' Code For Gripper
' Created by unigamer (Jonathan Jamieson)
' unigamer@gmail.com
' Summer 2010 (Started 22nd August)
' http://jonathanjamieson.com/projects/electronics/gripper/

' The code is very simple and you should be able to understand what is going
' on without much bother. Feel free to email me if you want anything clarified


symbol pot_1_value = b1
symbol pot_2_value = b2
symbol pot_3_value = b3
symbol pot_4_value = b4
symbol pot_5_value = b5

symbol servo_1_value = b6
symbol servo_2_value = b7
symbol servo_3_value = b8
symbol servo_4_value = b9
symbol servo_5_value = b10

SYMBOL servo_1_centre = 150
SYMBOL servo_2_centre = 150
SYMBOL servo_3_centre = 150
SYMBOL servo_4_centre = 150
SYMBOL servo_5_centre = 150

SYMBOL pot_1 = 1
SYMBOL pot_2 = 9
SYMBOL pot_3 = 8
SYMBOL pot_4 = 7
SYMBOL pot_5 = 3

SYMBOL led = c.5

SYMBOL servo_1 = b.7
SYMBOL servo_2 = b.6
SYMBOL servo_3 = b.5
SYMBOL servo_4 = b.4
SYMBOL servo_5 = b.3



startup:

servo servo_1, servo_1_centre
servo servo_2, servo_2_centre
servo servo_3, servo_3_centre
servo servo_4, servo_4_centre
servo servo_5, servo_5_centre
pause 3000
high led

goto main




main:

readadc pot_1, pot_1_value
readadc pot_2, pot_2_value
readadc pot_3, pot_3_value
readadc pot_4, pot_4_value
readadc pot_5, pot_5_value


servo_1_value = pot_1_value * 10 / 17 + 75 'This changes the readadc value to a range of 75-225
servo_2_value = pot_2_value * 10 / 17 + 75
servo_3_value = pot_3_value * 10 / 17 + 75
servo_4_value = pot_4_value * 10 / 17 + 75
servo_5_value = pot_5_value * 10 / 17 + 75

servopos servo_5, servo_5_value
servopos servo_1, servo_1_value
servopos servo_2, servo_2_value
servopos servo_3, servo_3_value
servopos servo_4, servo_4_value

pause 30




goto main