'Gesture Bot' with Hand Gestures

1#include <Servo.h>
2
3Servo servo1;
4Servo servo2; 
5Servo servo3;  
6Servo servo4; 
7Servo servo5;
8Servo servo7;
9Servo servo6;
10Servo servo8;
11Servo  servo9;
12Servo servo10;
13
14int servoPosA = 170;
15int servoPosB = 160;
16int  servoPosC = 100;
17int servoPosD = 100;
18int servoPosE = 120;
19int servoPosF  = 100;
20int servoPosG = 100;
21int servoPosH = 100;
22int servoPosI = 180;
23int  servoPosJ = 100;
24
25
26int led1 = 24; // single led
27int led2 = 25; // single  led
28int ledSet1 = 12; // LED SET
29int ledSet2 = 13; // LED SET
30int BUTTON  = 22;
31boolean buttonState = LOW;
32int i;
33
34
35int pulPin1 = 52;
36int  dirPin1 = 53;
37int pulPin2 = 50;
38int dirPin2 = 51;
39
40void setup() {
41  
42  for (int q = 2; q < 14; q++){
43  pinMode(q, OUTPUT);
44  }
45  pinMode(22,  INPUT);
46  pinMode(24, OUTPUT);
47  pinMode(25, OUTPUT);
48  for (int w = 50;  w < 54; w++){
49  pinMode(w, OUTPUT);
50  }
51  
52  servo1.attach(2);
53  servo2.attach(3);
54  servo3.attach(4);
55  servo4.attach(5);
56  servo5.attach(6);
57  servo7.attach(7);
58  servo6.attach(8);
59  servo8.attach(9);
60  servo9.attach(10);
61  servo10.attach(11);
62
63  delay(4000);
64  
65  /* the following bit of code stops the hand from moving  further more when the push button is pressed, once pressed moves to a certail number  of steps for its origin*/
66
67 while (buttonState == LOW){
68  for (int e =  0; e < 1; e++){
69  digitalWrite(dirPin1, HIGH);
70  buttonState = digitalRead(BUTTON);
71  digitalWrite(pulPin1, HIGH);
72  buttonState = digitalRead(BUTTON);
73  delayMicroseconds(5000);
74  buttonState = digitalRead(BUTTON);
75  digitalWrite(pulPin1, LOW);
76   buttonState  = digitalRead(BUTTON);
77  delayMicroseconds(5000);
78  buttonState = digitalRead(BUTTON);
79  } 
80}
81if (buttonState == HIGH){
82  for (int f = 0; f < 300; f++){
83  digitalWrite(dirPin1,  LOW);
84  digitalWrite(pulPin1, HIGH);
85  delayMicroseconds(10000);
86  digitalWrite(pulPin1,  LOW);
87  delayMicroseconds(10000);
88  }
89  digitalWrite(led1, HIGH);
90  digitalWrite(led2,  HIGH);
91  delay(2000);
92}
93Serial.begin(9600);
94Serial.println("Please  select a control hinge for the hand from the keypad");
95}
96
97void loop()  {
98servoPosA = constrain(servoPosA, 80, 170);
99servoPosB = constrain(servoPosB,  90, 180);
100servoPosC = constrain(servoPosC, 100, 150);
101servoPosD = constrain(servoPosD,  100, 150);
102servoPosE = constrain(servoPosE, 75, 160);
103servoPosF = constrain(servoPosF,  100, 150);
104servoPosG = constrain(servoPosG, 85, 170);
105servoPosH = constrain(servoPosH,  100, 150);
106servoPosI = constrain(servoPosI, 10, 180);
107servoPosJ = constrain(servoPosJ,  100, 150);
108
109
110
111while (Serial.available() > 0){
112  
113  char hand_move  = Serial.read();
114  if (hand_move == 'a'){
115    Serial.println("Selected finger  - LITTLE FINGER_LOWER HINGE_OPEN");
116    for(int i = 170; i>80; i--){
117    servo1.write(i);
118    delay(25);
119    char stop_sense = Serial.read();
120    if (stop_sense ==  '.'){
121      break;
122      }
123    }
124     
125  }
126  if (hand_move ==  'z'){
127    Serial.println("Selected finger - LITTLE FINGER_LOWER HINGE_CLOSE");
128    for(int j = 80; j<170; j++){
129    servo1.write(j);
130    delay(25);
131    char  stop_sense = Serial.read();
132    if (stop_sense == '.'){
133      break;
134      }
135    }
136     
137  }
138    if (hand_move == 's'){
139    Serial.println("Selected  finger - RING FINGER_LOWER HINGE_OPEN");
140    for(int i = 180; i>90; i--){
141    servo2.write(i);
142    delay(25);
