay(7);
if (Serial.available() > 0) {
servo3Pos = Serial.read();
}
serialTeller = 0;

} else {
serialTeller++;

}
if (serialTeller >1000){
servo1Pos = 90;
servo2Pos = 90;
servo3Pos = 90;
}

if (serialTeller < 2000){
SoftwareServo::refresh();
}
}
if (servo1Pos < 30){
servo1Pos = 30;
}
if (servo2Pos < 30){
servo2Pos = 30;
}
if (servo3Pos < 30){
servo3Pos = 30;
}
if (servo1Pos > 130){
servo1Pos = 130;
}
if (servo2Pos > 130){
servo2Pos = 130;
}
if (servo3Pos > 130){
servo3Pos = 130;
}
servo1.write(servo1Pos-servo1Afwijking);
servo2.write(servo2Pos-servo2Afwijking);
servo3.write(servo3Pos-servo3Afwijking);
}

-------------------------------------------------------------------------

Precessing code:

import processing.serial.*;

Serial myPort; // The serial port:

int servo1 = 0;
int servo2 = 0;
int servo3 = 0;
int serialBegin = 255;


void setup() {
size(600,600);

myPort = new Serial(this, Serial.list()[1], 115200);

frameRate(100);
noCursor();

}

void draw() {

background(255);

triangle(width/2, height, 0, 200, width, 200);

servo1 = 100-int(dist(width/2,0,mouseX,mouseY)/6);
servo2 = 100-int(dist(0,height,mouseX,mouseY)/6);
servo3 = 100-int(dist(width,height,mouseX,mouseY)/6);
strokeWeight(3);
line(300,200,mouseX,mouseY);
line(150,400,mouseX,mouseY);
line(450,400,mouseX,mouseY);

println("X "+mouseX);
println("Y "+mouseY);




if (servo1 < 0){
servo1=0;
}

if (servo2 <0){
servo2=0;
}

if (servo3 <0){
servo3=0;
}

if (mousePressed && (mouseButton == LEFT)) {
servo1 -= 20;
servo2 -= 20;
servo3 -= 20;
}
if (mousePressed && (mouseButton == RIGHT)) {
servo1 += 40;
servo2 += 40;
servo3 += 40;
}


//println("servo1 "+servo1);
//println("servo2 "+servo2);
//println("servo3 "+servo3);
//Serial.write
myPort.write(255);
//delay(10);
myPort.write(servo1+30);
//delay(10);
myPort.write(254);
//delay(10);
myPort.write(servo2+30);
//delay(10);
myPort.write(253);
//delay(10);
myPort.write(servo3+30);
//delay(10);



}

Quote
Lawrence
I think your missing the point that with a delta robot there is no need for a Mendel.