Omicron - Arduino Robot Arm

Omicron is a robot arm based on Arduino UNO.

May 24, 2017

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robotics

robots

Project description

Code

Omicron code

arduino

1//Made by Tine Logar (2017)
2
3#include <Servo.h>
4Servo servo1;
5Servo  servo2;
6Servo servo3;
7Servo servo4;
8
9//Starting position of servos
10int  pos1 = 90;
11int pos2 = 23;
12int pos3 = 111;
13int pos4 = 146;
14
15//Joysticks
16int  VRx1 = 0;
17int VRy1 = 0;
18int VRx2 = 0;
19int VRy2 = 0;
20
21//Potentiometer
22int  pot = 0;
23int servoSpeed = 0;
24
25//Button
26const int button1 = 2;
27int  state1;
28int lastState = LOW;
29long lastDebounce = 0;
30long delayDebounce  = 50;
31const int ledPump = 7;
32int reading;
33int pumpState;
34const int relay  = 12;
35
36//Switch
37const int modeSwitch = 4;
38int switchState;
39
40//LEDs
41const  int ledManual = 8;
42const int ledAuto = 13;
43const int ledOperation = 3;
44
45const  int buttonStart = 11;
46int stateStart;
47
48void setup() {
49
50  Serial.begin(9600);
51
52  servo1.attach(5);
53  servo2.attach(6);
54  servo3.attach(9);
55  servo4.attach(10);
56
57  servo1.write(pos1);
58  servo2.write(pos2);
59  servo3.write(pos3);
60  servo4.write(pos4);
61
62  pinMode(button1, INPUT_PULLUP);
63  pinMode(ledPump, OUTPUT);
64  pinMode(relay,  OUTPUT);
65  digitalWrite(relay, LOW);
66
67  pinMode(modeSwitch, INPUT_PULLUP);
68
69  pinMode(ledManual, OUTPUT);
70  pinMode(ledAuto, OUTPUT);
71  pinMode(ledOperation,  OUTPUT);
72
73  pinMode(buttonStart, INPUT_PULLUP);
74
75}
76
77void loop()  {
78
79  //Reading of inputs
80  switchState = digitalRead(modeSwitch);
81
82  pot = analogRead(A4);
83  servoSpeed = map(pot, 0, 1023, 100, 12);
84  
85  VRx1 = analogRead(A1);
86  VRx1 = map(VRx1, 0, 1023, 0, 10);
87  VRy1 = analogRead(A0);
88  VRy1 = map(VRy1, 0, 1023, 10, 0);
89  VRx2 = analogRead(A2);
90  VRx2 = map(VRx2,  0, 1023, 0, 10);
91  VRy2 = analogRead(A3);
92  VRy2 = map(VRy2, 0, 1023, 0, 10);
93
94  reading = digitalRead(button1);
95
96  stateStart = digitalRead(buttonStart);
97
98  //Manual mode  
99  if (switchState == LOW) {
100
101      digitalWrite(ledManual,  HIGH);
102      digitalWrite(ledAuto, LOW);
103      
104    if (VRx1 < 2 && pos1  > 0) {
105      (pos1--);
106      delay(servoSpeed);
107    }
108  
109    if (VRx1  > 8 && pos1 <180) {
110      (pos1++);
111     delay(servoSpeed);
112    }
113
114    servo1.write(pos1);
115
116    if (VRy1 < 2 && pos2 > 0) {
117      (pos2--);
118      delay(servoSpeed);
119   }
120
121   if (VRy1 > 8 && pos2 <180) {
122     (pos2++);
123     delay(servoSpeed);
124   }
125
126   servo2.write(pos2);
127
128   if (VRx2  < 2 && pos3 > 0) {
129     (pos3--);
130     delay(servoSpeed);
131   }
132
133   if (VRx2 > 8 && pos3 < 180) {
134     (pos3++);
135      delay(servoSpeed);
136    }
137
138   servo3.write(pos3);  
139
140   if (VRy2 < 2 && pos4 > 0) {
141     (pos4--);
142     delay(servoSpeed);
143    }
144
145    if (VRy2 > 8 && pos4  < 180) {
146     (pos4++);
147      delay(servoSpeed);
148   }
149
150    servo4.write(pos4);
151
152  //Turn ON/OFF air pump
153    if (reading != lastState) {
154      lastDebounce  = millis();
155    }
156
157    if ((millis() - lastDebounce) > delayDebounce) {
158      if (reading != state1) {
159       state1 = reading;
160       if (state1  == LOW) {
161          pumpState = ! pumpState;
162       }
163     }  
164    }
165
166   lastState = reading;
167
168      digitalWrite(ledPump, pumpState);
169      digitalWrite(relay,  !pumpState);
170  }
171
172  //Home position  
173  if (stateStart == LOW) {
174    
175    for (pos1; pos1 < 90; pos1++) {
176        delay(servoSpeed);
177        servo1.write(pos1);
178      }
179
180    for (pos1; pos1 > 90; pos1--) {
181        delay(servoSpeed);
182        servo1.write(pos1);
183      }
184
185    for (pos4; pos4 < 146; pos4++)  {