143    char stop_sense = Serial.read();
144    if (stop_sense == '.'){
145      break;
146      }
147    }
148     
149  }
150  if (hand_move == 'x'){
151    Serial.println("Selected finger - RING FINGER_LOWER  HINGE_CLOSE");
152    for(int j = 90; j<180; j++){
153    servo2.write(j);
154    delay(25);
155    char stop_sense = Serial.read();
156    if (stop_sense ==  '.'){
157      break;
158      }
159    }
160     
161  }
162    if (hand_move ==  'q'){
163    Serial.println("Selected finger - LITTLE FINGER_UPPER HINGE_OPEN");
164    for(int i = 150; i>100; i--){
165    servo3.write(i);
166    delay(25);
167    char stop_sense = Serial.read();
168    if (stop_sense == '.'){
169      break;
170      }
171    }
172     
173  }
174  if (hand_move == '1'){
175    Serial.println("Selected  finger - LITTLE FINGER_UPPER HINGE_CLOSE");
176    for(int j = 100; j<150; j++){
177    servo3.write(j);
178    delay(25);
179    char stop_sense = Serial.read();
180    if (stop_sense == '.'){
181      break;
182      }
183    }
184     
185  }
186    if (hand_move == 'w'){
187    Serial.println("Selected finger - RING FINGER_UPPER  HINGE_OPEN");
188    for(int i = 150; i>100; i--){
189    servo4.write(i);
190    delay(25);
191    char stop_sense = Serial.read();
192    if (stop_sense ==  '.'){
193      break;
194      }
195    }
196     
197  }
198  if (hand_move ==  '2'){
199    Serial.println("Selected finger - LITTLE FINGER_LOWER HINGE_CLOSE");
200    for(int j = 100; j<150; j++){
201    servo4.write(j);
202    delay(25);
203    char stop_sense = Serial.read();
204    if (stop_sense == '.'){
205      break;
206      }
207    }
208     
209  }
210    if (hand_move == 'd'){
211    Serial.println("Selected  finger - MIDDLE FINGER_LOWER HINGE_OPEN");
212    for(int i = 160; i>75; i--){
213    servo5.write(i);
214    delay(25);
215    char stop_sense = Serial.read();
216    if (stop_sense == '.'){
217      break;
218      }
219    }
220     
221  }
222  if (hand_move == 'c'){
223    Serial.println("Selected finger - MIDDLE FINGER_LOWER  HINGE_CLOSE");
224    for(int j = 75; j<160; j++){
225    servo5.write(j);
226    delay(25);
227    char stop_sense = Serial.read();
228    if (stop_sense ==  '.'){
229      break;
230      }
231    }
232     
233  }
234    if (hand_move ==  'f'){
235    Serial.println("Selected finger - INDEX FINGER_LOWER HINGE_OPEN");
236    for(int i = 170; i>85; i--){
237    servo6.write(i);
238    delay(25);
239    char  stop_sense = Serial.read();
240    if (stop_sense == '.'){
241      break;
242      }
243    }
244     
245  }
246  if (hand_move == 'v'){
247    Serial.println("Selected  finger - INDEX FINGER_LOWER HINGE_CLOSE");
248    for(int j = 85; j<170; j++){
249    servo6.write(j);
250    delay(25);
251    char stop_sense = Serial.read();
252    if (stop_sense == '.'){
253      break;
254      }
255    }
256     
257  }
258    if (hand_move == 'e'){
259    Serial.println("Selected finger - MIDDLE FINGER_UPPER  HINGE_OPEN");
260    for(int i = 150; i>100; i--){
261    servo7.write(i);
262    delay(25);
263    char stop_sense = Serial.read();
264    if (stop_sense ==  '.'){
265      break;
266      }
267    }
268     
269  }
270  if (hand_move ==  '3'){
271    Serial.println("Selected finger - MIDDLE FINGER_UPPER HINGE_CLOSE");
272    for(int j = 100; j<150; j++){
273    servo7.write(j);
274    delay(25);
275    char stop_sense = Serial.read();
276    if (stop_sense == '.'){
277      break;
278      }
279    }
280     
281  }
282    if (hand_move == 'r'){
283    Serial.println("Selected  finger - INDEX FINGER_UPPER HINGE_OPEN");
