ioio_arm.ino

#include <SCServo.h>

SMSCL sm;
SMSCL smB;
long int wait = 5000;
int center = 4095/2;
int speed = 250;
char data[5];

int start = 0;
uint16_t elbowAngle = 1100;
uint16_t shoulderAngle = 2350;
  

void setup()
{
  //serial 3 is servos 1 & 2, serial 2 is servos 3 - 7
  Serial2.begin(115200);
  Serial3.begin(115200);
  Serial.begin(9600);
  sm.pSerial = &Serial2;
  smB.pSerial = &Serial3;

  sm.WritePos(3,1100, 0, speed);
  smB.WritePos(2,2350, 0, speed);
  delay(wait);

  pinMode(32, INPUT); // shoulder servo -- left
  pinMode(34, INPUT); // shoulder servo -- right
  pinMode(36, INPUT); // elbow servo -- left
  pinMode(38, INPUT); // elbow servo -- right
}

void loop()
{
  int voltA = analogRead(A0);

  float voltB = voltA*0.05+.13;
  if (voltB<11.5) {
    exit(0);
  }

  if (digitalRead(32) == HIGH) {
    shoulderAngle -= 100; 
    smB.WritePos(2,shoulderAngle, 0, speed);
  } 
  if (digitalRead(34) == HIGH)  {
    shoulderAngle += 100;
    smB.WritePos(2,shoulderAngle, 0, speed);
  } if (digitalRead(36) == HIGH) {
    elbowAngle -= 100;
    sm.WritePos(3,elbowAngle, 0, speed);
  } if (digitalRead(38) == HIGH) {
    elbowAngle += 100;
    sm.WritePos(3,elbowAngle, 0, speed);
  }

  Serial.println("elbow " + String(elbowAngle)
                 + " shoulder " + String(shoulderAngle)
                 + " size " + String(digitalRead(32)));
  delay(speed);
}

  
 

  

  

ioio_arm.java

package com.example.michael.jrokisim;

import android.os.Bundle;
import android.util.Log;

import android.view.View;
import android.widget.Button;

import ioio.lib.api.DigitalOutput;
import ioio.lib.api.Uart;
import ioio.lib.api.exception.ConnectionLostException;
import ioio.lib.util.BaseIOIOLooper;
import ioio.lib.util.android.IOIOActivity;

import static android.support.constraint.Constraints.TAG;

public class MainActivity extends IOIOActivity {
    Button upBtn;
    Button downBtn;
    Button leftBtn;
    Button rightBtn;

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);

        upBtn = findViewById(R.id.upBtn);
        downBtn = findViewById(R.id.downBtn);
        leftBtn =findViewById(R.id.leftBtn);
        rightBtn = findViewById(R.id.rightBtn);
    }

    class CustomLooper extends BaseIOIOLooper {
        final int IOIO_RX_PIN = 35;
        final int IOIO_TX_PIN = 34;
        final int BAUD_RATE = 57600;
        Uart uart;
        DigitalOutput outPin1;
        DigitalOutput outPin2;
        DigitalOutput outPin3;
        DigitalOutput outPin4;

        @Override

        protected void setup() throws ConnectionLostException {
            Log.i("IOIOSetup", "called");

            // initialize IOIO board uart.
            uart = ioio_.openUart(
                    IOIO_RX_PIN,
                    IOIO_TX_PIN,
                    BAUD_RATE,
                    Uart.Parity.NONE,
                    Uart.StopBits.ONE
            );

            upBtn.setOnClickListener(new View.OnClickListener() {
                @Override
                public void onClick(View view){
                    try {
                        Log.i(TAG, "Pressing up.");
                        outPin1 = ioio_.openDigitalOutput(10, false);
                        outPin1.write(true);
                        Thread.sleep(100);
                        outPin1.write(false);
                        outPin1.close();
                    } catch (Exception ex){
                        Log.i("UpButton", ex.getMessage());
                    }
                }
            });

            downBtn.setOnClickListener(new View.OnClickListener() {
                @Override
                public void onClick(View view){
                    try {
                        Log.i(TAG, "Pressing down.");
                        outPin2 = ioio_.openDigitalOutput(11, false);
                        outPin2.write(true);
                        Thread.sleep(100);
                        outPin2.write(false);
                        outPin2.close();
                    } catch (Exception ex){}
                }
            });

            leftBtn.setOnClickListener(new View.OnClickListener() {
                @Override
                public void onClick(View view){
                    try {
                        Log.i(TAG, "Pressing left.");
                        outPin3 = ioio_.openDigitalOutput(12, false);
                        outPin3.write(true);
                        Thread.sleep(100);
                        outPin3.write(false);
                        outPin3.close();
                    } catch (Exception ex){}
                }
            });

            rightBtn.setOnClickListener(new View.OnClickListener() {
                @Override
                public void onClick(View view){
                    try {
                        Log.i(TAG, "Pressing right.");
                        outPin4 = ioio_.openDigitalOutput(13,false);
                        outPin4.write(true);
                        Thread.sleep(100);
                        outPin4.write(false);
                        outPin4.close();
                    } catch (Exception ex){}
                }
            });

        }

        @Override
        public void loop() throws ConnectionLostException {

        }
    }

    @Override
    protected CustomLooper createIOIOLooper() {
        Log.i("Main","looper called");
        //return IOIOLooper(buttonList)
        return new CustomLooper();
    }
}