186      delay(servoSpeed);
187      servo4.write(pos4);
188     }
189
190     for  (pos4; pos4 > 146; pos4--) {
191      delay(servoSpeed);
192      servo4.write(pos4);
193     }
194
195    for (pos3; pos3 < 111; pos3++) {
196      delay(servoSpeed);
197      servo3.write(pos3);
198    }
199
200    for (pos3; pos3 > 111; pos3--) {
201      delay(servoSpeed);
202      servo3.write(pos3);
203    }
204
205    for (pos2;  pos2 < 23; pos2++) {
206      delay(servoSpeed);
207      servo2.write(pos2);
208    }
209
210    for (pos2; pos2 > 23; pos2--) {
211      delay(servoSpeed);
212      servo2.write(pos2);
213    }
214
215  }
216
217  //Auto mode
218  if (switchState  == HIGH && pumpState == LOW) {
219
220    digitalWrite(ledAuto, HIGH);
221    digitalWrite(ledManual,  LOW);
222
223  //Start operation
224    if (stateStart == LOW) {
225
226      digitalWrite(ledOperation,  HIGH);
227
228    for (pos1; pos1 < 90; pos1++) {
229        delay(servoSpeed);
230        servo1.write(pos1);
231      }
232
233    for (pos1; pos1 > 90; pos1--)  {
234        delay(servoSpeed);
235        servo1.write(pos1);
236      }
237
238    for (pos4; pos4 < 146; pos4++) {
239      delay(servoSpeed);
240      servo4.write(pos4);
241     }
242
243     for (pos4; pos4 > 146; pos4--) {
244      delay(servoSpeed);
245      servo4.write(pos4);
246     }
247
248    for (pos3; pos3 < 111; pos3++) {
249      delay(servoSpeed);
250      servo3.write(pos3);
251    }
252
253    for (pos3;  pos3 > 111; pos3--) {
254      delay(servoSpeed);
255      servo3.write(pos3);
256    }
257
258    for (pos2; pos2 < 23; pos2++) {
259      delay(servoSpeed);
260      servo2.write(pos2);
261    }
262
263    for (pos2; pos2 > 23; pos2--) {
264      delay(servoSpeed);
265      servo2.write(pos2);
266    }
267
268    for (pos2;  pos2 < 35; pos2++) {
269      delay(servoSpeed);
270      servo2.write(pos2);
271    }
272    
273    for (pos1; pos1 > 60; pos1--) {
274      delay(servoSpeed);
275      servo1.write(pos1);
276    }
277
278    for (pos2; pos2 > 20; pos2--) {
279      delay(servoSpeed);
280      servo2.write(pos2);
281    }
282
283    delay(500);
284    digitalWrite(relay, LOW);
285    digitalWrite(ledPump, HIGH);
286    delay(1000);
287
288    for (pos2; pos2 < 35; pos2++) {
289      delay(servoSpeed);
290      servo2.write(pos2);
291    }
292
293    for (pos1; pos1 < 170; pos1++) {
294      delay(servoSpeed);
295      servo1.write(pos1);
296    }
297
298    for (pos2; pos2 < 80; pos2++) {
299      delay(servoSpeed);
300      servo2.write(pos2);
301    }
302
303    for (pos3;  pos3 > 75; pos3--) {
304      delay(servoSpeed);
305      servo3.write(pos3);
306    }
307
308    for (pos4; pos4 > 70; pos4--) {
309      delay(servoSpeed);
310      servo4.write(pos4);
311     }
312
313     for (pos1; pos1 > 15; pos1--) {
314      delay(servoSpeed);
315      servo1.write(pos1);
316    }
317
318    for (pos4;  pos4 < 146; pos4++) {
319      delay(servoSpeed);
320      servo4.write(pos4);
321     }
322
323     for (pos3; pos3 < 111; pos3++) {
324      delay(servoSpeed);
325      servo3.write(pos3);
326    }
327
328    for (pos1; pos1 < 120; pos1++) {
329      delay(servoSpeed);
330      servo1.write(pos1);
331    }
332
333    for (pos2;  pos2 > 20; pos2--) {
334      delay(servoSpeed);
335      servo2.write(pos2);
336    }
337
338    delay(1000);
339    digitalWrite(relay, HIGH);
340    digitalWrite(ledPump,  LOW);
341    delay(500); 
342
343    for (pos2; pos2 <35; pos2++) {
344      delay(servoSpeed);
345      servo2.write(pos2);
346    }
347
348    for (pos1; pos1 > 90; pos1--) {
349      delay(servoSpeed);
350      servo1.write(pos1);
351    }
352
353    for(pos2;  pos2 > 23; pos2--) {
354      delay(servoSpeed);
355      servo2.write(pos2);
356    }
357
358   digitalWrite(ledOperation, LOW); 
359     
360  }
361 }
362}
363
364//Made  by: Tine Logar (2017)
365