284    for(int i = 150; i>100; i--){
285    servo8.write(i);
286    delay(25);
287    char stop_sense = Serial.read();
288    if (stop_sense == '.'){
289      break;
290      }
291    }
292     
293  }
294  if (hand_move == '4'){
295    Serial.println("Selected finger - INDEX FINGER_UPPER  HINGE_CLOSE");
296    for(int j = 100; j<150; j++){
297    servo8.write(j);
298    delay(25);
299    char stop_sense = Serial.read();
300    if (stop_sense ==  '.'){
301      break;
302      }
303    }
304     
305  }
306    if (hand_move ==  'g'){
307    Serial.println("Selected finger - THUMB_LOWER HINGE_OPEN");
308    for(int  i = 180; i>10; i--){
309    servo9.write(i);
310    delay(25);
311    char stop_sense  = Serial.read();
312    if (stop_sense == '.'){
313      break;
314      }
315    }
316     
317  }
318  if (hand_move == 'b'){
319    Serial.println("Selected finger  - THUMB_LOWER HINGE_CLOSE");
320    for(int j = 10; j<180; j++){
321    servo9.write(j);
322    delay(25);
323    char stop_sense = Serial.read();
324    if (stop_sense ==  '.'){
325      break;
326      }
327    }
328     
329  }
330    if (hand_move ==  't'){
331    Serial.println("Selected finger - THUMB_UPPER HINGE_OPEN");
332    for(int  i = 150; i>100; i--){
333    servo10.write(i);
334    delay(25);
335    char stop_sense  = Serial.read();
336    if (stop_sense == '.'){
337      break;
338      }
339    }
340     
341  }
342  if (hand_move == '5'){
343    Serial.println("Selected finger  - THUMB_UPPER HINGE_CLOSE");
344    for(int j = 100; j<150; j++){
345    servo10.write(j);
346    delay(25);
347    char stop_sense = Serial.read();
348    if (stop_sense ==  '.'){
349      break;
350      }
351    }
352     
353  }
354  if (hand_move ==  '-'){
355    Serial.println("Selected ELBOW_UP");
356    for (int f = 0; f < 50;  f++){
357    digitalWrite(dirPin1, LOW);
358    digitalWrite(pulPin1, HIGH);
359    delayMicroseconds(10000);
360    digitalWrite(pulPin1, LOW);
361    delayMicroseconds(10000);
362    char stop_sense = Serial.read();
363    if (stop_sense == '.'){
364      break;
365      }
366     
367    }
368  }
369  if (hand_move == '+'){
370    Serial.println("Selected  ELBOW_DOWN");
371    for (int g = 0; g < 50; g++){
372    digitalWrite(dirPin1,  HIGH);
373    digitalWrite(pulPin1, HIGH);
374    delayMicroseconds(10000);
375    digitalWrite(pulPin1, LOW);
376    delayMicroseconds(10000);
377    char stop_sense  = Serial.read();
378    if (stop_sense == '.'){
379      break;
380      }
381     
382    }
383  }
384  if (hand_move == '/'){
385    Serial.println("Selected WRIST_ANTICLOCKWISE");
386    for (int f = 0; f < 200; f++){
387    digitalWrite(dirPin2, HIGH);
388    digitalWrite(pulPin2,  HIGH);
389    delayMicroseconds(3000);
390    digitalWrite(pulPin2, LOW);
391    delayMicroseconds(3000);
392    char stop_sense = Serial.read();
393    if (stop_sense == '.'){
394      break;
395      }
396     
397    }
398  }
399   if (hand_move == '*'){
400    Serial.println("Selected  WRIST_CLOCKWISE");
401    for (int g = 0; g < 200; g++){
402    digitalWrite(dirPin2,  LOW);
403    digitalWrite(pulPin2, HIGH);
404    delayMicroseconds(3000);
405    digitalWrite(pulPin2,  LOW);
406    delayMicroseconds(3000);
407    char stop_sense = Serial.read();
408    if (stop_sense == '.'){
409      break;
410      }
411     
412    }
413  }
414  
415
416  
417 }
418
419}
420

1#include <Servo.h>
2
3Servo servo1;
4Servo servo2; 
5Servo servo3;
6  
7Servo servo4; 
8Servo servo5;
9Servo servo7;
10Servo servo6;
11Servo servo8;
12Servo
13  servo9;
14Servo servo10;
15
16int servoPosA = 170;
17int servoPosB = 160;
