1 | /*
|
---|
2 | Braccio.cpp - board library Version 1.1
|
---|
3 | Written by Andrea Martino
|
---|
4 |
|
---|
5 | This library is free software; you can redistribute it and/or
|
---|
6 | modify it under the terms of the GNU Lesser General Public
|
---|
7 | License as published by the Free Software Foundation; either
|
---|
8 | version 2.1 of the License, or (at your option) any later version.
|
---|
9 |
|
---|
10 | This library is distributed in the hope that it will be useful,
|
---|
11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
|
---|
12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
---|
13 | Lesser General Public License for more details.
|
---|
14 |
|
---|
15 | You should have received a copy of the GNU Lesser General Public
|
---|
16 | License along with this library; if not, write to the Free Software
|
---|
17 | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
---|
18 | */
|
---|
19 |
|
---|
20 | #include "Braccio.h"
|
---|
21 |
|
---|
22 | extern Servo base;
|
---|
23 | extern Servo shoulder;
|
---|
24 | extern Servo elbow;
|
---|
25 | extern Servo wrist_rot;
|
---|
26 | extern Servo wrist_ver;
|
---|
27 | extern Servo gripper;
|
---|
28 |
|
---|
29 | extern int step_base = 0;
|
---|
30 | extern int step_shoulder = 45;
|
---|
31 | extern int step_elbow = 180;
|
---|
32 | extern int step_wrist_rot = 180;
|
---|
33 | extern int step_wrist_ver = 90;
|
---|
34 | extern int step_gripper = 10;
|
---|
35 |
|
---|
36 | _Braccio Braccio;
|
---|
37 |
|
---|
38 | //Initialize Braccio object
|
---|
39 | _Braccio::_Braccio() {
|
---|
40 | }
|
---|
41 |
|
---|
42 | /**
|
---|
43 | * Braccio initialization and set intial position
|
---|
44 | * Modifing this function you can set up the initial position of all the
|
---|
45 | * servo motors of the Braccio
|
---|
46 | */
|
---|
47 | unsigned int _Braccio::begin() {
|
---|
48 | // initialization pin Servo motors
|
---|
49 | #if defined(ARDUINO_ARCH_SAMD)
|
---|
50 | base.attach(11);
|
---|
51 | shoulder.attach(7);
|
---|
52 | elbow.attach(9);
|
---|
53 | wrist_rot.attach(6);
|
---|
54 | wrist_ver.attach(8);
|
---|
55 | gripper.attach(3);
|
---|
56 | #else
|
---|
57 | base.attach(11);
|
---|
58 | shoulder.attach(10);
|
---|
59 | elbow.attach(9);
|
---|
60 | wrist_rot.attach(6);
|
---|
61 | wrist_ver.attach(5);
|
---|
62 | gripper.attach(3);
|
---|
63 | #endif
|
---|
64 |
|
---|
65 | //For each step motor this set up the initial degree
|
---|
66 | base.write(90);
|
---|
67 | shoulder.write(45);
|
---|
68 | elbow.write(180);
|
---|
69 | wrist_ver.write(180);
|
---|
70 | wrist_rot.write(90);
|
---|
71 | gripper.write(10);
|
---|
72 | //Previous step motor position
|
---|
73 | step_base = 90;
|
---|
74 | step_shoulder = 45;
|
---|
75 | step_elbow = 180;
|
---|
76 | step_wrist_ver = 180;
|
---|
77 | step_wrist_rot = 90;
|
---|
78 | step_gripper = 10;
|
---|
79 | return 1;
|
---|
80 | }
|
---|
81 |
|
---|
82 | /**
|
---|
83 | * This functions allow you to control all the servo motors in the Braccio setting the funcion parameters.
