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code.ino
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#include <SPI.h>
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include<Servo.h>
#include<PCF8574.h>
#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 32 // OLED display height, in pixels
// Declaration for an SSD1306 display connected to I2C (SDA, SCL pins)
#define OLED_RESET 4 // Reset pin # (or -1 if sharing Arduino reset pin)
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
// Set i2c address
PCF8574 pcf(0x20);
Servo s1, s2, s3, s4, s5, s6, s7, s8;
int fsrPin[] = {2, 3, 4, 5, 6, 7, 8, 9};
int sum = 0, avg = 0, fsr = 0, volts;
static const unsigned char PROGMEM logo_bmp[] =
{
// 'TITLE', 128x32px
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x3f, 0xf7, 0xfb, 0xff, 0x03, 0x80, 0x38, 0x3f, 0xe1, 0xfe, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x3f, 0xf7, 0xfb, 0xff, 0x03, 0x80, 0x3c, 0x3f, 0xe3, 0xfe, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x3f, 0xf7, 0xfb, 0xff, 0x03, 0x80, 0x3c, 0x3f, 0xf3, 0xfe, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0x00, 0x70, 0x03, 0x80, 0x7c, 0x38, 0xf3, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0x00, 0x70, 0x03, 0x80, 0x7c, 0x38, 0xf3, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0x00, 0x70, 0x03, 0x80, 0x7c, 0x38, 0xf3, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0x00, 0x70, 0x03, 0x80, 0x6e, 0x38, 0xe3, 0xc0, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0x00, 0x70, 0x03, 0x80, 0x6e, 0x38, 0xe1, 0xe0, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0xf0, 0x70, 0x03, 0x80, 0xee, 0x3f, 0xe0, 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0xf0, 0x70, 0x03, 0x80, 0xee, 0x3f, 0xc0, 0x78, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0xf0, 0x70, 0x03, 0x80, 0xee, 0x3f, 0xe0, 0x3c, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0x00, 0x70, 0x03, 0x80, 0xe7, 0x38, 0xe0, 0x1e, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0x00, 0x70, 0x03, 0x80, 0xc7, 0x38, 0x70, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0x00, 0x70, 0x03, 0x81, 0xff, 0x38, 0x73, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0x00, 0x70, 0x03, 0x81, 0xff, 0x38, 0x73, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0x00, 0x70, 0x03, 0x81, 0xff, 0x38, 0x73, 0x8e, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0xf8, 0x70, 0x03, 0xfd, 0xc7, 0x3f, 0xf3, 0xfe, 0x70, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0xf8, 0x70, 0x03, 0xfd, 0xc3, 0xbf, 0xf3, 0xfe, 0x70, 0x00, 0x00, 0x00, 0x00,
0x00, 0x07, 0x07, 0xf8, 0x70, 0x03, 0xff, 0x83, 0xbf, 0xe1, 0xfe, 0x70, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
};
static const unsigned char PROGMEM Full_bmp[] =
{
0xff, 0xfe, 0x80, 0x02, 0xbf, 0xfb, 0xbf, 0xfb, 0xbf, 0xfb, 0xbf, 0xfb, 0x80, 0x02, 0xff, 0xfe
};
static const unsigned char PROGMEM Empty_bmp[] =
{
// 'Empty', 16x8px
0xff, 0xfe, 0x80, 0x02, 0xa0, 0x03, 0xa0, 0x03, 0xa0, 0x03, 0xa0, 0x03, 0x80, 0x02, 0xff, 0xfe
};
static const unsigned char PROGMEM SF_bmp[] =
{
// '75', 16x8px
0xff, 0xfe, 0x80, 0x02, 0xbf, 0xc3, 0xbf, 0xc3, 0xbf, 0xc3, 0xbf, 0xc3, 0x80, 0x02, 0xff, 0xfe
};
static const unsigned char PROGMEM TF_bmp[] =
{
// '25', 16x8px
0xff, 0xfe, 0x80, 0x02, 0xbc, 0x03, 0xbc, 0x03, 0xbc, 0x03, 0xbc, 0x03, 0x80, 0x02, 0xff, 0xfe
};
void setup() {
Serial.begin(9600);
// SSD1306_SWITCHCAPVCC = generate display voltage from 3.3V internally
