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Media 1Figure 5: Initial Mechanism Testing w/o Logic Controller: Testing mechanism and compliance without a logic controller or H-bridge
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Our code defined the H-bridge parameters to either send voltage from out3 or out4 to the linear actuator that dictates the direction of the linear translation of the linear actuator. Before sending out a signal, the voltage integer value was mapped from 0 to 255 to achieve a digital PWM signal and then it is sent to the H-bridge to run the actuator at a proportional rate as the value read from the joystick. We attached our code below.
Figure 56: Arduino Code for Robotic Hand
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Media 2Figure 7: Functioning Prototype Fully Assembled