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Firgelli Linear Actuator


Linear actuator is ideal motor for making straight movement, especially arm movement which has pivot point.


Firgelli is one of linear actuator manufacturers, I've experience with L12, L16 and large scale 12v actuator.


Combined with Arduino and DC motor driver make these actuator under-control. 


DSC00012.JPG



Firgelli L12 12v Linear Actuator 

http://www.firgelli.com/products.php?id=41


Cytron DC Motor Driver

http://www.cytron.com.my/viewProduct.php?pcode=FD04A&name=4%20Channel%20Motor%20Driver


Arduino Code


const int mtr2p1 = 2;     /DC Motor driver & Arduino signal communication
const int mtr2p2 = 4;    /DC Motor driver & Arduino signal communication
const int mtr2spd = 3;    /DC Motor driver & Arduino signal communication Speed

const int bu1 = 8;   /DC Motor controller input;   forward  button
const int bu2 = 9;   /DC Motor controller input;   backward  button

int buttonState1 = 0;
int buttonState2 = 0;

void setup()
{
  Serial.begin(9600);
  Serial.flush();
 
  pinMode(mtr2p1, OUTPUT);
  pinMode(mtr2p2, OUTPUT);
  pinMode(mtr2spd, OUTPUT);


  pinMode(bu1, INPUT);
  pinMode(bu2, INPUT);

}

void readB(){      
    buttonState1 = digitalRead(bu1);
    buttonState2 = digitalRead(bu2);
  }
 
void knee(){
 
  if (digitalRead(bu1) == HIGH){
    digitalWrite(mtr2p1, HIGH);
    digitalWrite(mtr2p2, LOW);
    analogWrite(mtr2spd, 255);
    delay(10);     /delay decides how far the motor travel
  }
   if(digitalRead(bu1) == LOW){
    digitalWrite(mtr2p1, LOW);
    digitalWrite(mtr2p2, LOW);
    analogWrite(mtr2spd, 0);

   delay(10);
   }
 if(digitalRead(bu2) == HIGH){ 
    digitalWrite(mtr2p1, LOW);
    digitalWrite(mtr2p2, HIGH);
    analogWrite(mtr2spd, 255); 
     delay(10);  
  }
   if (digitalRead(bu2) == LOW){ 
    digitalWrite(mtr2p1, LOW);
    digitalWrite(mtr2p2, LOW);
    analogWrite(mtr2spd, 0);  

    delay(10);
  }


void loop(){
  readB();
  knee();
}  





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