if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) { // Address 0x3C for 128x32
Serial.println(F("SSD1306 allocation failed"));
for (;;); // Don't proceed, loop forever
}
//configuring fsr digital pins to OUTPUT
for (int j = 0; j < 8; j++)
{
pinMode(fsrPin[j], OUTPUT);
}
// defining pins to servo
s1.attach(P0); //pinky finger
s2.attach(P1); //ring finger
s3.attach(P3); //middle finger
s4.attach(P4); //index finger
s5.attach(P5); //thumb finger
s6.attach(P6); //thumb servo
s7.attach(P7); //wrist
s8.attach(10); //unsigned
//reseting the position to 0 degress
s1.write(0);
s2.write(0);
s3.write(0);
s4.write(0);
s5.write(0);
s6.write(0);
s7.write(0);
s8.write(0);
pcf.begin();
// Clear the buffer of oled display
display.clearDisplay();
delay(200);
Logo(); //displays logo on OLED
delay(1000);
}
void loop() {
int voltReading = analogRead(A1); //BATTERY +VE CONNECTED TO A1
Serial.println(voltReading);
volts = voltReading * 100L / 1023;
Serial.println(volts);
// FSR code
for (int i = 2; i <= 9 ; i++) {
digitalWrite(i, HIGH);
fsr = analogRead(A0); //fsr analog pin connected to A0
sum = fsr + sum;
digitalWrite(i, LOW);
delay(100);
}
avg = sum / 8;
//FSR code ENDS
delay(100);
// BATTERY code
if (volts <= 20) {
display.clearDisplay();
display.display();
display.setTextColor(SSD1306_WHITE);
display.setCursor(0, 0);
display.print(volts);
display.print("%");
display.display();
display.drawBitmap(100, 0, Empty_bmp, 16, 8, 1);
display.display();
}
else if (volts <= 25) {
display.clearDisplay();
display.setTextColor(SSD1306_WHITE);
display.setCursor(0, 0);
display.print(volts);
display.print("%");
display.drawBitmap(100, 0, TF_bmp, 16, 8, 1);
display.display();
}
else if (volts < 75) {
display.clearDisplay();
display.setTextColor(SSD1306_WHITE);
display.setCursor(0, 0);
display.print(volts);
display.print("%");
display.drawBitmap(100, 0, SF_bmp, 16, 8, 1);
display.display();
}
else {
display.clearDisplay();
display.setTextColor(SSD1306_WHITE);
display.setCursor(0, 0);
display.print(volts);
display.print("%");
display.drawBitmap(100, 0, Full_bmp, 16, 8, 1);
display.display();
}
// BATTERY code ENDS
delay(100);
}
void Logo(void) {
display.clearDisplay();
display.drawBitmap(10, 10, logo_bmp, 128, 32, 1);
display.display();
delay(1000);
}
//defining different types of grippers
int relax_grip() {
s1.write(0);
s2.write(0);
s3.write(0);
s4.write(0);
s5.write(0);
s6.write(0);
delay(100);
}
int power_grip() {
s1.write(180);
s2.write(180);
s3.write(180);
s4.write(180);
s5.write(180);
s6.write(180);
delay(100);
}
int tripod_grip() {
s1.write(180);
s2.write(180);
s3.write(90);
s4.write(90);
s5.write(90);
s6.write(180);
delay(100);
}
int finger_point() {
s1.write(180);
s2.write(180);
s3.write(150);
s4.write(0);
s5.write(0);
s6.write(0);
delay(100);
}
int key_grip() {
s1.write(180);
s2.write(180);
s3.write(180);
s4.write(180);
s5.write(90);
s6.write(0);
delay(100);
}
int active_index() {
s1.write(180);
s2.write(180);
s3.write(150);
s4.write(0);
s5.write(180);
s6.write(180);
delay(100);
}
int column_grip() {
s5.write(18);
s6.write(180);
s1.write(180);
s2.write(180);
s3.write(180);
s4.write(180);
delay(100);
}
int mouse_grip() {
s1.write(90);
s2.write(90);
s3.write(90);
s4.write(90);
s5.write(90);
s6.write(180);
delay(100);
}
int pinch_grip() {
s1.write(180);
s2.write(180);
s3.write(180);
s4.write(90);
s5.write(90);
s6.write(180);
delay(100);
}
int precision_open() {
s1.write(0);
s2.write(0);
s3.write(0);
s4.write(90);
s5.write(90);
s6.write(90);
delay(100);
}