Voice Activated Robotic Arm

/* - This code is a modified version of the Arduino example sketch

 * - Receives voice command from the VR module

 * - Indicator light turn on (optional)

 * - Transmits serial data to the Robotic Arm thru the APC220 RF module

 * You can replace these voice signatures with yours

 * This project doesn't use the serial monitor and some of the serial print lines are commented out

 * Replace the signatures on "savedVoices()" function at the end of this code

 * RGB LED light can be omitted

 */

#include <SoftwareSerial.h>

#include "VoiceRecognitionV3.h"

// 11:RX 12:TX, you can choose your favorite pins.

VR myVR(11, 12);   

uint8_t records[7]; // save record

uint8_t buf[64];

//RGB light

int red = 3;

int green = 5;

int blue = 6;

// Voice signitures in Amharic (Ethiopian language)

//      Signiture (VR index)

#define Shero     (0)   // braccio's name

#define Tezegaje  (1)   // get ready

#define Anesa     (2)   // pick up

#define Wedkegne  (3)   // to the left

#define Wedgera   (4)   // to the right

#define Melese    (5)   // put it back

#define Beka      (6)   // Done

void setup()

{

  /** initialize */

  myVR.begin(9600); // serial com for the VR

  /* APC220 is connected to RX/TX pins of the Arduino

   * Disconnect the module before uploading code to Arduino

   */

  Serial.begin(9600); // RF com with Braccio

  pinMode(red, OUTPUT);

  pinMode(green, OUTPUT);

  pinMode(blue, OUTPUT);

  led_all_color_test ();//lamp test

  delay (500);

  RGB_off ();

  savedVoices(); // do not modify

}

void loop()

{

  int ret;

  ret = myVR.recognize(buf, 50);

  if (ret > 0) {

    switch (buf[1]) {

      case Shero: // braccio's nick name

        Serial.write('0');   // Send data over APC220

        analogWrite(red, 255);

        analogWrite(green, 0);

        analogWrite(blue, 0);

        delay (5000);

        RGB_off ();

        break;

      case Tezegaje: //Voice command "get ready"

        Serial.write('1');

        analogWrite(red, 0);

        analogWrite(green, 255);

        analogWrite(blue, 0);

        delay (5000);

        RGB_off ();

        break;

      case Anesa: //Voice command "pick it up"

        Serial.write('2');

        analogWrite(red, 0);

        analogWrite(green, 0);

        analogWrite(blue, 255);

        delay (5000);

        RGB_off ();

        break;

      case Wedkegne: //Voice command "to the right"

        Serial.write('3');

        analogWrite(red, 0);

        analogWrite(green, 255);

        analogWrite(blue, 0);

        delay (500);

        analogWrite(red, 0);

        analogWrite(green, 0);

        analogWrite(blue, 255);

        delay (1000);

        RGB_off ();

        break;

      case Wedgera: //Voice command "to the left"

        Serial.write('4');  

        analogWrite(red, 255);

        analogWrite(green, 0);

        analogWrite(blue, 0);

        delay (500);

        analogWrite(red, 0);

        analogWrite(green, 255);

        analogWrite(blue, 0);

        delay (1000);

        RGB_off ();

        break;

      case Melese: //Voice command "return"

        Serial.write('5');  

        led_all_color_test ();

        delay (200);

        RGB_off ();

        break;

      case Beka: //Voice command "end"

        Serial.write('6');  

        for (int i = 10; i <= 100; i++)

        {

          analogWrite(green, i);

          delay (50);

        }

        RGB_off ();

        break;

      default:

        Serial.println("Record function undefined");

        break;

    }

    /** voice recognized */

    printVR(buf);

  }

}

// FK functions

void led_all_color_test () {

  //Red, bright

  analogWrite(red, 255);

  analogWrite(green, 0);

  analogWrite(blue, 0);

  delay(200);

  // blue, bright

  analogWrite(red, 0);

  analogWrite(green, 0);

  analogWrite(blue, 255);

  delay(200);

  //Green, bright

  analogWrite(red, 0);

  analogWrite(green, 255);

  analogWrite(blue, 0);

  delay(200);

  // Cyan, bright

  analogWrite(red, 0);

  analogWrite(green, 255);

  analogWrite(blue, 255);

  delay(200);

  // magenta, bright

  analogWrite(red, 255);

  analogWrite(green, 0);

  analogWrite(blue, 255);

  delay(200);

  // Yellow, bright

  analogWrite(red, 255);

  analogWrite(green, 255);

  analogWrite(blue, 0);

  delay(200);

  // white, bright

  analogWrite(red, 255);

  analogWrite(green, 255);

  analogWrite(blue, 255);

  delay(200);