18int
19  servoPosC = 100;
20int servoPosD = 100;
21int servoPosE = 120;
22int servoPosF
23  = 100;
24int servoPosG = 100;
25int servoPosH = 100;
26int servoPosI = 180;
27int
28  servoPosJ = 100;
29
30
31int led1 = 24; // single led
32int led2 = 25; // single
33  led
34int ledSet1 = 12; // LED SET
35int ledSet2 = 13; // LED SET
36int BUTTON
37  = 22;
38boolean buttonState = LOW;
39int i;
40
41
42int pulPin1 = 52;
43int
44  dirPin1 = 53;
45int pulPin2 = 50;
46int dirPin2 = 51;
47
48void setup() {
49
50  
51  for (int q = 2; q < 14; q++){
52  pinMode(q, OUTPUT);
53  }
54  pinMode(22,
55  INPUT);
56  pinMode(24, OUTPUT);
57  pinMode(25, OUTPUT);
58  for (int w = 50;
59  w < 54; w++){
60  pinMode(w, OUTPUT);
61  }
62  
63  servo1.attach(2);
64  servo2.attach(3);
65
66  servo3.attach(4);
67  servo4.attach(5);
68  servo5.attach(6);
69  servo7.attach(7);
70
71  servo6.attach(8);
72  servo8.attach(9);
73  servo9.attach(10);
74  servo10.attach(11);
75
76
77  delay(4000);
78  
79  /* the following bit of code stops the hand from moving
80  further more when the push button is pressed, once pressed moves to a certail number
81  of steps for its origin*/
82
83 while (buttonState == LOW){
84  for (int e =
85  0; e < 1; e++){
86  digitalWrite(dirPin1, HIGH);
87  buttonState = digitalRead(BUTTON);
88
89  digitalWrite(pulPin1, HIGH);
90  buttonState = digitalRead(BUTTON);
91  delayMicroseconds(5000);
92
93  buttonState = digitalRead(BUTTON);
94  digitalWrite(pulPin1, LOW);
95   buttonState
96  = digitalRead(BUTTON);
97  delayMicroseconds(5000);
98  buttonState = digitalRead(BUTTON);
99
100  } 
101}
102if (buttonState == HIGH){
103  for (int f = 0; f < 300; f++){
104  digitalWrite(dirPin1,
105  LOW);
106  digitalWrite(pulPin1, HIGH);
107  delayMicroseconds(10000);
108  digitalWrite(pulPin1,
109  LOW);
110  delayMicroseconds(10000);
111  }
112  digitalWrite(led1, HIGH);
113  digitalWrite(led2,
114  HIGH);
115  delay(2000);
116}
117Serial.begin(9600);
118Serial.println("Please
119  select a control hinge for the hand from the keypad");
120}
121
122void loop()
123  {
124servoPosA = constrain(servoPosA, 80, 170);
125servoPosB = constrain(servoPosB,
126  90, 180);
127servoPosC = constrain(servoPosC, 100, 150);
128servoPosD = constrain(servoPosD,
129  100, 150);
130servoPosE = constrain(servoPosE, 75, 160);
131servoPosF = constrain(servoPosF,
132  100, 150);
133servoPosG = constrain(servoPosG, 85, 170);
134servoPosH = constrain(servoPosH,
135  100, 150);
136servoPosI = constrain(servoPosI, 10, 180);
137servoPosJ = constrain(servoPosJ,
138  100, 150);
139
140
141
142while (Serial.available() > 0){
143  
144  char hand_move
145  = Serial.read();
146  if (hand_move == 'a'){
147    Serial.println("Selected finger
148  - LITTLE FINGER_LOWER HINGE_OPEN");
149    for(int i = 170; i>80; i--){
150    servo1.write(i);
151
152    delay(25);
153    char stop_sense = Serial.read();
154    if (stop_sense ==
155  '.'){
156      break;
157      }
158    }
159     
160  }
161  if (hand_move ==
162  'z'){
163    Serial.println("Selected finger - LITTLE FINGER_LOWER HINGE_CLOSE");
164
165    for(int j = 80; j<170; j++){
166    servo1.write(j);
167    delay(25);
168    char
169  stop_sense = Serial.read();
170    if (stop_sense == '.'){
171      break;
172      }
173
174    }
175     
176  }
177    if (hand_move == 's'){
178    Serial.println("Selected
179  finger - RING FINGER_LOWER HINGE_OPEN");
180    for(int i = 180; i>90; i--){
181
182    servo2.write(i);
183    delay(25);
184    char stop_sense = Serial.read();
185
186    if (stop_sense == '.'){
187      break;
188      }
