[175] | 1 | /*
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| 2 | testBraccio90.ino
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| 3 |
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| 4 | testBraccio90 is a setup sketch to check the alignment of all the servo motors
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| 5 | This is the first sketch you need to run on Braccio
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| 6 | When you start this sketch Braccio will be positioned perpendicular to the base
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| 7 | If you can't see the Braccio in this exact position you need to reallign the servo motors position
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| 8 |
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| 9 | Created on 18 Nov 2015
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| 10 | by Andrea Martino
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| 11 |
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| 12 | This example is in the public domain.
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| 13 | */
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| 14 |
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| 15 | #include <Braccio.h>
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| 16 | #include <Servo.h>
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| 17 |
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| 18 |
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| 19 | Servo base;
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| 20 | Servo shoulder;
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| 21 | Servo elbow;
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| 22 | Servo wrist_rot;
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| 23 | Servo wrist_ver;
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| 24 | Servo gripper;
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| 25 |
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| 26 | void setup() {
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| 27 | //Initialization functions and set up the initial position for Braccio
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| 28 | //All the servo motors will be positioned in the "safety" position:
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| 29 | //Base (M1):90 degrees
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| 30 | //Shoulder (M2): 45 degrees
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| 31 | //Elbow (M3): 180 degrees
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| 32 | //Wrist vertical (M4): 180 degrees
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| 33 | //Wrist rotation (M5): 90 degrees
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| 34 | //gripper (M6): 10 degrees
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| 35 | Braccio.begin();
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| 36 | }
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| 37 |
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| 38 | void loop() {
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| 39 | /*
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| 40 | Step Delay: a milliseconds delay between the movement of each servo. Allowed values from 10 to 30 msec.
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| 41 | M1=base degrees. Allowed values from 0 to 180 degrees
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| 42 | M2=shoulder degrees. Allowed values from 15 to 165 degrees
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| 43 | M3=elbow degrees. Allowed values from 0 to 180 degrees
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| 44 | M4=wrist vertical degrees. Allowed values from 0 to 180 degrees
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| 45 | M5=wrist rotation degrees. Allowed values from 0 to 180 degrees
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| 46 | M6=gripper degrees. Allowed values from 10 to 73 degrees. 10: the toungue is open, 73: the gripper is closed.
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| 47 | */
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| 48 |
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| 49 | // the arm is aligned upwards and the gripper is closed
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| 50 | //(step delay, M1, M2, M3, M4, M5, M6);
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| 51 | Braccio.ServoMovement(20, 90, 90, 90, 90, 90, 73);
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| 52 |
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| 53 | }
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