|
---|
84 | *
|
---|
85 | * @param stepDelay The delay between each servo movement
|
---|
86 | * @param vBase next base servo motor degree
|
---|
87 | * @param vShoulder next shoulder servo motor degree
|
---|
88 | * @param vElbow next elbow servo motor degree
|
---|
89 | * @param vWrist_ver next wrist rotation servo motor degree
|
---|
90 | * @param vWrist_rot next wrist vertical servo motor degree
|
---|
91 | * @param vgripper next gripper servo motor degree
|
---|
92 | */
|
---|
93 | int _Braccio::ServoMovement(int stepDelay, int vBase, int vShoulder, int vElbow,int vWrist_ver, int vWrist_rot, int vgripper) {
|
---|
94 |
|
---|
95 | // Check values
|
---|
96 | if (stepDelay > 30) stepDelay = 30;
|
---|
97 | if (stepDelay < 10) stepDelay = 10;
|
---|
98 | if (vBase < 0) vBase=0;
|
---|
99 | if (vBase > 180) vBase=180;
|
---|
100 | if (vShoulder < 15) vShoulder=15;
|
---|
101 | if (vShoulder > 165) vShoulder=165;
|
---|
102 | if (vElbow < 0) vElbow=0;
|
---|
103 | if (vElbow > 180) vElbow=180;
|
---|
104 | if (vWrist_ver < 0) vWrist_ver=0;
|
---|
105 | if (vWrist_ver > 180) vWrist_ver=180;
|
---|
106 | if (vWrist_rot > 180) vWrist_rot=180;
|
---|
107 | if (vWrist_rot < 0) vWrist_rot=0;
|
---|
108 | if (vgripper < 10) vgripper = 10;
|
---|
109 | if (vgripper > 73) vgripper = 73;
|
---|
110 |
|
---|
111 | int exit = 1;
|
---|
112 |
|
---|
113 | //Until the all motors are in the desired position
|
---|
114 | while (exit)
|
---|
115 | {
|
---|
116 | //For each servo motor if next degree is not the same of the previuos than do the movement
|
---|
117 | if (vBase != step_base)
|
---|
118 | {
|
---|
119 | base.write(step_base);
|
---|
120 | //One step ahead
|
---|
121 | if (vBase > step_base) {
|
---|
122 | step_base++;
|
---|
123 | }
|
---|
124 | //One step beyond
|
---|
125 | if (vBase < step_base) {
|
---|
126 | step_base--;
|
---|
127 | }
|
---|
128 | }
|
---|
129 |
|
---|
130 | if (vShoulder != step_shoulder)
|
---|
131 | {
|
---|
132 | shoulder.write(step_shoulder);
|
---|
133 | //One step ahead
|
---|
134 | if (vShoulder > step_shoulder) {
|
---|
135 | step_shoulder++;
|
---|
136 | }
|
---|
137 | //One step beyond
|
---|
138 | if (vShoulder < step_shoulder) {
|
---|
139 | step_shoulder--;
|
---|
140 | }
|
---|
141 |
|
---|
142 | }
|
---|
143 |
|
---|
144 | if (vElbow != step_elbow)
|
---|
145 | {
|
---|
146 | elbow.write(step_elbow);
|
---|
147 | //One step ahead
|
---|
148 | if (vElbow > step_elbow) {
|
---|
149 | step_elbow++;
|
---|
150 | }
|
---|
151 | //One step beyond
|
---|
152 | if (vElbow < step_elbow) {
|
---|
153 | step_elbow--;
|
---|
154 | }
|
---|
155 |
|
---|
156 | }
|
---|
157 |
|
---|
158 | if (vWrist_ver != step_wrist_rot)
|
---|
159 | {
|
---|
160 | wrist_rot.write(step_wrist_rot);
|
---|
161 | //One step ahead
|
---|
162 | if (vWrist_ver > step_wrist_rot) {
|
---|
163 | step_wrist_rot++;
|
---|
164 | }
|
---|
165 | //One step beyond
|
---|
166 | if (vWrist_ver < step_wrist_rot) {
|
---|
167 | step_wrist_rot--;
|
---|
168 | }
|
---|
169 |
|
---|
170 | }
|
---|
171 |
|
---|
172 | if (vWrist_rot != step_wrist_ver)
|
---|
173 | {
|
---|
174 | wrist_ver.write(step_wrist_ver);
|
---|
175 | //One step ahead
|
---|
176 | if (vWrist_rot > step_wrist_ver) {
|
---|
177 | step_wrist_ver++;
|
---|
178 | }
|
---|
179 | //One step beyond
|
---|
180 | if (vWrist_rot < step_wrist_ver) {
|
---|
181 | step_wrist_ver--;
|
---|
182 | }
|
---|
183 | }
|
---|
184 |
|
---|
185 | if (vgripper != step_gripper)
|
---|
186 | {
|
---|
187 | gripper.write(step_gripper);
|
---|
188 | if (vgripper > step_gripper) {
|
---|
189 | step_gripper++;
|
---|
190 | }
|
---|
191 | //One step beyond
|
---|
192 | if (vgripper < step_gripper) {
|
---|
193 | step_gripper--;
|
---|
194 | }
|
---|
195 | }
|
---|
196 |
|
---|
197 |
|
---|
198 | //The delay between each movement
|
---|
199 | delay(stepDelay);
|
---|
200 |
|
---|
201 | //It checks if all the servo motors are in the desired position
|
---|
202 | if ((vBase == step_base) && (vShoulder == step_shoulder)
|
---|
203 | && (vElbow == step_elbow) && (vWrist_ver == step_wrist_rot)
|
---|
204 | && (vWrist_rot == step_wrist_ver) && (vgripper == step_gripper)) {
|
---|
205 | step_base = vBase;
|
---|
206 | step_shoulder = vShoulder;
|
---|
207 | step_elbow = vElbow;
|
---|
208 | step_wrist_rot = vWrist_ver;
|
---|
209 | step_wrist_ver = vWrist_rot;
|
---|
210 | step_gripper = vgripper;
|
---|
211 | exit = 0;
|
---|
212 | } else {
|
---|
213 | exit = 1;
|
---|
214 | }
|
---|
215 |
|
---|
216 | }
|
---|
217 |
|
---|
218 | }
|
---|