/* Robotic hand 6 servos operation
 by NARP (Noor Ahmed Raza Pirwani while doing FAB diploma from FABLAB Khairpur noorahmedpirwani@gmail.com)
 This code is designed to run the Robotic hand which has 6 servos.
 The code requires motor calbrating code by NARP to set intial positions of motors.
 After setting initial positions, in void setup set the pins of motors.
 The code is working when it gets instruction from serial (we are using bluetooth 
 device along to get instruction from serial). The code has no right issues so feel free to use it.
*/

#include <Servo.h>

char val; // variable to receive data from the serial port
Servo a_servo;  // create servo object to control a servo 
Servo b_servo;  // create servo object to control a servo
Servo c_servo;  // create servo object to control a servo
Servo d_servo;  // create servo object to control a servo
Servo e_servo;  // create servo object to control a servo
Servo f_servo;  // create servo object to control a servo
int pos_a = 10;    // variable to store the servo position
int pos_b = 10;    // variable to store the servo position
int pos_c = 10;    // variable to store the servo position
int pos_d = 10;    // variable to store the servo position
int pos_e = 10;    // variable to store the servo position
int pos_f = 10;    // variable to store the servo position


void setup() {
  a_servo.attach(3);        // attaches the servo on pin 9 to the servo object
  a_servo.write(pos_a);
  b_servo.attach(5);        // attaches the servo on pin 9 to the servo object
  b_servo.write(pos_b);
  c_servo.attach(6);        // attaches the servo on pin 9 to the servo object
  c_servo.write(pos_c);
  d_servo.attach(9);        // attaches the servo on pin 9 to the servo object
  d_servo.write(pos_d);
  e_servo.attach(10);        // attaches the servo on pin 9 to the servo object
  e_servo.write(pos_e);
  f_servo.attach(11);        // attaches the servo on pin 9 to the servo object
  f_servo.write(pos_f);
  Serial.begin(9600);       // start serial communication at 9600bps
}


void loop() {

  if( Serial.available() )       // if data is available to read
  {
    val = Serial.read();         // read it and store it in 'val'
  }
 if( val == 'A' ) {               // if 'A' was received
      if( pos_a < 165 ) {           // goes from 0 degrees to 180 degrees     // in steps of 1 degree
        pos_a =pos_a+5;
        a_servo.write(pos_a);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }

   else if( val == 'a' ) {               // if 'a' was received
      if( pos_a >  15 ) {           // goes from 180 degrees to 0 degrees     // in steps of 1 degree
        pos_a =pos_a-5;
        a_servo.write(pos_a);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }

  else  if( val == 'B' ) {               // if 'B' was received
      if( pos_b < 165 ) {           // goes from 0 degrees to 180 degrees     // in steps of 1 degree
        pos_b =pos_b+5;
        b_servo.write(pos_b);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }

   else if( val == 'b' ) {               // if 'b' was received
      if( pos_b >  15 ) {           // goes from 180 degrees to 0 degrees     // in steps of 1 degree
        pos_b =pos_b-5;
        b_servo.write(pos_b);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }

   else if( val == 'C' ) {               // if 'C' was received
      if( pos_c < 165 ) {           // goes from 0 degrees to 180 degrees     // in steps of 1 degree
        pos_c =pos_c+5;
        c_servo.write(pos_c);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }

   else if( val == 'c' ) {               // if 'c' was received
      if( pos_c >  15 ) {           // goes from 180 degrees to 0 degrees     // in steps of 1 degree
        pos_c =pos_c-5;
        c_servo.write(pos_c);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }

   else if( val == 'D' ) {               // if 'D' was received
      if( pos_d < 165 ) {           // goes from 0 degrees to 180 degrees     // in steps of 1 degree
        pos_d =pos_d+5;
        d_servo.write(pos_d);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }

   else if( val == 'd' ) {               // if 'd' was received
      if( pos_d >  15 ) {           // goes from 180 degrees to 0 degrees     // in steps of 1 degree
        pos_d =pos_d-5;
        d_servo.write(pos_d);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }


   else if( val == 'E' ) {               // if 'E' was received
      if( pos_e < 165 ) {           // goes from 0 degrees to 180 degrees     // in steps of 1 degree
        pos_e =pos_e+5;
        e_servo.write(pos_e);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }

   else if( val == 'e' ) {               // if 'e' was received
      if( pos_e >  15 ) {           // goes from 180 degrees to 0 degrees     // in steps of 1 degree
        pos_e =pos_e-5;
        e_servo.write(pos_e);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }
   else if( val == 'F' ) {               // if 'E' was received
      if( pos_f < 165 ) {           // goes from 0 degrees to 180 degrees     // in steps of 1 degree
        pos_f =pos_f+5;
        f_servo.write(pos_f);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }

   else if( val == 'f' ) {               // if 'e' was received
      if( pos_f >  15 ) {           // goes from 180 degrees to 0 degrees     // in steps of 1 degree
        pos_f =pos_f-5;
        f_servo.write(pos_f);        // tell servo to go to position in variable 'pos'
        delay(10);                  // waits 15ms for the servo to reach the position
      }
  }

 val='0';