189    }
190     
191  }
192
193  if (hand_move == 'x'){
194    Serial.println("Selected finger - RING FINGER_LOWER
195  HINGE_CLOSE");
196    for(int j = 90; j<180; j++){
197    servo2.write(j);
198
199    delay(25);
200    char stop_sense = Serial.read();
201    if (stop_sense ==
202  '.'){
203      break;
204      }
205    }
206     
207  }
208    if (hand_move ==
209  'q'){
210    Serial.println("Selected finger - LITTLE FINGER_UPPER HINGE_OPEN");
211
212    for(int i = 150; i>100; i--){
213    servo3.write(i);
214    delay(25);
215
216    char stop_sense = Serial.read();
217    if (stop_sense == '.'){
218      break;
219
220      }
221    }
222     
223  }
224  if (hand_move == '1'){
225    Serial.println("Selected
226  finger - LITTLE FINGER_UPPER HINGE_CLOSE");
227    for(int j = 100; j<150; j++){
228
229    servo3.write(j);
230    delay(25);
231    char stop_sense = Serial.read();
232
233    if (stop_sense == '.'){
234      break;
235      }
236    }
237     
238  }
239
240    if (hand_move == 'w'){
241    Serial.println("Selected finger - RING FINGER_UPPER
242  HINGE_OPEN");
243    for(int i = 150; i>100; i--){
244    servo4.write(i);
245
246    delay(25);
247    char stop_sense = Serial.read();
248    if (stop_sense ==
249  '.'){
250      break;
251      }
252    }
253     
254  }
255  if (hand_move ==
256  '2'){
257    Serial.println("Selected finger - LITTLE FINGER_LOWER HINGE_CLOSE");
258
259    for(int j = 100; j<150; j++){
260    servo4.write(j);
261    delay(25);
262
263    char stop_sense = Serial.read();
264    if (stop_sense == '.'){
265      break;
266
267      }
268    }
269     
270  }
271    if (hand_move == 'd'){
272    Serial.println("Selected
273  finger - MIDDLE FINGER_LOWER HINGE_OPEN");
274    for(int i = 160; i>75; i--){
275
276    servo5.write(i);
277    delay(25);
278    char stop_sense = Serial.read();
279
280    if (stop_sense == '.'){
281      break;
282      }
283    }
284     
285  }
286
287  if (hand_move == 'c'){
288    Serial.println("Selected finger - MIDDLE FINGER_LOWER
289  HINGE_CLOSE");
290    for(int j = 75; j<160; j++){
291    servo5.write(j);
292
293    delay(25);
294    char stop_sense = Serial.read();
295    if (stop_sense ==
296  '.'){
297      break;
298      }
299    }
300     
301  }
302    if (hand_move ==
303  'f'){
304    Serial.println("Selected finger - INDEX FINGER_LOWER HINGE_OPEN");
305
306    for(int i = 170; i>85; i--){
307    servo6.write(i);
308    delay(25);
309    char
310  stop_sense = Serial.read();
311    if (stop_sense == '.'){
312      break;
313      }
314
315    }
316     
317  }
318  if (hand_move == 'v'){
319    Serial.println("Selected
320  finger - INDEX FINGER_LOWER HINGE_CLOSE");
321    for(int j = 85; j<170; j++){
322
323    servo6.write(j);
324    delay(25);
325    char stop_sense = Serial.read();
326
327    if (stop_sense == '.'){
328      break;
329      }
330    }
331     
332  }
333
334    if (hand_move == 'e'){
335    Serial.println("Selected finger - MIDDLE FINGER_UPPER
336  HINGE_OPEN");
337    for(int i = 150; i>100; i--){
338    servo7.write(i);
339
340    delay(25);
341    char stop_sense = Serial.read();
342    if (stop_sense ==
343  '.'){
344      break;
345      }
346    }
347     
348  }
349  if (hand_move ==
350  '3'){
351    Serial.println("Selected finger - MIDDLE FINGER_UPPER HINGE_CLOSE");
352
353    for(int j = 100; j<150; j++){
354    servo7.write(j);
355    delay(25);
356
357    char stop_sense = Serial.read();
358    if (stop_sense == '.'){
359      break;
360
361      }
362    }
363     
364  }
365    if (hand_move == 'r'){
366    Serial.println("Selected