//Made by Tine Logar (2017)

#include <Servo.h>
Servo servo1;
Servo  servo2;
Servo servo3;
Servo servo4;

//Starting position of servos
int  pos1 = 90;
int pos2 = 23;
int pos3 = 111;
int pos4 = 146;

//Joysticks
int  VRx1 = 0;
int VRy1 = 0;
int VRx2 = 0;
int VRy2 = 0;

//Potentiometer
int  pot = 0;
int servoSpeed = 0;

//Button
const int button1 = 2;
int  state1;
int lastState = LOW;
long lastDebounce = 0;
long delayDebounce  = 50;
const int ledPump = 7;
int reading;
int pumpState;
const int relay  = 12;

//Switch
const int modeSwitch = 4;
int switchState;

//LEDs
const  int ledManual = 8;
const int ledAuto = 13;
const int ledOperation = 3;

const  int buttonStart = 11;
int stateStart;

void setup() {

  Serial.begin(9600);

  servo1.attach(5);
  servo2.attach(6);
  servo3.attach(9);
  servo4.attach(10);

  servo1.write(pos1);
  servo2.write(pos2);
  servo3.write(pos3);
  servo4.write(pos4);

  pinMode(button1, INPUT_PULLUP);
  pinMode(ledPump, OUTPUT);
  pinMode(relay,  OUTPUT);
  digitalWrite(relay, LOW);

  pinMode(modeSwitch, INPUT_PULLUP);

  pinMode(ledManual, OUTPUT);
  pinMode(ledAuto, OUTPUT);
  pinMode(ledOperation,  OUTPUT);

  pinMode(buttonStart, INPUT_PULLUP);

}

void loop()  {

  //Reading of inputs
  switchState = digitalRead(modeSwitch);

  pot = analogRead(A4);
  servoSpeed = map(pot, 0, 1023, 100, 12);
  
  VRx1 = analogRead(A1);
  VRx1 = map(VRx1, 0, 1023, 0, 10);
  VRy1 = analogRead(A0);
  VRy1 = map(VRy1, 0, 1023, 10, 0);
  VRx2 = analogRead(A2);
  VRx2 = map(VRx2,  0, 1023, 0, 10);
  VRy2 = analogRead(A3);
  VRy2 = map(VRy2, 0, 1023, 0, 10);

  reading = digitalRead(button1);

  stateStart = digitalRead(buttonStart);

  //Manual mode  
  if (switchState == LOW) {

      digitalWrite(ledManual,  HIGH);
      digitalWrite(ledAuto, LOW);
      
    if (VRx1 < 2 && pos1  > 0) {
      (pos1--);
      delay(servoSpeed);
    }
  
    if (VRx1  > 8 && pos1 <180) {
      (pos1++);
     delay(servoSpeed);
    }

    servo1.write(pos1);

    if (VRy1 < 2 && pos2 > 0) {
      (pos2--);
      delay(servoSpeed);
   }

   if (VRy1 > 8 && pos2 <180) {
     (pos2++);
     delay(servoSpeed);
   }

   servo2.write(pos2);

   if (VRx2  < 2 && pos3 > 0) {
     (pos3--);
     delay(servoSpeed);
   }

   if (VRx2 > 8 && pos3 < 180) {
     (pos3++);
      delay(servoSpeed);
    }

   servo3.write(pos3);  

   if (VRy2 < 2 && pos4 > 0) {
     (pos4--);
     delay(servoSpeed);
    }

    if (VRy2 > 8 && pos4  < 180) {
     (pos4++);
      delay(servoSpeed);
   }

    servo4.write(pos4);

