control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
main.cpp@0:525558a26464, 2015-09-28 (annotated)
- Committer:
- annesteenbeek
- Date:
- Mon Sep 28 13:54:34 2015 +0000
- Revision:
- 0:525558a26464
- Child:
- 1:80f098c05d4b
initial commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 0:525558a26464 | 1 | #include "PID.h" |
annesteenbeek | 0:525558a26464 | 2 | #include "QEI.h" |
annesteenbeek | 0:525558a26464 | 3 | #include "MODSERIAL.h" |
annesteenbeek | 0:525558a26464 | 4 | #include "mbed.h" |
annesteenbeek | 0:525558a26464 | 5 | #include "config.h" // settings and pin configurations |
annesteenbeek | 0:525558a26464 | 6 | |
annesteenbeek | 0:525558a26464 | 7 | |
annesteenbeek | 0:525558a26464 | 8 | |
annesteenbeek | 0:525558a26464 | 9 | #define DEBUG // send debug data to serial console |
annesteenbeek | 0:525558a26464 | 10 | #define ARM // enable motors |
annesteenbeek | 0:525558a26464 | 11 | |
annesteenbeek | 0:525558a26464 | 12 | motorInit(); |
annesteenbeek | 0:525558a26464 | 13 | |
annesteenbeek | 0:525558a26464 | 14 | int main() |
annesteenbeek | 0:525558a26464 | 15 | { |
annesteenbeek | 0:525558a26464 | 16 | while (true) { |
annesteenbeek | 0:525558a26464 | 17 | checkSwitches(); |
annesteenbeek | 0:525558a26464 | 18 | readEMG(); |
annesteenbeek | 0:525558a26464 | 19 | motorControl(); |
annesteenbeek | 0:525558a26464 | 20 | servoControl(); |
annesteenbeek | 0:525558a26464 | 21 | pumpControl(); |
annesteenbeek | 0:525558a26464 | 22 | |
annesteenbeek | 0:525558a26464 | 23 | |
annesteenbeek | 0:525558a26464 | 24 | #ifdef DEBUG |
annesteenbeek | 0:525558a26464 | 25 | debugProcess(); |
annesteenbeek | 0:525558a26464 | 26 | #endif |
annesteenbeek | 0:525558a26464 | 27 | } |
annesteenbeek | 0:525558a26464 | 28 | } |