367  finger - INDEX FINGER_UPPER HINGE_OPEN");
368    for(int i = 150; i>100; i--){
369
370    servo8.write(i);
371    delay(25);
372    char stop_sense = Serial.read();
373
374    if (stop_sense == '.'){
375      break;
376      }
377    }
378     
379  }
380
381  if (hand_move == '4'){
382    Serial.println("Selected finger - INDEX FINGER_UPPER
383  HINGE_CLOSE");
384    for(int j = 100; j<150; j++){
385    servo8.write(j);
386
387    delay(25);
388    char stop_sense = Serial.read();
389    if (stop_sense ==
390  '.'){
391      break;
392      }
393    }
394     
395  }
396    if (hand_move ==
397  'g'){
398    Serial.println("Selected finger - THUMB_LOWER HINGE_OPEN");
399    for(int
400  i = 180; i>10; i--){
401    servo9.write(i);
402    delay(25);
403    char stop_sense
404  = Serial.read();
405    if (stop_sense == '.'){
406      break;
407      }
408    }
409
410     
411  }
412  if (hand_move == 'b'){
413    Serial.println("Selected finger
414  - THUMB_LOWER HINGE_CLOSE");
415    for(int j = 10; j<180; j++){
416    servo9.write(j);
417
418    delay(25);
419    char stop_sense = Serial.read();
420    if (stop_sense ==
421  '.'){
422      break;
423      }
424    }
425     
426  }
427    if (hand_move ==
428  't'){
429    Serial.println("Selected finger - THUMB_UPPER HINGE_OPEN");
430    for(int
431  i = 150; i>100; i--){
432    servo10.write(i);
433    delay(25);
434    char stop_sense
435  = Serial.read();
436    if (stop_sense == '.'){
437      break;
438      }
439    }
440
441     
442  }
443  if (hand_move == '5'){
444    Serial.println("Selected finger
445  - THUMB_UPPER HINGE_CLOSE");
446    for(int j = 100; j<150; j++){
447    servo10.write(j);
448
449    delay(25);
450    char stop_sense = Serial.read();
451    if (stop_sense ==
452  '.'){
453      break;
454      }
455    }
456     
457  }
458  if (hand_move ==
459  '-'){
460    Serial.println("Selected ELBOW_UP");
461    for (int f = 0; f < 50;
462  f++){
463    digitalWrite(dirPin1, LOW);
464    digitalWrite(pulPin1, HIGH);
465
466    delayMicroseconds(10000);
467    digitalWrite(pulPin1, LOW);
468    delayMicroseconds(10000);
469
470    char stop_sense = Serial.read();
471    if (stop_sense == '.'){
472      break;
473
474      }
475     
476    }
477  }
478  if (hand_move == '+'){
479    Serial.println("Selected
480  ELBOW_DOWN");
481    for (int g = 0; g < 50; g++){
482    digitalWrite(dirPin1,
483  HIGH);
484    digitalWrite(pulPin1, HIGH);
485    delayMicroseconds(10000);
486
487    digitalWrite(pulPin1, LOW);
488    delayMicroseconds(10000);
489    char stop_sense
490  = Serial.read();
491    if (stop_sense == '.'){
492      break;
493      }
494     
495
496    }
497  }
498  if (hand_move == '/'){
499    Serial.println("Selected WRIST_ANTICLOCKWISE");
500
501    for (int f = 0; f < 200; f++){
502    digitalWrite(dirPin2, HIGH);
503    digitalWrite(pulPin2,
504  HIGH);
505    delayMicroseconds(3000);
506    digitalWrite(pulPin2, LOW);
507    delayMicroseconds(3000);
508
509    char stop_sense = Serial.read();
510    if (stop_sense == '.'){
511      break;
512
513      }
514     
515    }
516  }
517   if (hand_move == '*'){
518    Serial.println("Selected
519  WRIST_CLOCKWISE");
520    for (int g = 0; g < 200; g++){
521    digitalWrite(dirPin2,
522  LOW);
523    digitalWrite(pulPin2, HIGH);
524    delayMicroseconds(3000);
525    digitalWrite(pulPin2,
526  LOW);
527    delayMicroseconds(3000);
528    char stop_sense = Serial.read();
529
530    if (stop_sense == '.'){
531      break;
532      }
533     
534    }
535  }
536
537  
538
539  
540 }
541
542}
543