  //Turn ON/OFF air pump
    if (reading != lastState) {
      lastDebounce  = millis();
    }

    if ((millis() - lastDebounce) > delayDebounce) {
      if (reading != state1) {
       state1 = reading;
       if (state1  == LOW) {
          pumpState = ! pumpState;
       }
     }  
    }

   lastState = reading;

      digitalWrite(ledPump, pumpState);
      digitalWrite(relay,  !pumpState);
  }

  //Home position  
  if (stateStart == LOW) {
    
    for (pos1; pos1 < 90; pos1++) {
        delay(servoSpeed);
        servo1.write(pos1);
      }

    for (pos1; pos1 > 90; pos1--) {
        delay(servoSpeed);
        servo1.write(pos1);
      }

    for (pos4; pos4 < 146; pos4++)  {
      delay(servoSpeed);
      servo4.write(pos4);
     }

     for  (pos4; pos4 > 146; pos4--) {
      delay(servoSpeed);
      servo4.write(pos4);
     }

    for (pos3; pos3 < 111; pos3++) {
      delay(servoSpeed);
      servo3.write(pos3);
    }

    for (pos3; pos3 > 111; pos3--) {
      delay(servoSpeed);
      servo3.write(pos3);
    }

    for (pos2;  pos2 < 23; pos2++) {
      delay(servoSpeed);
      servo2.write(pos2);
    }

    for (pos2; pos2 > 23; pos2--) {
      delay(servoSpeed);
      servo2.write(pos2);
    }

  }

  //Auto mode
  if (switchState  == HIGH && pumpState == LOW) {

    digitalWrite(ledAuto, HIGH);
    digitalWrite(ledManual,  LOW);

  //Start operation
    if (stateStart == LOW) {

      digitalWrite(ledOperation,  HIGH);

    for (pos1; pos1 < 90; pos1++) {
        delay(servoSpeed);
        servo1.write(pos1);
      }

    for (pos1; pos1 > 90; pos1--)  {
        delay(servoSpeed);
        servo1.write(pos1);
      }

    for (pos4; pos4 < 146; pos4++) {
      delay(servoSpeed);
      servo4.write(pos4);
     }

     for (pos4; pos4 > 146; pos4--) {
      delay(servoSpeed);
      servo4.write(pos4);
     }

    for (pos3; pos3 < 111; pos3++) {
      delay(servoSpeed);
      servo3.write(pos3);
    }

    for (pos3;  pos3 > 111; pos3--) {
      delay(servoSpeed);
      servo3.write(pos3);
    }

    for (pos2; pos2 < 23; pos2++) {
      delay(servoSpeed);
      servo2.write(pos2);
    }

    for (pos2; pos2 > 23; pos2--) {
      delay(servoSpeed);
      servo2.write(pos2);
    }

    for (pos2;  pos2 < 35; pos2++) {
      delay(servoSpeed);
      servo2.write(pos2);
    }
    
    for (pos1; pos1 > 60; pos1--) {
      delay(servoSpeed);
      servo1.write(pos1);
    }

    for (pos2; pos2 > 20; pos2--) {
      delay(servoSpeed);
      servo2.write(pos2);
    }

    delay(500);
    digitalWrite(relay, LOW);
    digitalWrite(ledPump, HIGH);
    delay(1000);

    for (pos2; pos2 < 35; pos2++) {
      delay(servoSpeed);
      servo2.write(pos2);
    }

    for (pos1; pos1 < 170; pos1++) {
      delay(servoSpeed);
      servo1.write(pos1);
    }

    for (pos2; pos2 < 80; pos2++) {
      delay(servoSpeed);
      servo2.write(pos2);
    }

    for (pos3;  pos3 > 75; pos3--) {
      delay(servoSpeed);
      servo3.write(pos3);
    }

    for (pos4; pos4 > 70; pos4--) {
      delay(servoSpeed);
      servo4.write(pos4);
     }

     for (pos1; pos1 > 15; pos1--) {
      delay(servoSpeed);
      servo1.write(pos1);
    }

    for (pos4;  pos4 < 146; pos4++) {
      delay(servoSpeed);
      servo4.write(pos4);
     }

     for (pos3; pos3 < 111; pos3++) {
      delay(servoSpeed);
      servo3.write(pos3);
    }

    for (pos1; pos1 < 120; pos1++) {
      delay(servoSpeed);
      servo1.write(pos1);
    }

    for (pos2;  pos2 > 20; pos2--) {
      delay(servoSpeed);
      servo2.write(pos2);
    }

    delay(1000);
    digitalWrite(relay, HIGH);
    digitalWrite(ledPump,  LOW);
    delay(500); 

    for (pos2; pos2 <35; pos2++) {
      delay(servoSpeed);
      servo2.write(pos2);
    }

    for (pos1; pos1 > 90; pos1--) {
      delay(servoSpeed);
      servo1.write(pos1);
    }

    for(pos2;  pos2 > 23; pos2--) {
      delay(servoSpeed);
      servo2.write(pos2);
    }

   digitalWrite(ledOperation, LOW); 
     
  }
 }
}

//Made  by: Tine Logar (2017)

