Smartphone/TAB Controlled Robot-ARM

# include <Servo.h>
//PWM OUTPUT VARIABLES
Servo pin2;
Servo pin3;
Servo pin4;
Servo pin5;
Servo pin6;
//SERIAL USB BUFFER
char inData[ 65 ]; // Allocate some space for the string
char inChar; // Where to store the character read
byte index = 0 ; // Index into array; where to store the character
void setup () {
//START PIN OUTPUT
pin2. attach ( 2); // attaches the servo on pin 9 to the servo object
pin3. attach ( 3);
pin4. attach ( 4);
pin5. attach ( 5);
pin6. attach ( 6);
//SEND MINIMAL VAUE 1000, REGUIRED FOR ESC TO ARM (max is 2000)
pin2. writeMicroseconds (1000 );
pin3. writeMicroseconds (1000 );
pin4. writeMicroseconds (1000 );
pin5. writeMicroseconds (1000 );
pin6. writeMicroseconds (1000 );
//INIT SERIAL COMMUNICATION WITH ANDROID
Serial. begin (115200 );
}
void loop () {
if (Serial. available () > 0 ){
//WAIT FOR INCOMMING DATA BUFFER TO FILL
if (index < 24){
inChar = Serial. read (); // Read a character
inData[ index ] = inChar; // Store it
index ++; // Increment where to write next
if (inChar == 'X' )
index = 0 ;
inData[ index ] = '\0' ; // Null terminate the string
}
}
if (index ==24 ){
index = 0;
//STRING LOOKS LIKE "A100B96C20D0E" WHERE LETTERS ACT AS DELIMINATOR
//STRING CAN CONTAIN SINGLE VALUE LIKE "B96C"
String buf = String (inData);
int ia = buf. indexOf ( "A", 0);
int ib = buf. indexOf ( "B", 0);
int ic = buf. indexOf ( "C", 0);
int id = buf. indexOf ( "D", 0);
int ie = buf. indexOf ( "E", 0);
int iff = buf. indexOf ("F" , 0 );
Serial. print ("|" );
//A?B
if (ia!=- 1 && ib!=- 1){
//1. CONVERT VALUE TO INTEGER
//2. CONVERT 0-100 TO 1000 - 2000
//3. WRITE TO ARDUINO PIN NUMBER 2
pin2. writeMicroseconds (map (buf. substring (ia+ 1, ib). toInt (), 1, 100 , 1000 , 2000 ));
//SEND RESPONSE TO ANDROID
Serial. print ( "RESPONSE:OK" );
}
//B?C
if (ib!=- 1 && ic!=- 1){
pin3. writeMicroseconds (map (buf. substring (ib+ 1, ic). toInt (), 1, 100 , 1000 , 2000 ));
//Serial.print("PIN3 OK");
}
//C?D
if (ic!=- 1 && id!=- 1){
pin4. writeMicroseconds (map (buf. substring (ic+ 1, id). toInt (), 1, 100 , 1000 , 2000 ));
//Serial.print("PIN4 OK");
}
//D?E
if (id!=- 1 && ie!=- 1){
pin5. writeMicroseconds (map (buf. substring (id+ 1, ie). toInt (), 1, 100 , 1000 , 2000 ));
//Serial.print("PIN5 OK");
}
//E?F
if (ie!=- 1 && iff!=- 1){
pin5. writeMicroseconds (map (buf. substring (ie+ 1, iff). toInt (), 1 , 100 , 1000 , 2000 ));
//Serial.print("PIN6 OK");
}
Serial. print ("|00" );
Serial. print ("\n" );
}
}
void logg (){
}