V. Electronics & Software

Electronics

We used two Arduino Uno microcontroller boards connected to a 9V battery to power our two servos. The servo used to create the linear motion was a 360º servo while the servo used to create the rotary motion was a 180º servo. Both the linear and rotary motions required less than the 180º which is reflected in our code below. Additionally the code for the linear motion includes a delay between the up and down motion to allow for the rotary motion. Similarly, the code for the rotary motion includes a delay in the beginning to allow the knife to move down before rotating.

Components

• 2 Arduino Uno R3
• TowerPro MG995 Servo Motor
• Tiankongrc TD-8120MG 360º Servo Motor
• EBL 9V Rechargeable Ni-MH Battery
• Jumper wires

Figure 14: Electronics

Software

                                     (a)                                                                                                                        (b)

Figure 15: Arduino code for servos (a) linear motion, (b) rotary motion