Keyestudio ESP32 Manual page 139

gripper.attach(gripperPin);
base.write(baseAngle);
arm.write(armAngle);
forearm.write(forearmAngle);
gripper.write(gripperAngle);
}
void
loop() {
// put your main code here, to run repeatedly:
left_B_data = digitalRead(left_B);
left_X_data = analogRead(left_X);
left_Y_data = analogRead(left_Y);
right_B_data = digitalRead(right_B);
right_X_data = analogRead(right_X);
right_Y_data = analogRead(right_Y);
baseControl();
armControl();
forearmControl();
gripperControl();
}
//control base
void baseControl() {
if (left_X_data >
while (analogRead(left_X)
base.write(baseAngle++);
if
(baseAngle
delay(10);
}
else if
} (left_X_data
while
(analogRead(left_X)
base.write(baseAngle--);
if (baseAngle
delay(10);
}
}
}
//control upper arm
void
armControl() {
if
(left_Y_data >
while
(analogRead(left_Y)
arm.write(armAngle++);
if (armAngle >=
delay(10);
}
} else if (left_Y_data
while (analogRead(left_Y)
arm.write(armAngle--);
9.3. 9.3 Joystick Control Robot Arm
3000) {
> 3000) {
>= 180) baseAngle =
< 20) {
< 20) {
<= 0) baseAngle = 0;
3000) {
> 3000) {
180) armAngle = 180;
< 20) {
< 20) {
180;
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