WEEK 8
Program the Project (Robotic Arm)
The figure above show the code for robotic arm program that are link with
the hand motion controller’s program. This program will show the output on the motor
drive and follow the instruction of the hand motion controller’s program. For example,
if the digital read 0 (D0) is high and another digital read 1 (D1), digital
read 2 (D2) and digital read 3 (D3) is low, then the motor drive will be move
up (forward). After that, if the digital read 1 (D1) is high and another digital
read 0 (D0), digital read 2 (D2) and digital read 3 (D3) is low, then the motor
drive will be move down (backward). Then, if the digital read 2 (D2) is high
and another digital read 1 (D1), digital read 0 (D0) and digital read 3 (D4) is
low, then the motor drive on the gripper will be opened (right). If the digital
read 3 (D3) is high and another digital read 1 (D1), digital read 2 (D2) and digital
read 0 (D0) is low, then the motor drive on the gripper will be closed (left).
Lastly, if the digital read 3 (D3) is low and another digital read 1 (D1), digital
read 2 (D2) and digital read 0 (D0) is high, then the motor drive will be stop.
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| This is the internal data of motor drive for forward, backward and stop |
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