![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
actuators.h@112:7b964afb97b4, 2015-10-28 (annotated)
- Committer:
- annesteenbeek
- Date:
- Wed Oct 28 10:47:04 2015 +0000
- Revision:
- 112:7b964afb97b4
- Parent:
- 110:a6439e13be8b
- Child:
- 118:49605b5bd802
added kinematics(untested) and working calibration
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 13:4837b36b9a68 | 1 | #ifndef ACTUATORS_H |
annesteenbeek | 13:4837b36b9a68 | 2 | #define ACTUATORS_H |
annesteenbeek | 13:4837b36b9a68 | 3 | |
annesteenbeek | 25:874675516927 | 4 | #include "PID.h" |
annesteenbeek | 25:874675516927 | 5 | #include "mbed.h" |
annesteenbeek | 25:874675516927 | 6 | #include "config.h" |
annesteenbeek | 25:874675516927 | 7 | #include "encoder.h" |
annesteenbeek | 99:7030e9790b1d | 8 | #include "buttons.h" |
annesteenbeek | 25:874675516927 | 9 | |
annesteenbeek | 99:7030e9790b1d | 10 | extern DigitalOut redLed; |
annesteenbeek | 99:7030e9790b1d | 11 | extern DigitalOut greenLed; |
annesteenbeek | 99:7030e9790b1d | 12 | extern DigitalOut blueLed; |
annesteenbeek | 25:874675516927 | 13 | |
annesteenbeek | 34:f315b2b38555 | 14 | extern bool motorsEnable; |
annesteenbeek | 73:05cd0e692b74 | 15 | extern bool safetyOn; |
annesteenbeek | 25:874675516927 | 16 | |
annesteenbeek | 25:874675516927 | 17 | // CCW is false(positive rotation), CW is true (neg rotation) |
annesteenbeek | 62:6c566e6f9664 | 18 | extern double motor1Pos; |
annesteenbeek | 62:6c566e6f9664 | 19 | extern double motor2Pos; |
annesteenbeek | 25:874675516927 | 20 | |
annesteenbeek | 62:6c566e6f9664 | 21 | extern double motor1SetSpeed; |
annesteenbeek | 62:6c566e6f9664 | 22 | extern double motor2SetSpeed; |
annesteenbeek | 98:25528494287d | 23 | extern double servoSpeed; |
annesteenbeek | 25:874675516927 | 24 | |
annesteenbeek | 78:0cc7c64ba94c | 25 | // unscaled EMG velocity's |
annesteenbeek | 78:0cc7c64ba94c | 26 | extern double x_velocity; |
annesteenbeek | 78:0cc7c64ba94c | 27 | extern double y_velocity; |
annesteenbeek | 78:0cc7c64ba94c | 28 | extern double z_velocity; |
annesteenbeek | 78:0cc7c64ba94c | 29 | |
annesteenbeek | 110:a6439e13be8b | 30 | extern double servoSpeed; |
annesteenbeek | 62:6c566e6f9664 | 31 | extern double motorCall; |
annesteenbeek | 25:874675516927 | 32 | |
annesteenbeek | 112:7b964afb97b4 | 33 | extern bool calReady; |
annesteenbeek | 112:7b964afb97b4 | 34 | |
annesteenbeek | 25:874675516927 | 35 | // Set PID values |
annesteenbeek | 52:2ac9dee099ce | 36 | extern PID motor2PID; |
annesteenbeek | 30:a20f16bf8dda | 37 | |
annesteenbeek | 13:4837b36b9a68 | 38 | void motorInit(); |
annesteenbeek | 13:4837b36b9a68 | 39 | void motorControl(); |
annesteenbeek | 13:4837b36b9a68 | 40 | void servoControl(); |
annesteenbeek | 106:1773bf7b95c5 | 41 | bool calibrateMotors(); |
annesteenbeek | 34:f315b2b38555 | 42 | void writeMotors(); |
annesteenbeek | 76:0aa90e728e4a | 43 | void safety(); |
annesteenbeek | 112:7b964afb97b4 | 44 | void kinematics(); |
annesteenbeek | 25:874675516927 | 45 | |
annesteenbeek | 13:4837b36b9a68 | 46 | #endif |