Omicron code

arduino

1//Made by Tine Logar (2017)
2
3#include <Servo.h>
4Servo servo1;
5Servo
6  servo2;
7Servo servo3;
8Servo servo4;
9
10//Starting position of servos
11int
12  pos1 = 90;
13int pos2 = 23;
14int pos3 = 111;
15int pos4 = 146;
16
17//Joysticks
18int
19  VRx1 = 0;
20int VRy1 = 0;
21int VRx2 = 0;
22int VRy2 = 0;
23
24//Potentiometer
25int
26  pot = 0;
27int servoSpeed = 0;
28
29//Button
30const int button1 = 2;
31int
32  state1;
33int lastState = LOW;
34long lastDebounce = 0;
35long delayDebounce
36  = 50;
37const int ledPump = 7;
38int reading;
39int pumpState;
40const int relay
41  = 12;
42
43//Switch
44const int modeSwitch = 4;
45int switchState;
46
47//LEDs
48const
49  int ledManual = 8;
50const int ledAuto = 13;
51const int ledOperation = 3;
52
53const
54  int buttonStart = 11;
55int stateStart;
56
57void setup() {
58
59  Serial.begin(9600);
60
61
62  servo1.attach(5);
63  servo2.attach(6);
64  servo3.attach(9);
65  servo4.attach(10);
66
67
68  servo1.write(pos1);
69  servo2.write(pos2);
70  servo3.write(pos3);
71  servo4.write(pos4);
72
73
74  pinMode(button1, INPUT_PULLUP);
75  pinMode(ledPump, OUTPUT);
76  pinMode(relay,
77  OUTPUT);
78  digitalWrite(relay, LOW);
79
80  pinMode(modeSwitch, INPUT_PULLUP);
81
82
83  pinMode(ledManual, OUTPUT);
84  pinMode(ledAuto, OUTPUT);
85  pinMode(ledOperation,
86  OUTPUT);
87
88  pinMode(buttonStart, INPUT_PULLUP);
89
90}
91
92void loop()
93  {
94
95  //Reading of inputs
96  switchState = digitalRead(modeSwitch);
97
98
99  pot = analogRead(A4);
100  servoSpeed = map(pot, 0, 1023, 100, 12);
101  
102
103  VRx1 = analogRead(A1);
104  VRx1 = map(VRx1, 0, 1023, 0, 10);
105  VRy1 = analogRead(A0);
106
107  VRy1 = map(VRy1, 0, 1023, 10, 0);
108  VRx2 = analogRead(A2);
109  VRx2 = map(VRx2,
110  0, 1023, 0, 10);
111  VRy2 = analogRead(A3);
112  VRy2 = map(VRy2, 0, 1023, 0, 10);
113
114
115  reading = digitalRead(button1);
116
117  stateStart = digitalRead(buttonStart);
118
119
120  //Manual mode  
121  if (switchState == LOW) {
122
123      digitalWrite(ledManual,
124  HIGH);
125      digitalWrite(ledAuto, LOW);
126      
127    if (VRx1 < 2 && pos1
128  > 0) {
129      (pos1--);
130      delay(servoSpeed);
131    }
132  
133    if (VRx1
134  > 8 && pos1 <180) {
135      (pos1++);
136     delay(servoSpeed);
137    }
138
139
140    servo1.write(pos1);
141
142    if (VRy1 < 2 && pos2 > 0) {
143      (pos2--);
144
145      delay(servoSpeed);
146   }
147
148   if (VRy1 > 8 && pos2 <180) {
149     (pos2++);
150
151     delay(servoSpeed);
152   }
153
154   servo2.write(pos2);
155
156   if (VRx2
157  < 2 && pos3 > 0) {
158     (pos3--);
159     delay(servoSpeed);
160   }
161
162
163   if (VRx2 > 8 && pos3 < 180) {
164     (pos3++);
165      delay(servoSpeed);
166
167    }
168
169   servo3.write(pos3);  
170
171   if (VRy2 < 2 && pos4 > 0) {
172
173     (pos4--);
174     delay(servoSpeed);
175    }
176
177    if (VRy2 > 8 && pos4
178  < 180) {
179     (pos4++);
180      delay(servoSpeed);
181   }
182
183    servo4.write(pos4);
184
185
186  //Turn ON/OFF air pump
187    if (reading != lastState) {
188      lastDebounce
189  = millis();
190    }
191
192    if ((millis() - lastDebounce) > delayDebounce) {
193
194      if (reading != state1) {
195       state1 = reading;
196       if (state1
197  == LOW) {
198          pumpState = ! pumpState;
199       }
200     }  
201    }
202
203
204   lastState = reading;
205
206      digitalWrite(ledPump, pumpState);
207      digitalWrite(relay,
208  !pumpState);
209  }
210
211  //Home position  
212  if (stateStart == LOW) {
213
214    
215    for (pos1; pos1 < 90; pos1++) {
216        delay(servoSpeed);
217        servo1.write(pos1);
218
219      }
220
221    for (pos1; pos1 > 90; pos1--) {
222        delay(servoSpeed);
223
224        servo1.write(pos1);
225      }
226
227    for (pos4; pos4 < 146; pos4++)
228  {
229      delay(servoSpeed);
230      servo4.write(pos4);
231     }
232
233     for
