Différences

Ci-dessous, les différences entre deux révisions de la page.

--- start:arduino:mains [2022/10/21 19:53] – [Programme HackBerry.ino version V3.1 MK2] gerardadmin
+++ start:arduino:mains [2023/04/13 07:23] (Version actuelle) – [Programme HackBerry_Test_tinkercad.ino version V1.0] gerardadmin
@@ Ligne 18: / Ligne 18: @@
 [[https://github.com/mission-arm/HACKberry/tree/master/HACKberry_program|Programme main robotisée HackBerry GitHub]]
+[[https://wikifab.org/wiki/Proth%C3%A8se_de_main_command%C3%A9e_par_des_capteurs_musculaires#%C3%89tape_32_-_T%C3%A9l%C3%A9verser_le_code_Arduino_dans_la_main|Prothese main robot Arduino]]
+[[https://wikilab.myhumankit.org/index.php?title=Projets:Bionicohand#R.C3.A9f.C3.A9rences.2F_Sources|Bionicohan FR]]
+==== Capteurs EMG ====
+[[http://fr.mfgrobots.com/mfg/it/1002029866.html| Capteurs EMG c'est Quoi ? FR ]]
+[[https://fr.aliexpress.com/w/wholesale-capteur-emg-arduino.html|EMG sur Alliexpress]]
+[[https://wikilab.myhumankit.org/images/a/a6/DIY_-_Faites_le_vous-m%C2%88me-_Capteur_EMG.pdf|DIY_-_Faites_le_vous-même-_Capteur_EMG.pdf]]
+[[https://youtu.be/J7_LEoYuqww|video  capteur EMG EN]]
+[[start:arduino:emg|test capteurs EMG]]
@@ Ligne 80: / Ligne 98: @@
     // Pin Configuration
-    pinButtonCalib = A6;
+    pinButtonCalib = A6;// A4 sur Arduino Uno pour test Calibration
-    pinButtonTBD   = A7;
+    pinButtonTBD   = A7;// A5 sur Arduino Uno pour test
-    pinButtonThumb = A0;
+    pinButtonThumb = A0;// Verrouillage pouce
-    pinButtonOther = 10;
+    pinButtonOther = 10;// Verouillage 3 doigts
-    pinServoIndex  = 5;
+    pinServoIndex  = 5;// Servo pour l'index
-    pinServoOther  = 6;
+    pinServoOther  = 6;// Servo pour 3 doigts
-    pinServoThumb  = 9;
+    pinServoThumb  = 9;// Servo pour le pouce
-    pinSensor      = A1;
+    pinSensor      = A1; // Capteur de pression
     if(isRight){
@@ Ligne 469: / Ligne 487: @@
 }
 </code>
+==== Simulation main sur Tinkercad ====
+=== Cablage Arduino Uno et servoMoteurs ===
+[[https://www.tinkercad.com/things/aOcPVfLshTv-mainrobot001/editel?sharecode=5w0XKvIfN_HbnWhJSuMrUpc_JwIGZ0DbrTIVq2bElGQ|{{ :start:arduino:capture_du_2022-10-31_10-43-01.jpg?direct&800 |}}]]
+=== Schema ===
+{{ :start:arduino:capture_du_2022-10-31_10-50-53.jpg?direct&600 |}}
+=== Programme HackBerry_Test_tinkercad.ino version V1.0 ===
+<code c Main_robot_0011.ino>
+#include <Servo.h>
+//Pin
+int pinButtonCalib; //start calibration
+int pinButtonTBD; // No function implemented yet.