}

void RGB_off () {

  //Red, bright

  analogWrite(red, 0);

  analogWrite(green, 0);

  analogWrite(blue, 0);

  delay(200);

}

void RGB_white () {

  //Red, bright

  analogWrite(red, 255);

  analogWrite(green, 255);

  analogWrite(blue, 255);

  delay(200);

}

//VR functions

void savedVoices() {

  if (myVR.clear() == 0) {

    Serial.println("Recognizer cleared.");

  } else {

    Serial.println("Not find VoiceRecognitionModule.");

    Serial.println("Please check connection and restart Arduino.");

    while (1);

  }

  // add instruction to print here

  if (myVR.load((uint8_t)Shero) >= 0) {

    Serial.println("Shero loaded");

  }

  if (myVR.load((uint8_t)Tezegaje) >= 0) {

    Serial.println("Tezegaje loaded");

  }

  if (myVR.load((uint8_t)Anesa) >= 0) {

    Serial.println("Anesa loaded");

  }

  if (myVR.load((uint8_t)Wedkegne) >= 0) {

    Serial.println("Wedkegne loaded");

  }

  if (myVR.load((uint8_t)Wedgera) >= 0) {

    Serial.println("Wedgera loaded");

  }

  if (myVR.load((uint8_t)Melese) >= 0) {

    Serial.println("Melese loaded");

  }

  if (myVR.load((uint8_t)Beka) >= 0) {

    Serial.println("Beka loaded");

  }

}

//

void printSignature(uint8_t *buf, int len)

{

  int i;

  for (i = 0; i < len; i++) {

    if (buf[i] > 0x19 && buf[i] < 0x7F) {

      //Serial.write(buf[i]);

    }

    else {

      // Serial.print("[");

      // Serial.print(buf[i], HEX);

      // Serial.print("]");

    }

  }

}

//

void printVR(uint8_t *buf)

{

  //Serial.println("VR Index\tGroup\tRecordNum\tSignature");

  //Serial.print(buf[2], DEC);

  //Serial.print("\t\t");

  if (buf[0] == 0xFF) {

    //Serial.print("NONE");

  }

  else if (buf[0] & 0x80) {

    //Serial.print("UG ");

    //Serial.print(buf[0] & (~0x80), DEC);

  }

  else {

    //Serial.print("SG ");

    //Serial.print(buf[0], DEC);

  }

  //Serial.print("\t");

  //Serial.print(buf[1], DEC);

  //Serial.print("\t\t");

  if (buf[3] > 0) {

    printSignature(buf + 4, buf[3]);

  }

  else {

    //Serial.print("NONE");

  }

  //Serial.println("\r\n");

}

​/*  Braccio Voice Activated from Arduino Uno

    By FK Debebe, California State University

    Robotic Arm movement on Ardunio Mega 2560

*/

#include <BraccioRobot.h>

#include <Servo.h>

// M1=base degrees. Values from 0 to 180 degrees

Servo base; 

// M2=shoulder degrees. Values from 15 to 165 degrees

Servo shoulder; 

// M3=elbow degrees. Values from 0 to 180 degrees  

Servo elbow;   

// M5=wrist rotation. Values from 0 to 180 degrees   

Servo wrist_rot;  

// M4=wrist vertical. Values from 0 to 180 degrees

Servo wrist_ver;  

// M6=gripper degrees. Values from 10 to 73 degrees.

Servo gripper;    

int data;

int buzzer = 4;   // for both UNO and Mega 2560

int ledPin =  51; //only for Mega 2560

Position myInitialPosition(90, 45,  185, 0, 180,  70);

void setup() {

  // Serial.begin(9600); // Serial monitor

  Serial1.begin(9600); // voice Rcognition

  pinMode(ledPin, OUTPUT);

  pinMode(buzzer, OUTPUT);

  InworkIndicator ();

  BraccioRobot.init(myInitialPosition);// check this

  delay (1000);

  OffworkIndicator ();

  Serial1.flush ();

  delay (50);

}

Position pos;

void loop() {

  // wait for voice command

  delay(5);

  if (Serial1.available() > 0)

  {

// Read data received from UNO

    data = Serial1.read();   

    Serial1.print (data);

    if (data == '0') {

      InworkIndicator ();

// Braccio's nick name, call it what ever you want!

      shero1 (); 

      delay (1000);

      OffworkIndicator ();

      Serial1.flush();

    }

    if (data == '1') {

      InworkIndicator ();

      goHome2 ();

      delay (2000);

//get ready function call

      tezegaje1 (); //get ready function call

      delay (1000);

      OffworkIndicator ();

      Serial1.flush();

    }

    // Pick an object

    if (data == '2') {

      InworkIndicator ();

// Pick an object function call

      anesa ();

      delay (1000);

      OffworkIndicator ();