234  (pos4; pos4 > 146; pos4--) {
235      delay(servoSpeed);
236      servo4.write(pos4);
237
238     }
239
240    for (pos3; pos3 < 111; pos3++) {
241      delay(servoSpeed);
242
243      servo3.write(pos3);
244    }
245
246    for (pos3; pos3 > 111; pos3--) {
247
248      delay(servoSpeed);
249      servo3.write(pos3);
250    }
251
252    for (pos2;
253  pos2 < 23; pos2++) {
254      delay(servoSpeed);
255      servo2.write(pos2);
256
257    }
258
259    for (pos2; pos2 > 23; pos2--) {
260      delay(servoSpeed);
261
262      servo2.write(pos2);
263    }
264
265  }
266
267  //Auto mode
268  if (switchState
269  == HIGH && pumpState == LOW) {
270
271    digitalWrite(ledAuto, HIGH);
272    digitalWrite(ledManual,
273  LOW);
274
275  //Start operation
276    if (stateStart == LOW) {
277
278      digitalWrite(ledOperation,
279  HIGH);
280
281    for (pos1; pos1 < 90; pos1++) {
282        delay(servoSpeed);
283
284        servo1.write(pos1);
285      }
286
287    for (pos1; pos1 > 90; pos1--)
288  {
289        delay(servoSpeed);
290        servo1.write(pos1);
291      }
292
293
294    for (pos4; pos4 < 146; pos4++) {
295      delay(servoSpeed);
296      servo4.write(pos4);
297
298     }
299
300     for (pos4; pos4 > 146; pos4--) {
301      delay(servoSpeed);
302
303      servo4.write(pos4);
304     }
305
306    for (pos3; pos3 < 111; pos3++) {
307
308      delay(servoSpeed);
309      servo3.write(pos3);
310    }
311
312    for (pos3;
313  pos3 > 111; pos3--) {
314      delay(servoSpeed);
315      servo3.write(pos3);
316
317    }
318
319    for (pos2; pos2 < 23; pos2++) {
320      delay(servoSpeed);
321
322      servo2.write(pos2);
323    }
324
325    for (pos2; pos2 > 23; pos2--) {
326
327      delay(servoSpeed);
328      servo2.write(pos2);
329    }
330
331    for (pos2;
332  pos2 < 35; pos2++) {
333      delay(servoSpeed);
334      servo2.write(pos2);
335
336    }
337    
338    for (pos1; pos1 > 60; pos1--) {
339      delay(servoSpeed);
340
341      servo1.write(pos1);
342    }
343
344    for (pos2; pos2 > 20; pos2--) {
345
346      delay(servoSpeed);
347      servo2.write(pos2);
348    }
349
350    delay(500);
351
352    digitalWrite(relay, LOW);
353    digitalWrite(ledPump, HIGH);
354    delay(1000);
355
356
357    for (pos2; pos2 < 35; pos2++) {
358      delay(servoSpeed);
359      servo2.write(pos2);
360
361    }
362
363    for (pos1; pos1 < 170; pos1++) {
364      delay(servoSpeed);
365
366      servo1.write(pos1);
367    }
368
369    for (pos2; pos2 < 80; pos2++) {
370
371      delay(servoSpeed);
372      servo2.write(pos2);
373    }
374
375    for (pos3;
376  pos3 > 75; pos3--) {
377      delay(servoSpeed);
378      servo3.write(pos3);
379
380    }
381
382    for (pos4; pos4 > 70; pos4--) {
383      delay(servoSpeed);
384
385      servo4.write(pos4);
386     }
387
388     for (pos1; pos1 > 15; pos1--) {
389
390      delay(servoSpeed);
391      servo1.write(pos1);
392    }
393
394    for (pos4;
395  pos4 < 146; pos4++) {
396      delay(servoSpeed);
397      servo4.write(pos4);
398
399     }
400
401     for (pos3; pos3 < 111; pos3++) {
402      delay(servoSpeed);
403
404      servo3.write(pos3);
405    }
406
407    for (pos1; pos1 < 120; pos1++) {
408
409      delay(servoSpeed);
410      servo1.write(pos1);
411    }
412
413    for (pos2;
414  pos2 > 20; pos2--) {
415      delay(servoSpeed);
416      servo2.write(pos2);
417
418    }
419
420    delay(1000);
421    digitalWrite(relay, HIGH);
422    digitalWrite(ledPump,
423  LOW);
424    delay(500); 
425
426    for (pos2; pos2 <35; pos2++) {
427      delay(servoSpeed);
428
429      servo2.write(pos2);
430    }
431
432    for (pos1; pos1 > 90; pos1--) {
433
434      delay(servoSpeed);
435      servo1.write(pos1);
436    }
437
438    for(pos2;
439  pos2 > 23; pos2--) {
440      delay(servoSpeed);
441      servo2.write(pos2);
442
443    }
444
445   digitalWrite(ledOperation, LOW); 
446     
447  }
448 }
449}
450
451//Made
452  by: Tine Logar (2017)
453

