Controlling MeArm Robot arm from an android device

I recently bought a MeArm robot arm and assembled.

This consists of 4 servo motors to control base, shoulder, elbow and gripper. Later I found "MeArm Controller" android application and decided to configure arduino bluetooth module to complete my setup.

Following is the breadboard view of my configuration.

I found it bit hard to configure the android app for the first time hence decided to note down configuration steps below.

1. Turn bluetooth on and open the application.

2. Press the settings icon (triangle just below Reset button). This should take you to the following screen.

3. Press the Connectivity button.

4. Then tap on the bluetooth icon and select the correct address.
Now you should get a screen saying connected :)

5. Select the slider mode then provide Servo IDs.

6. Press OK and you should get a screen similar to the following, where you have controls to the 4 servo motors.

Here is my messy robot arm config,

Arduino sketch: (Credit to the original creator- I have only  modified baudrate for the bluetooth module)

	#include <SoftwareSerial.h>
	#include <Servo.h>
	Servo base; //Create an object servo base
	Servo shoulder; //Create an object servo shoulder
	Servo elbow; //Create an object servo elbow
	Servo gripper; //Create an object servo gripper
	char ServoID; //Variable for Servo ID
	int hasilButton; //Variable button pressed results
	int nilaiBase; //Variable servo base value
	int nilaiShoulder; //Variable servo Shoulder value
	int nilaiElbow; //Variable servo Elbow value
	int nilaiGripper; //Variable servo Gripper value
	const int increment = 5; //Increase degree (B+, S+, E+, G+)
	const int decrement = 5; //Decrease degree (B-, S-, E-, G-)
	String readString; //Read string values
	SoftwareSerial BT(12,13); //Bluetooth RX TX on pins 12 and 13
	void setup() {
	Serial.begin(9600); //Set the Serial Baudrate 9600
	BT.begin(9600); //Set Baudrate Bluetooth accordance with your bluetooth module
	pinMode(13,OUTPUT); //Set pin 13 as output
	base.attach(6); //Set the servo base of the pin 6
	shoulder.attach(9); //Set the servo shoulder of the pin 9
	elbow.attach(11); //Set the servo elbow of the pin 11
	gripper.attach(10);
	//Set the servo gripper of the pin 10
	base.write(90); //Start positioning servo base to 90 degrees
	shoulder.write(90); //Start positioning servo shoulder to 90 degrees
	elbow.write(90); //Start positioning servo elbow to 90 degrees
	gripper.write(90); //Start positioning servo gripper to 90 degrees
	}
	void loop() {
	if (BT.available()) { //If bluetooth available
	Serial.println("BT available");
	hasilButton = BT.read(); //Set hasilButton = Bluetooth Read
	Serial.println("BT hasilButton " + hasilButton);
	ServoID = BT.read(); //Set ServoID = Bluetooth Read
	Serial.println("BT ServoID " + ServoID);
	base.write(nilaiBase); //Set the degree of servo according nilaiBase
	shoulder.write(nilaiShoulder); //Set the degree of servo according nilaiShoulder
	elbow.write(nilaiElbow); //Set the degree of servo according nilaiElbow
	gripper.write(nilaiGripper); //Set the degree of servo according nilaiGripped
	if(hasilButton == 'X'){ //If the button = X (X can customize the application MeArm Controller)
	digitalWrite(13, LOW); //Turn off the led on pin 13
	}
	if(hasilButton == 'Z'){ //If the button = Z (Z can customize the application MeArm Controller)
	digitalWrite(13, HIGH); //Turn on the led on pin 13
	}
	if(hasilButton == 'a'){ //If the button = a (a can customize the application MeArm Controller)
	nilaiBase-=decrement; //Servo base value - value decrement
	}
	else if(hasilButton == 'A'){ //If the button = A (A can customize the application MeArm Controller)
	nilaiBase+=increment; //Servo base value + value increment
	}
	if(hasilButton == 's'){ //If the button = s (s can customize the application MeArm Controller)
	nilaiShoulder-=decrement; //Servo base shoulder - value decrement
	}
	else if(hasilButton == 'S'){ //If the button = S (S can customize the application MeArm Controller)
	nilaiShoulder+=increment; //Servo shoulder value + value increment
	}
	if(hasilButton == 'e'){ //If the button = e (e can customize the application MeArm Controller)
	nilaiElbow-=decrement; //Servo base elbow - value decrement
	}
	else if(hasilButton == 'E'){ //If the button = E (E can customize the application MeArm Controller)
	nilaiElbow+=increment; //Servo shoulder value + value increment
	}
	if(hasilButton == 'g'){ //If the button = g (g can customize the application MeArm Controller)
	nilaiGripper-=decrement; //Servo base gripper - value decrement
	}
	else if(hasilButton == 'G'){ //If the button = G (G can customize the application MeArm Controller)
	nilaiGripper+=increment; //Servo gripper value + value increment
	}
	if(ServoID=='1'){ //If ServoID = 1
	baseServo_slider(); //Call subroutine baseServo_slider
	}
	if(ServoID=='2'){ //If ServoID = 2
	shoulderServo_slider(); //Call subroutine shoulderServo_slider
	}
	if(ServoID=='3'){ //If ServoID = 3
	elbowServo_slider(); //Call subroutine elbowServo_slider
	}
	if(ServoID=='4'){ //If ServoID = 4
	gripperServo_slider(); //Call subroutine gripperServo_slider
	}
	}
	}
	void baseServo_slider(){
	delayMicroseconds(300);
	while (BT.available()) {
	char c = BT.read();
	readString += c;
	}
	if (readString.length() >0) {
	Serial.print("Base : ");
	Serial.println(readString.toInt());
	nilaiBase = (readString.toInt()); //nilaiBase = readString from android
	base.write(readString.toInt()); //Set the degree of servo base according to the value ReadString
	readString="";
	}
	}
	void shoulderServo_slider(){
	delayMicroseconds(300);
	while (BT.available()) {
	char c = BT.read();
	readString += c;
	}
	if (readString.length() >0) {
	Serial.print("Shoulder : ");
	Serial.println(readString.toInt());
	nilaiShoulder = (readString.toInt()); //nilaiShoulder = readString from android
	shoulder.write(readString.toInt()); //Set the degree of servo shoulder according to the value ReadString
	readString="";
	}
	}
	void elbowServo_slider(){
	delayMicroseconds(300);
	while (BT.available()) {
	char c = BT.read();
	readString += c;
	}
	if (readString.length() >0) {
	Serial.print("Elbow : ");
	Serial.println(readString.toInt());
	nilaiElbow = (readString.toInt()); //nilaiElbow = readString from android
	elbow.write(readString.toInt()); //Set the degree of servo elbow according to the value ReadString
	readString="";
	}
	}
	void gripperServo_slider(){
	delayMicroseconds(300);
	while (BT.available()) {
	char c = BT.read();
	readString += c;
	}
	if (readString.length() >0) {
	Serial.print("Gripper : ");
	Serial.println(readString.toInt());
	nilaiGripper = (readString.toInt()); //nilaiGripper = readString from android
	gripper.write(readString.toInt()); //Set the degree of servo gripper according to the value ReadString
	readString="";
	}
	}

view raw MeArm - BT hosted with ❤ by GitHub

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