      Serial1.flush();

    }

    if (data == '3') {

      InworkIndicator ();

// Move right function

      wedkegne1 (); 

      delay (1000);

      OffworkIndicator ();

      Serial1.flush();

    }

    if (data == '4') {

      InworkIndicator ();

// Move left function

      wedgera1 (); 

      delay (1000);

      OffworkIndicator ();

      Serial1.flush();

    }

    if (data == '5') {

      InworkIndicator ();

// Put it back function

      melese1 (); 

      delay (1000);

      OffworkIndicator ();

      Serial1.flush();

    }

    if (data == '6') {

      InworkIndicator ();

      // beka1 ();

      delay (1000);

      endTaskSafePosition ();

      delay (1000);

      OffworkIndicator ();

      Serial1.flush();

    }

  }

}

// ====Functions ================================

void InworkIndicator () {

  digitalWrite(ledPin, HIGH);   // turn LED on

}

void OffworkIndicator () {

  digitalWrite(ledPin, LOW);    // turn LED on

}

void comCheck () {

  tone(buzzer, 200);            // Send 0.21KHz sound signal...

  delay(500);                   // ...for half a sec

  noTone(buzzer);               // Stop sound...

  delay(1500);                   // ...for 1.5 sec

}

void goHome () { // *** do not modify

  // go home

  BraccioRobot.moveToPosition(pos.set(90, 45,  185, 0, 180, 70), 50);

}

void goHome2 () { // *** do not modify

  // go home2

  BraccioRobot.moveToPosition(pos.set(90, 135,  0, 185, 180, 70), 50);

}

void endTaskSafePosition () {  // *** do not modify

  // go to a safe position for power off

  BraccioRobot.moveToPosition(pos.set(90, 45,  185, 0, 180,  70), 50);

}

// voice control

void shero1 () {

  // Yes

  BraccioRobot.moveToPosition(pos.set(90, 45,  185, 45, 100, 20), 30);

  delay (1000);

  BraccioRobot.moveToPosition(pos.set(90, 45,  185, 0, 180, 70), 30);

  delay (1000);

}

// get ready

void tezegaje1 () {

  delay (1000);

  BraccioRobot.moveToPosition(pos.set(90, 85,  80, 90, 178, 70), 30);

  delay (1000);

}

//pick up

void anesa () {

  delay (1000);

  // go to the box

  BraccioRobot.moveToPosition(pos.set(90, 90,  0, 0, 178, 10), 20);

  delay (1000);

  // pick the box

  BraccioRobot.moveToPosition(pos.set(90, 90,  0, 0, 178, 50), 20);

  delay (1000);

  // lift

  BraccioRobot.moveToPosition(pos.set(90, 85,  80, 90, 178, 50), 20);

  delay (1000);

  }

void wedgera1 () {

  delay (2000);

  BraccioRobot.moveToPosition(pos.set(10, 85,  80, 0, 178, 50), 20);

  delay (1000);

}

void wedkegne1 () {

  delay (2000);

  BraccioRobot.moveToPosition(pos.set(178, 85,  80, 0, 178, 50), 20);

  delay (1000);

}

void melese1 () {

  delay (1000);

  // go to the box

  BraccioRobot.moveToPosition(pos.set(90, 90,  0, 0, 178, 50), 20);

  delay (1000);

  // drop the box

  BraccioRobot.moveToPosition(pos.set(90, 90,  0, 0, 178, 10), 20);

  delay (1000);

  // clear

  BraccioRobot.moveToPosition(pos.set(90, 90,  20, 20, 178, 10), 20);

  delay (1000);

  }

// more fun

void Tegna1 () { // Sleep

  delay (2000);

  BraccioRobot.moveToPosition(pos.set(90, 90,  12, 2, 90, 73), 20);

  delay (2000);

}

// Show time

void TakeAbox () {

  // go to box

  BraccioRobot.moveToPosition(pos.set(90, 90,  0, 0, 178, 10), 20);

  delay (1000);

  // pick the box

  BraccioRobot.moveToPosition(pos.set(90, 90,  0, 0, 178, 50), 20);

  // show the box

  BraccioRobot.moveToPosition(pos.set(90, 90,  90, 90, 90, 50), 20);

  // show to the right

  BraccioRobot.moveToPosition(pos.set(0, 90,  90, 45, 90, 50), 20);

  // show to the left

  BraccioRobot.moveToPosition(pos.set(180, 90, 90, 45, 90, 50), 20);

  // return to dropoff

  BraccioRobot.moveToPosition(pos.set(90, 90,  0, 0, 178, 50), 20);

  // drop the box

  BraccioRobot.moveToPosition(pos.set(90, 95,  0, 0, 178, 10), 20);

  delay (2000);

 //

}