A small project I built in 2015 to test an acceleration sensor with my Arduino Mega 2560. The pitch, roll, and yaw of the gun are controlled with the ADXL335 sensor.
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Parts
- Arduino Mega 2560
- Acceleration Sensor ADXL335
- Motor driver L293D
- Lego Technic Power functions M-Motor
- Two Servos
ADXL335 Arduino Mega 2560 + Motor driver L293D
Circuit
In the following picture you can see the electrical circuit of the ball gun.
Code for Arduino
// import the servo library
#include <Servo.h>
// Outputs
Servo servoPlattform; // servo for vertical tilt
Servo servoRot; // servo for rotation
int moShot_a = 10;
int moShot_b = 11;
// Inputs
int zAccPin = 2;
int yAccPin = 1;
int xAccPin = 0;
// Variables
int posServoPlatt = 1500;
int posServoRot = 1500;
int zAcc = 0;
int yAcc = 0;
int xAcc = 0;
void setup()
{
// Outputs
pinMode(10,OUTPUT);
pinMode(11,OUTPUT);
// Attach servo variables to pins
servoPlattform.attach(2);
servoRot.attach(6);
// servos to middle position
servoPlattform.write(posServoPlatt);
servoRot.write(posServoRot);
Serial.begin(9600);
}
void loop()
{
analogWrite(moShot_a,0);
analogWrite(moShot_b,0);
while(true){
// Check values of the acceleration sensor
zAcc = analogRead(zAccPin);
yAcc = analogRead(yAccPin);
xAcc = analogRead(xAccPin);
zAcc = zAcc * 0.1;
yAcc = yAcc * 0.1;
xAcc = xAcc * 0.1;
// print values
Serial.print(" z: ");
Serial.print(zAcc);
Serial.print(" y: ");
Serial.print(yAcc);
Serial.print(" x: ");
Serial.print(xAcc);
Serial.println();
// control the vertical tilt
if(yAcc < 28 && posServoPlatt <= 2200){
posServoPlatt = posServoPlatt + 10;
Serial.println(posServoPlatt);
}
else if(yAcc > 34 && posServoPlatt >= 1000){
posServoPlatt = posServoPlatt - 10;
Serial.print(posServoPlatt);
}
servoPlattform.writeMicroseconds(posServoPlatt);
// control the rotation
if(zAcc > 34 && posServoRot <= 2400){
posServoRot = posServoRot + 10;
Serial.println(posServoRot);
}
else if(zAcc < 28 && posServoRot >= 700){
posServoRot = posServoRot - 10;
Serial.print(posServoRot);
}
servoRot.writeMicroseconds(posServoRot);
// shot ball
if(xAcc > 50){
analogWrite(moShot_a,255);
analogWrite(moShot_b,0);
delay(650);
analogWrite(moShot_a,0);
analogWrite(moShot_b,0);
}
delay(5);
}
}
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