//Made by Tine Logar (2017)

#include <Servo.h>
Servo servo1;
Servo
  servo2;
Servo servo3;
Servo servo4;

//Starting position of servos
int
  pos1 = 90;
int pos2 = 23;
int pos3 = 111;
int pos4 = 146;

//Joysticks
int
  VRx1 = 0;
int VRy1 = 0;
int VRx2 = 0;
int VRy2 = 0;

//Potentiometer
int
  pot = 0;
int servoSpeed = 0;

//Button
const int button1 = 2;
int
  state1;
int lastState = LOW;
long lastDebounce = 0;
long delayDebounce
  = 50;
const int ledPump = 7;
int reading;
int pumpState;
const int relay
  = 12;

//Switch
const int modeSwitch = 4;
int switchState;

//LEDs
const
  int ledManual = 8;
const int ledAuto = 13;
const int ledOperation = 3;

const
  int buttonStart = 11;
int stateStart;

void setup() {

  Serial.begin(9600);


  servo1.attach(5);
  servo2.attach(6);
  servo3.attach(9);
  servo4.attach(10);


  servo1.write(pos1);
  servo2.write(pos2);
  servo3.write(pos3);
  servo4.write(pos4);


  pinMode(button1, INPUT_PULLUP);
  pinMode(ledPump, OUTPUT);
  pinMode(relay,
  OUTPUT);
  digitalWrite(relay, LOW);

  pinMode(modeSwitch, INPUT_PULLUP);


  pinMode(ledManual, OUTPUT);
  pinMode(ledAuto, OUTPUT);
  pinMode(ledOperation,
  OUTPUT);

  pinMode(buttonStart, INPUT_PULLUP);

}

void loop()
  {

  //Reading of inputs
  switchState = digitalRead(modeSwitch);


  pot = analogRead(A4);
  servoSpeed = map(pot, 0, 1023, 100, 12);
  

  VRx1 = analogRead(A1);
  VRx1 = map(VRx1, 0, 1023, 0, 10);
  VRy1 = analogRead(A0);

  VRy1 = map(VRy1, 0, 1023, 10, 0);
  VRx2 = analogRead(A2);
  VRx2 = map(VRx2,
  0, 1023, 0, 10);
  VRy2 = analogRead(A3);
  VRy2 = map(VRy2, 0, 1023, 0, 10);


  reading = digitalRead(button1);

  stateStart = digitalRead(buttonStart);


  //Manual mode  
  if (switchState == LOW) {

      digitalWrite(ledManual,
  HIGH);
      digitalWrite(ledAuto, LOW);
      
    if (VRx1 < 2 && pos1
  > 0) {
      (pos1--);
      delay(servoSpeed);
    }
  
    if (VRx1
  > 8 && pos1 <180) {
      (pos1++);
     delay(servoSpeed);
    }


    servo1.write(pos1);

    if (VRy1 < 2 && pos2 > 0) {
      (pos2--);

      delay(servoSpeed);
   }

   if (VRy1 > 8 && pos2 <180) {
     (pos2++);

     delay(servoSpeed);
   }

   servo2.write(pos2);

   if (VRx2
  < 2 && pos3 > 0) {
     (pos3--);
     delay(servoSpeed);
   }


   if (VRx2 > 8 && pos3 < 180) {
     (pos3++);
      delay(servoSpeed);

    }

   servo3.write(pos3);  

   if (VRy2 < 2 && pos4 > 0) {

     (pos4--);
     delay(servoSpeed);
    }

    if (VRy2 > 8 && pos4
  < 180) {
     (pos4++);
      delay(servoSpeed);
   }

    servo4.write(pos4);


  //Turn ON/OFF air pump
    if (reading != lastState) {
      lastDebounce
  = millis();
    }

    if ((millis() - lastDebounce) > delayDebounce) {

      if (reading != state1) {
       state1 = reading;
       if (state1
  == LOW) {
          pumpState = ! pumpState;
       }
     }  
    }


   lastState = reading;

      digitalWrite(ledPump, pumpState);
      digitalWrite(relay,
  !pumpState);
  }

  //Home position  
  if (stateStart == LOW) {

    
    for (pos1; pos1 < 90; pos1++) {
        delay(servoSpeed);
        servo1.write(pos1);

