//Prosthetic Hand Prototype: 1 ~ 8/29/2023
//Using 10k ohm potentiometers to control the MG996R Servo Motors
//one servo motor for each finger

#include <Servo.h>

//Name of Servos for each finger
Servo thumb_servo;   //Thumb finger   ~ MG996R Servo Motor
Servo index_servo;   //Index finger   ~ MG996R Servo Motor
Servo middle_servo;  //Middle finger  ~ MG996R Servo Motor
Servo ring_servo;    //Ring finger    ~ MG996R Servo Motor
Servo pinky_servo;   //Pinky finger   ~ MG996R Servo Motor

//Name and connection to PWM pin on Arduino Uno Board
int servo_pin3= 3;   //PWM pin 3 for servo control (output)
int servo_pin5 = 5;  //PWM pin 5 for servo control (output)
int servo_pin6 = 6;  //PWM pin 6 for servo control (output)
int servo_pin9 = 9;  //PWM pin 9 for servo control (output)
int servo_pin10 = 10;//PWM pin 10 for servo control (output)

//Assigning the Potentiometer to Analog Input pins on Arduino Uno Board
int potPin1 = A0;    //To control the Thumb motor
int potPin2 = A1;    //To control the Index motor
int potPin3 = A2;    //To control the Middle motor
int potPin4 = A3;    //To control the Ring motor
int potPin5 = A4;    //To control the Pinky motor

void setup(){
  //when you want to output some information from your Arduino to your computer screen
  Serial.begin(9600);
  
  //Assigning the PWM pin to the named Servos
  thumb_servo.attach(servo_pin3);
  index_servo.attach(servo_pin5);
  middle_servo.attach(servo_pin6);
  ring_servo.attach(servo_pin9);
  pinky_servo.attach(servo_pin10);
  
}


void loop(){

  //Controlling Thumb Finger Motor
  int reading1 = analogRead(potPin1);
  int angle1 = map(reading1,0,1023, 0, 180);
  thumb_servo.write(angle1);

  //Controlling Index Finger Motor
  int reading2 = analogRead(potPin2);
  int angle2 = map(reading2,0,1023, 0, 180);
  index_servo.write(angle2);

  //Controlling Middle Finger Motor
  int reading3 = analogRead(potPin3);
  int angle3 = map(reading3,0,1023, 0, 180);
  middle_servo.write(angle3);

  //Controlling Ring Finger Motor
  int reading4 = analogRead(potPin4);
  int angle4 = map(reading4,0,1023, 0, 180);
  ring_servo.write(angle4);
  
  //Controlling Pinky Finger Motor
  int reading5 = analogRead(potPin5);
  int angle5 = map(reading5,0,1023, 0, 180);
  pinky_servo.write(angle5);


  
 //Serial.println("Potentiometer:");
 //Serial.println(angle2);
 
}