https://github.com/erenelagz/blynk-robotic-arm
3 Axis Robotic Arm Project, Using Blynk and IoT Components
https://github.com/erenelagz/blynk-robotic-arm
Last synced: 7 months ago
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3 Axis Robotic Arm Project, Using Blynk and IoT Components
- Host: GitHub
- URL: https://github.com/erenelagz/blynk-robotic-arm
- Owner: ErenElagz
- Created: 2025-01-13T12:50:48.000Z (9 months ago)
- Default Branch: main
- Last Pushed: 2025-01-13T12:57:14.000Z (9 months ago)
- Last Synced: 2025-01-20T14:18:53.796Z (9 months ago)
- Language: C++
- Size: 12.7 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# Robotic Arm Control with Blynk
This project allows you to control a robotic arm using an ESP32, stepper motors, a servo motor, and an electromagnet, all integrated with the Blynk platform.
## Features
- Control two stepper motors for robotic arm movements.
- Adjust the servo motor's angle using a slider.
- Activate or deactivate the electromagnet using a button.
- Real-time control via the Blynk mobile app.
---
## Hardware Requirements
- ESP32 microcontroller
- 2 Stepper motors
- Servo motor
- Electromagnet
- Supporting components (e.g., motor drivers, jumper wires)
---
## Software Requirements
- Arduino IDE
- Blynk library
- ESP32Servo library
---
## Wiring Diagram
### Stepper Motors
| Pin | Function | ESP32 Pin |
|-----|---------------------|-----------|
| IN1 | Stepper Motor 1 | D12 |
| IN2 | Stepper Motor 1 | D13 |
| IN3 | Stepper Motor 1 | D14 |
| IN4 | Stepper Motor 1 | D15 |
| IN1 | Stepper Motor 2 | D4 |
| IN2 | Stepper Motor 2 | D5 |
| IN3 | Stepper Motor 2 | D6 |
| IN4 | Stepper Motor 2 | D7 |
### Servo Motor
| Pin | ESP32 Pin |
|-----------|-----------|
| Servo Pin | D0 |
### Electromagnet
| Pin | ESP32 Pin |
|-----------------|-----------|
| Electromagnet | D1 |
---
## Installation
1. Install the required libraries:
- Blynk library
- ESP32Servo library
2. Set up the Blynk mobile app:
- Create a new project.
- Add the following widgets:
- **Button** for Stepper Motor 1 (V1).
- **Button** for Stepper Motor 2 (V2).
- **Slider** for Servo Motor (V3).
- **Button** for Electromagnet (V4).
3. Obtain the Blynk Authentication Token from the app.
4. Update the following details in the code:
```cpp
#define BLYNK_TEMPLATE_ID "YOUR_TEMPLATE_ID"
#define BLYNK_TEMPLATE_NAME "YOUR_TEMPLATE_NAME"
#define BLYNK_AUTH_TOKEN "YOUR_AUTH_TOKEN"
char ssid[] = "YOUR_WIFI_SSID";
char pass[] = "YOUR_WIFI_PASSWORD";
```
5. Connect your hardware as per the wiring diagram.
6. Upload the code to the ESP32 using the Arduino IDE.
---
## Images of the Project
---
## Code Explanation
### Libraries Used
```cpp
#include
#include
#include
```
- `WiFi.h`: Enables Wi-Fi functionality.
- `BlynkSimpleEsp32.h`: Integrates ESP32 with the Blynk platform.
- `ESP32Servo.h`: Allows control of the servo motor.
### Pin Definitions
```cpp
#define IN1_PIN D12
#define IN2_PIN D13
#define IN3_PIN D14
#define IN4_PIN D15
#define SERVO_PIN D0
#define IN1_PIN_2 D4
#define IN2_PIN_2 D5
#define IN3_PIN_2 D6
#define IN4_PIN_2 D7
#define ELECTROMAGNET_PIN D1
```
- Pins for stepper motors, servo motor, and electromagnet are defined for easy reference.
### Motor Control
Stepper motor control is achieved using the following sequence:
```cpp
const int steps[8][4] = {
{1, 0, 0, 0}, {1, 1, 0, 0}, {0, 1, 0, 0}, {0, 1, 1, 0},
{0, 0, 1, 0}, {0, 0, 1, 1}, {0, 0, 0, 1}, {1, 0, 0, 1}
};
```
The `moveStepMotor` function calculates the required steps and direction to move the motor.
### Blynk Control Functions
1. **Stepper Motor 1:**
```cpp
BLYNK_WRITE(V1) {
float targetAngle = param.asFloat();
moveStepMotor(targetAngle, currentAngle, currentStep, true);
}
```
2. **Stepper Motor 2:**
```cpp
BLYNK_WRITE(V2) {
float targetAngle = param.asFloat();
moveStepMotor(targetAngle, currentAngle2, currentStep2, false);
}
```
3. **Servo Motor:**
```cpp
BLYNK_WRITE(V3) {
int angle = param.asInt();
myServo.write(constrain(angle, 0, 180));
}
```
4. **Electromagnet:**
```cpp
BLYNK_WRITE(V4) {
int state = param.asInt();
digitalWrite(ELECTROMAGNET_PIN, state == 1 ? HIGH : LOW);
}
```
---
## Usage
- Open the Blynk app and connect to your ESP32.
- Use the buttons and slider to control the robotic arm.
- Monitor the serial output for feedback.
---
## Notes
- Ensure your Wi-Fi credentials and Blynk token are correctly configured.
- Adjust the `stepDelay` value if needed to fine-tune stepper motor performance.
---
## License
This project is open-source and licensed under the MIT License.
---