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code 4 months ago
#include <SoftwareSerial.h>
#include <string.h>

SoftwareSerial BTSerial(9, 10); // rx pa tx

 Step Delay: a milliseconds delay between the movement of each servo.  Allowed values from 10 to 30 msec.
   M1=base degrees. Allowed values from 0 to 180 degrees
   M2=shoulder degrees. Allowed values from 15 to 165 degrees
   M3=elbow degrees. Allowed values from 0 to 180 degrees
   M4=wrist vertical degrees. Allowed values from 0 to 180 degrees
   M5=wrist rotation degrees. Allowed values from 0 to 180 degrees
   M6=gripper degrees. Allowed values from 10 to 73 degrees. 10: the toungue is open, 73: the gripper is closed.

struct Motor {
  int maxAngle, minAngle, currentAngle;
  String name;

  Motor(String _name, int _maxAngle, int _minAngle, int _currentAngle) {
    name = _name;
    maxAngle = _maxAngle;
    minAngle = _minAngle;
    currentAngle = _currentAngle;

  void setAngle(int angle) {
    currentAngle = angle;

  int getAngle() {
    return currentAngle;

Motor Base("Base",180,0,0);
Motor Shoulder("Shoulder",165,15,0);
Motor Elbow("Elbow",180,0,0);
Motor WristV("WristV",180,0,0);
Motor WristR("WristR",180,0,0);
Motor Grip("Grip",73,10,0);

Motor Motors[6] = { Base, Shoulder, Elbow, WristV, WristR, Grip };

void MoveMotor(String motorName, int angle) {
  for(int i=0; i<6; i++) {
    if(!(Motors[i].name == motorName)) Motors[i].setAngle(angle);

void setup() {
  // put your setup code here, to run once

String msg = "";

void loop() {
  if(BTSerial.available() > 0) {
    char val = BTSerial.read();
    if(val == ';') {
      String firstParam = "";
      int secondParam = 0;
      bool first = true;

      for(int i=0; i<msg.length(); ++i) {
        if(msg[i] == ',') {
          first = false;

        if(first) firstParam += msg[i];
          secondParam = atoi(&msg[i]);
      MoveMotor(firstParam, secondParam);

      msg = "";
    else {
      msg += val;
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