Versions

• Processing tested with version 3.5.3
• Arduino tested with software version 1.8.5 and the arduino Uno board

libraries that need to be installed

Arduino

• Adafruit motor shield V2 library
• AccelStepper library

Processing

• ControlP5 library
• The MidiBus library

Start

Once you have installed all necessary libraries and connect the motors to the board, upload the arduino code onto the arduino board and run the processing application. CAREFUL: please check if the correct serial port has been selected in the processing application. Check the console for the listed available ports and go to the constructor of the "ArduinoSerial" class in order to change the port index.

String portName = Serial.list()[3]; // 0,1,2 or 3 or ...

hardware connections

Given the following direction of the arduino shield. (oups...)

				  -----------------
arduino cable --- |				  |
				  |				  |
				  |				  |
				  |				  |
				  -----------------
	

servos

From left to right: brown/red/orange

Top pin number(at the edge of the board): 10

bottom pin number: 9

steppers (Nema steppers)

For M1-M2 connection -> From top to bottom: black, green, nothing, red and blue

For M3-M4 connection -> From top to bottom: blue, red, nothing, green and black

power

The 5V powered from the arduino usb cable is enough for servos and the steppers(that I used).

good to know

If you want to upload the arduino code again to the board, do not forget to stop running the processing application, because we first need to close the serial port.

further documentation

adafruit motor shield tutorial

https://learn.adafruit.com/adafruit-motor-shield-v2-for-arduino/overview

Accel library used to control the steppers with the adafruit motor shield

https://www.airspayce.com/mikem/arduino/AccelStepper/index.html

Robotis dynamixel arduino shield documentation

http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/

hardware used

• Arduino UNO
• Adafruit Motor shield V2 (https://www.adafruit.com/product/1438)
• Robotis Dynamixel arduino shield (https://www.mybotshop.de/DYNAMIXEL-Arduino-Shield_1)
• motors: servos(Feetec, Modelcraft), steppers(Nema), DCs(...)
• midi controller (8 channels)