+int pinButtonThumb; // open/close thumb
+int pinButtonOther; //lock/unlock other three fingers
+int pinServoIndex;
+int pinServoOther;
+int pinServoThumb;
+int pinSensor; //sensor input
+//Software
+int sensorValue = 0;
+int memPouce = 0;
+int memIndex = 0;
+int mem3Dgts = 0;
+//Hardware
+Servo servoIndex; //index
+Servo servoOther; //3doigts
+Servo servoThumb; //pouce
+//Valeurs mini/max servos
+const int outThumbMax = 170;//valeur max servo pouce
+const int outIndexMax = 142;//valeur max servo index
+const int outOtherMax = 96;//valeur max servo 3doigts
+const int outThumbMin = 170-86;//valeur min servo pouce 170-86=84
+const int outIndexMin = 140-117; //valeur min servo index 140-117= 23
+const int outOtherMin = 95-55;//valeur min servo 3doigts 95-55 = 40
+void setup() {
+    Serial.begin(9600);
+    // Pin Configuration
+    pinButtonCalib = A4;// A6 sur Hackberry pour test Calibration -- validation index
+    pinButtonTBD   = A5;// A7 sur Hackberry pour test
+    pinButtonThumb = A0;// Verrouillage pouce -- validation pouce
+    pinButtonOther = 10;// Verouillage 3 doigts -- validation  3doigts
+    pinServoIndex  = 5;// Servo pour l'index
+    pinServoOther  = 6;// Servo pour 3 doigts
+    pinServoThumb  = 9;// Servo pour le pouce
+    pinSensor      = A1; // Capteur de pression
+    servoIndex.attach(pinServoIndex);//index
+    servoOther.attach(pinServoOther);// 3 doigts
+    servoThumb.attach(pinServoThumb);//Pouce
+    pinMode(pinButtonCalib, INPUT_PULLUP);
+    pinMode(pinButtonTBD,   INPUT_PULLUP);
+    pinMode(pinButtonThumb, INPUT_PULLUP);
+    pinMode(pinButtonOther, INPUT_PULLUP);
+}
+void loop() {
+  sensorValue = 0;
+  if ( digitalRead(pinButtonThumb) == HIGH ){
+    memPouce = 1;
+    memIndex = 0;
+    mem3Dgts = 0;
+  }
+   if ( digitalRead(pinButtonCalib) == HIGH ){
+    memPouce = 0;
+    mem3Dgts = 0;
+    memIndex = 1;
+  }
+  if ( digitalRead(pinButtonOther) == HIGH ){
+    memPouce = 0;
+    mem3Dgts = 1;
+    memIndex = 0;
+  }
+  if (memPouce == 1){
+    sensorValue = analogRead(pinSensor);
+    delay(25);
+    sensorValue = map(sensorValue, 0, 1023, outThumbMin, outThumbMax);
+    Serial.print("sensor pouce= "); Serial.println(sensorValue);
+    servoThumb.write(sensorValue);
+    delay(15);
+  }
+  if (memIndex == 1){
+    sensorValue = analogRead(pinSensor);
+    delay(25);
+    sensorValue = map(sensorValue, 0, 1023,outIndexMin, outIndexMax);
+    Serial.print("sensor index= "); Serial.println(sensorValue);
+    servoIndex.write(sensorValue);
+    delay(15);
+  }
+  if (mem3Dgts == 1){
+    sensorValue = analogRead(pinSensor);
+    delay(25);
+    sensorValue = map(sensorValue, 0, 1023,outOtherMin, outOtherMax);
+    Serial.print("sensor doigts= "); Serial.println(sensorValue);
+    servoOther.write(sensorValue);
+    delay(15);
+  }
+}
+</code>
+==== Test main.ino====
+<code c testmain.ino>
+//EMG sensor robotic hand controller
+//This code is for controlling a robotic hand with
+//an EMG sensor.
+//
+//© Au Robots 8.4.2017
+//Necessary for controlling the servos
+#include <Servo.h>
+const int x = ///// This is the reference value and it
+//will depend on your setup. You have to find it out
+//yourself by looking at the serial monitor and finding
+//a value between the maximum and minimum value.
+//Naming the servos
+Servo servo1;
+Servo servo2;
+Servo servo3;
+Servo servo4;
+Servo servo5;
+Servo servo6;
+void setup()
+{
+//Starting the serial monitor
+Serial.begin(9600);
+//Configuring servo pins
+servo2.attach(10); // pinky
+servo3.attach(11); //ring
+servo4.attach(3); // middle
+servo5.attach(6); //index
+servo6.attach(5); //thumb
+}
+void loop()
+{
+//Printing the EMG data
+Serial.println(analogRead(5));
+//If the EMG data is greater than x the hand closes
+  if(analogRead(5) > x) {
+    servo2.write(180);
+    servo3.write(148);
+    servo4.write(89);
+    servo5.write(180);
+    servo6.write(180);
+  }
+//If the EMG data is lower than x the hand opens
+  else if (analogRead(5) < x) {
+    servo2.write(38);
+    servo3.write(10);
+    servo4.write(0);
+    servo5.write(16);
+    servo6.write(16);
+  }
+//A delay to slow down the process
+  delay(100);
+}
+</code>