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This file uses adafruit motor shield library (<AFMotor.h>) for better synchronisation of the servo motor and the dc motor.

Author: KratiAnu

finaltarget.ino

@@ -0,0 +1,144 @@
+#include <AFMotor.h>
+#include <Servo.h>
+# define stepAngle 1.8
+# define pi 3.14
+Servo servo;
+int x, y , z;
+float theta,phi,currentAngle,n;
+String serialData;
+
+int parseDataX(String data);
+int parseDataY(String data);
+
+AF_DCMotor motor(3);//using M1and M2 
+
+void setup( ) {
+Serial.begin(9600);
+//Serial.setTimeout(10);
+Serial.println("Motor test!");
+motor.setSpeed(255);
+servo.attach(10);
+servo.write(90);
+motor.run(FORWARD);
+delay(50*100/36);
+motor.run(RELEASE);
+              
+}
+
+void loop (){
+  if(Serial.available()){
+    
+  //x = Serial.parseInt();
+  //y = Serial.parseInt();
+  //z = Serial.parseInt();
+  serialData=Serial.readString();
+  if(serialData)
+  {
+  theta = parseDataX(serialData);
+  phi=parseDataY(serialData);
+  }
+  if(theta>0){
+  motor_motion(theta);
+  }
+  if(phi>0)
+  {
+    servo_motion(phi,servo.read());
+  }
+  }
+}
+
+
+int parseDataX(String data)
+{
+  data.remove(data.indexOf("Y"));
+  data.remove(data.indexOf("X"),1);
+  unsigned int xdata=data.toInt();
+  //xdata=(xdata*180)/600;
+  Serial.print("Dc motor angle: ");
+  Serial.println(xdata);
+  return xdata;
+}
+int parseDataY(String data)
+{
+  data.remove(0,data.indexOf("Y")+1);
+  unsigned int ydata=data.toInt();
+  
+  //ydata=(ydata*180)/480;
+  Serial.print("Servo motor angle: ");
+  Serial.println(ydata);
+  return ydata;
+}
+
+
+
+void motor_motion(int theta){
+//float r, phi;
+int i, j ,k , l, pos_servo = 0,current_pos = 0,no_step;
+
+//theta = (atan (x/z)*180)/ pi;
+//r = z /cos((theta*pi/180));
+//phi = (atan(y/r)*180)/pi;
+    /*Serial.readBytes(input,sizeof(angle));
+    angle=atoi(input);
+    memset(input,0,sizeof(input));*/
+  if(theta>0)
+  {
+  if( currentAngle != theta ){
+
+        if( currentAngle < theta){
+             n = theta - currentAngle;
+              motor.run(FORWARD);
+              delay(n*100/36);
+              motor.run(RELEASE);
+            Serial.print("DC MOTOR: Forward angle =");
+            //Serial.println(theta);
+            Serial.println(n);
+            Serial.println(" ");
+        }
+        else if( currentAngle > theta){
+            n = currentAngle - theta;
+            if(theta == 0){
+               n =currentAngle;
+            }
+            motor.run(BACKWARD);
+            delay(n*100/36);
+            motor.run(RELEASE);
+            Serial.print("DC MOTOR: Backward angle =");
+            //Serial.println(theta);
+            Serial.println(n);
+            Serial.println(" ");
+        }
+        currentAngle=theta;
+  }
+  }
+}
+
+void servo_motion(int phi, int pos_servo){
+  
+  phi=180-phi;
+  if(phi<=pos_servo){
+
+  n=pos_servo-phi;
+  
+  for(int i= pos_servo;i>phi;i--){
+  servo.write(i);
+  delay(10);
+  }
+  Serial.print("SERVO: Backward angle =");
+  //Serial.println(phi);
+  Serial.println(n);
+  Serial.println(" ");
+  }
+  else 
+  {
+    n=phi-pos_servo;
+  for(int i=pos_servo; i<=phi; i++){
+  servo.write(i);
+  delay(10);
+  }
+  Serial.print("SERVO: Forward angle =");
+  //Serial.println(phi);
+  Serial.println(n);
+  Serial.println(" ");
+  }
+}