From 23a4bfc8f4fb646ed7c5e7d69ad3c66541164798 Mon Sep 17 00:00:00 2001
From: Muhammad Hazimi Bin Yusri <mhby1g21@soton.ac.uk>
Date: Wed, 12 Mar 2025 13:30:24 +0000
Subject: [PATCH] added serial version
---
serial/serial.ino | 142 ++++++++++++++++++++++++++++++++++++++++++++++
1 file changed, 142 insertions(+)
create mode 100644 serial/serial.ino
diff --git a/serial/serial.ino b/serial/serial.ino
new file mode 100644
index 0000000..3e49581
--- /dev/null
+++ b/serial/serial.ino
@@ -0,0 +1,142 @@
+#include <Servo.h>
+
+// Create servo objects
+Servo index_finger;
+Servo middle_finger;
+Servo ring_finger;
+Servo pinky_finger;
+
+// Servo pins - adjust according to your Arduino connections
+const int INDEX_PIN = 2;
+const int MIDDLE_PIN = 3;
+const int RING_PIN = 4;
+const int PINKY_PIN = 5;
+
+// Current positions of each finger
+int index_pos = 90;
+int middle_pos = 90;
+int ring_pos = 90;
+int pinky_pos = 90;
+
+// Buffer for incoming serial data
+String inputBuffer = "";
+bool commandReady = false;
+
+void setup() {
+ // Initialize serial communication at 9600 bps
+ Serial.begin(9600);
+ while (!Serial) {
+ ; // Wait for serial port to connect (needed for native USB)
+ }
+
+ // Attach servos to their pins
+ index_finger.attach(INDEX_PIN);
+ middle_finger.attach(MIDDLE_PIN);
+ ring_finger.attach(RING_PIN);
+ pinky_finger.attach(PINKY_PIN);
+
+ // Initialize all fingers to neutral position
+ index_finger.write(index_pos);
+ middle_finger.write(middle_pos);
+ ring_finger.write(ring_pos);
+ pinky_finger.write(pinky_pos);
+
+ // Show startup message
+ Serial.println("InMoov Hand Controller Ready");
+ Serial.println("Format: [finger]:[angle]");
+ Serial.println("Example: index:180");
+}
+
+void loop() {
+ // Check for incoming serial data
+ while (Serial.available() > 0) {
+ // Read incoming byte
+ char incomingByte = Serial.read();
+
+ // Add to buffer if not end of line
+ if (incomingByte != '\n') {
+ inputBuffer += incomingByte;
+ } else {
+ // End of line, set flag to process command
+ commandReady = true;
+ }
+ }
+
+ // Process command if ready
+ if (commandReady) {
+ Serial.print("Received command: ");
+ Serial.println(inputBuffer);
+
+ processCommand(inputBuffer);
+
+ // Clear buffer and reset flag
+ inputBuffer = "";
+ commandReady = false;
+ }
+
+ // Small delay to avoid hogging CPU
+ delay(10);
+}
+
+void processCommand(String command) {
+ // Parse command in format: "finger:angle"
+ int colonIndex = command.indexOf(':');
+
+ if (colonIndex != -1) {
+ String finger = command.substring(0, colonIndex);
+ String angleStr = command.substring(colonIndex + 1);
+ int angle = angleStr.toInt();
+
+ // Constrain angle to valid range
+ angle = constrain(angle, 0, 180);
+
+ // Update finger position based on command
+ if (finger == "index") {
+ index_pos = angle;
+ index_finger.write(index_pos);
+ Serial.print("Index finger moved to: ");
+ Serial.println(angle);
+ }
+ else if (finger == "middle") {
+ middle_pos = angle;
+ middle_finger.write(middle_pos);
+ Serial.print("Middle finger moved to: ");
+ Serial.println(angle);
+ }
+ else if (finger == "ring") {
+ ring_pos = angle;
+ ring_finger.write(ring_pos);
+ Serial.print("Ring finger moved to: ");
+ Serial.println(angle);
+ }
+ else if (finger == "pinky") {
+ pinky_pos = angle;
+ pinky_finger.write(pinky_pos);
+ Serial.print("Pinky finger moved to: ");
+ Serial.println(angle);
+ }
+ else if (finger == "all") {
+ // Move all fingers to the same position
+ index_pos = angle;
+ middle_pos = angle;
+ ring_pos = angle;
+ pinky_pos = angle;
+
+ index_finger.write(index_pos);
+ middle_finger.write(middle_pos);
+ ring_finger.write(ring_pos);
+ pinky_finger.write(pinky_pos);
+
+ Serial.print("All fingers moved to: ");
+ Serial.println(angle);
+ }
+ else {
+ Serial.print("Unknown finger command: ");
+ Serial.println(finger);
+ }
+ } else {
+ Serial.print("Invalid command format. Received: ");
+ Serial.println(command);
+ Serial.println("Format should be: finger:angle");
+ }
+}
\ No newline at end of file
--
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