      }

    for (pos1; pos1 > 90; pos1--) {
        delay(servoSpeed);

        servo1.write(pos1);
      }

    for (pos4; pos4 < 146; pos4++)
  {
      delay(servoSpeed);
      servo4.write(pos4);
     }

     for
  (pos4; pos4 > 146; pos4--) {
      delay(servoSpeed);
      servo4.write(pos4);

     }

    for (pos3; pos3 < 111; pos3++) {
      delay(servoSpeed);

      servo3.write(pos3);
    }

    for (pos3; pos3 > 111; pos3--) {

      delay(servoSpeed);
      servo3.write(pos3);
    }

    for (pos2;
  pos2 < 23; pos2++) {
      delay(servoSpeed);
      servo2.write(pos2);

    }

    for (pos2; pos2 > 23; pos2--) {
      delay(servoSpeed);

      servo2.write(pos2);
    }

  }

  //Auto mode
  if (switchState
  == HIGH && pumpState == LOW) {

    digitalWrite(ledAuto, HIGH);
    digitalWrite(ledManual,
  LOW);

  //Start operation
    if (stateStart == LOW) {

      digitalWrite(ledOperation,
  HIGH);

    for (pos1; pos1 < 90; pos1++) {
        delay(servoSpeed);

        servo1.write(pos1);
      }

    for (pos1; pos1 > 90; pos1--)
  {
        delay(servoSpeed);
        servo1.write(pos1);
      }


    for (pos4; pos4 < 146; pos4++) {
      delay(servoSpeed);
      servo4.write(pos4);

     }

     for (pos4; pos4 > 146; pos4--) {
      delay(servoSpeed);

      servo4.write(pos4);
     }

    for (pos3; pos3 < 111; pos3++) {

      delay(servoSpeed);
      servo3.write(pos3);
    }

    for (pos3;
  pos3 > 111; pos3--) {
      delay(servoSpeed);
      servo3.write(pos3);

    }

    for (pos2; pos2 < 23; pos2++) {
      delay(servoSpeed);

      servo2.write(pos2);
    }

    for (pos2; pos2 > 23; pos2--) {

      delay(servoSpeed);
      servo2.write(pos2);
    }

    for (pos2;
  pos2 < 35; pos2++) {
      delay(servoSpeed);
      servo2.write(pos2);

    }
    
    for (pos1; pos1 > 60; pos1--) {
      delay(servoSpeed);

      servo1.write(pos1);
    }

    for (pos2; pos2 > 20; pos2--) {

      delay(servoSpeed);
      servo2.write(pos2);
    }

    delay(500);

    digitalWrite(relay, LOW);
    digitalWrite(ledPump, HIGH);
    delay(1000);


    for (pos2; pos2 < 35; pos2++) {
      delay(servoSpeed);
      servo2.write(pos2);

    }

    for (pos1; pos1 < 170; pos1++) {
      delay(servoSpeed);

      servo1.write(pos1);
    }

    for (pos2; pos2 < 80; pos2++) {

      delay(servoSpeed);
      servo2.write(pos2);
    }

    for (pos3;
  pos3 > 75; pos3--) {
      delay(servoSpeed);
      servo3.write(pos3);

    }

    for (pos4; pos4 > 70; pos4--) {
      delay(servoSpeed);

      servo4.write(pos4);
     }

     for (pos1; pos1 > 15; pos1--) {

      delay(servoSpeed);
      servo1.write(pos1);
    }

    for (pos4;
  pos4 < 146; pos4++) {
      delay(servoSpeed);
      servo4.write(pos4);

     }

     for (pos3; pos3 < 111; pos3++) {
      delay(servoSpeed);

      servo3.write(pos3);
    }

    for (pos1; pos1 < 120; pos1++) {

      delay(servoSpeed);
      servo1.write(pos1);
    }

    for (pos2;
  pos2 > 20; pos2--) {
      delay(servoSpeed);
      servo2.write(pos2);

    }

    delay(1000);
    digitalWrite(relay, HIGH);
    digitalWrite(ledPump,
  LOW);
    delay(500); 

    for (pos2; pos2 <35; pos2++) {
      delay(servoSpeed);

      servo2.write(pos2);
    }

    for (pos1; pos1 > 90; pos1--) {

      delay(servoSpeed);
      servo1.write(pos1);
    }

    for(pos2;
  pos2 > 23; pos2--) {
      delay(servoSpeed);
      servo2.write(pos2);

    }

   digitalWrite(ledOperation, LOW); 
     
  }
 }
}

//Made
  by: Tine Logar (2017)

Downloadable files

Schematic

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