Attaching a joystick to a four-legged robot to move it

Servo motor, 3D printer output, jumper wire, joystick

Purpose to use

1. Connect with the puppy robot to move the legs

• Use the XYZ axis to move

XYZ axis photo

a photograph of supplies

Making the main body

Attach the acceleration sensor to the best position

Write code {not exact code}

line connection

servo motor GND=Arduino GND VCC=Arduino 5V Signal = Arduino signal pin acceleration sensor GND=Arduino GND VCC=Arduino 5V SCL=A5 SDA=A4

#include <Servo.h>
#include<Wire.h>

const int MPU = 0x68;  // I2C address of the MPU-6050
int16_t AcX, AcY, AcZ, Tmp, GyX, GyY, GyZ;
Servo LF;
Servo RF;
Servo LB;
Servo RB;
Servo LF_d;
Servo RF_d;
Servo LB_d;
Servo RB_d;

// 프로그램 시작 - 초기화 작업
void setup()
{
    LF.attach(3);
  RF.attach(4);
  LB.attach(5);
  RB.attach(6);
  LF_d.attach(7);
  RF_d.attach(8);
  LB_d.attach(9);
  RB_d.attach(10);
  LF.write(90);
  RF.write(90);
  LB.write(90);
  RB.write(90);
  LF_d.write(90);
  RF_d.write(90);
  LB_d.write(90);
  RB_d.write(90);
  Serial.begin(9600);     // 시리얼 통신 초기화
  Serial.println("Arduino Examples - GY-521 Gyro& Accelator (MPU-6050) Module");
  Serial.println("    <http://docs.whiteat.com/?p=2662>");

  Wire.begin();
  Wire.beginTransmission(MPU);
  Wire.write(0x6B);  // PWR_MGMT_1 register
  Wire.write(0);     // set to zero (wakes up the MPU-6050)
  Wire.endTransmission(true);

  // gyro scale
  Wire.beginTransmission(MPU);
  Wire.write(0x1B);  //
  Wire.write(0xF8);     //
  Wire.endTransmission(true);

  // acc scale
  Wire.beginTransmission(MPU);
  Wire.write(0x1C);  //
  Wire.write(0xF8);     //
  Wire.endTransmission(true);

}

void loop()
{
 

  Wire.beginTransmission(MPU);
  Wire.write(0x3B);  // starting with register 0x3B (ACCEL_XOUT_H)
  Wire.endTransmission(false);
  Wire.requestFrom(MPU, 14, true);  // request a total of 14 registers
  AcX = Wire.read() << 8 | Wire.read();  // 0x3B (ACCEL_XOUT_H) & 0x3C (ACCEL_XOUT_L)
  AcY = Wire.read() << 8 | Wire.read();  // 0x3D (ACCEL_YOUT_H) & 0x3E (ACCEL_YOUT_L)
  AcZ = Wire.read() << 8 | Wire.read();  // 0x3F (ACCEL_ZOUT_H) & 0x40 (ACCEL_ZOUT_L)
  Tmp = Wire.read() << 8 | Wire.read();  // 0x41 (TEMP_OUT_H) & 0x42 (TEMP_OUT_L)
  GyX = Wire.read() << 8 | Wire.read();  // 0x43 (GYRO_XOUT_H) & 0x44 (GYRO_XOUT_L)
  GyY = Wire.read() << 8 | Wire.read();  // 0x45 (GYRO_YOUT_H) & 0x46 (GYRO_YOUT_L)
  GyZ = Wire.read() << 8 | Wire.read();  // 0x47 (GYRO_ZOUT_H) & 0x48 (GYRO_ZOUT_L)

  /*
    Serial.print("AcX = "); Serial.print(AcX);
    Serial.print(" | AcY = "); Serial.print(AcY);
    Serial.print(" | AcZ = "); Serial.print(AcZ);
    Serial.print(" | Tmp = "); Serial.print(Tmp / 340.00 + 36.53);  //equation for temperature in degrees C from datasheet
    Serial.print(" | GyX = "); Serial.print(GyX);
    Serial.print(" | GyY = "); Serial.print(GyY);
    Serial.print(" | GyZ = "); Serial.println(GyZ);
    delay(333);
  */

  int xAxis = (AcX - 1090);
  int yAxis = (AcY - 930);
  int zAxis = (AcZ - 1000);
  
  Serial.print(xAxis);
  Serial.print(" ");
  Serial.print(yAxis);
  Serial.print(" ");
  Serial.print(zAxis);
  Serial.println(" ");

  delay(50);

if (AcX>0) 
{ 
  LF.write(135);
  LF_d.write(135);
  LB.write(135);
  LB_d.write(0);
  delay(1000);
}
else
{
  LF.write(90);
  LF_d.write(90);
  LB.write(90);
  LB_d.write(90); 
  delay(1000);
}

if (AcY>15) 
{
   RB.write(45);
   RF.write(45);
   RF_d.write(45);
   RB_d.write(180);
   delay(1000);
}
else
{
   RB.write(90);
   RF.write(90);
   RF_d.write(90);
   RB_d.write(90);
   delay(1000);
}

if (AcZ>15) 
{
  LF.write(135);
  LF_d.write(135);
     RB.write(45);
   RF.write(45);
   delay(1000);
}

else
{
   LF.write(90);
  LF_d.write(90);
     RB.write(90);
   RF.write(90);
   delay(1000);
}

}

## Change of plan

Change from acceleration sensor to joystick. picture

line connection

servo motor GND=Arduino GND VCC=Arduino 5V Signal = Arduino signal pin joy stick GND=Arduino GND VCC=Arduino 5V VRX=A0 VRY=A1 SW=Signal No. 2 code

//조이스틱으로 서보모터 제어하기
#include <Servo.h>

Servo LF;
Servo RF;
Servo LB;
Servo RB;
Servo LF_d;
Servo RF_d;
Servo LB_d;
Servo RB_d;
int kpin = 7, xpin = A0, ypin = A1;
int servoPin = 2, angle = 90;

void setup() {
   LF.attach(3);
  RF.attach(4);
  LB.attach(5);
  RB.attach(6);
  LF_d.attach(8);
  RF_d.attach(9);
  LB_d.attach(10);
  RB_d.attach(11);
  LF.write(90);
  RF.write(90);
  LB.write(90);
  RB.write(90);
  LF_d.write(90);
  RF_d.write(90);
  LB_d.write(90);
  RB_d.write(90);
  pinMode(kpin, INPUT);
  digitalWrite(kpin, HIGH);
}

void loop() {
  //스위치 및 X, Y 축 값 읽어오기
  int swValue = digitalRead(kpin);
  int xValue = analogRead(xpin);
  int yValue = analogRead(ypin);

 

 if (xValue>200) 
{
    LF_d.write(135);
  RF_d.write(45);
  LB_d.write(135);
  RB_d.write(45);

}
else
{
   LF_d.write(0);
    LF.write(0);
  RF_d.write(180);
  RF.write(180);
   delay(250);
  LB_d.write(0);
  RB_d.write(180);
 delay(250);
 

}

}

My right leg is broken while walking on all fours and I am in the process of repairing it.

Reason: The soul of the servoter

My leg was separated when I fell.

I fixed my broken leg last time and it is moving well now.

And a problem arose.

The point is that the angles of the servo motors are all different and there is a slight delay when moving.