This project allows you to control a 6 Degrees of Freedom (6DOF) robotic arm using an ESP32 microcontroller via Bluetooth an a android APP. The robotic arm can be wirelessly controlled from a mobile application built with MIT App Inventor.
- Bluetooth Control: Control the robotic arm wirelessly using Bluetooth.
- Servo Motor Control: Move each of the 6 servos individually.
- Servo Motor Speed Control: Control the speed of the motors at any time.
- Save and Replay: Save positions of the servos and replay them in a loop.
- Pause and Resume: Pause the replay of saved positions and resume when needed.
- Reset Functionality: Reset the saved positions and stop the replay at any time.
- ESP32 Development Board (with classic bluetooth support)
- 6, 180-degrees Servo Motors
- Bluetooth-enabled android smartphone or tablet
- Power Supply for Servo Motors
Connect the servo motors to the ESP32 as follows (but feel free to choose other PWM pins):
| Servo | ESP32 Pin |
|---|---|
| S1 | GPIO 12 |
| S2 | GPIO 10 |
| S3 | GPIO 25 |
| S4 | GPIO 26 |
| S5 | GPIO 33 |
| S6 | GPIO 32 |
Additionally, connect an LED to GPIO 2 for indicating the connection status. This LED is buildin in the ESP32-WROOM-32 dev-module that was used for this project.