Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

main.cpp@117:b1667291748d, 2015-10-28 (annotated)

Committer:
annesteenbeek
Date:
Wed Oct 28 11:51:23 2015 +0100
Revision:
117:b1667291748d
Parent:
116:8b812e268b85
Parent:
111:43c0881fe7e7
Child:
122:1a5df0765790
Child:
124:f67ce69557db
merged

Who changed what in which revision?

UserRevisionLine numberNew contents of line
annesteenbeek 59:fe00be2cf8fd 1 /*
annesteenbeek 59:fe00be2cf8fd 2 ________ ____ __ __
annesteenbeek 59:fe00be2cf8fd 3 / ____/ /_ ___ __________ / __ \____ / /_ ____ / /_
annesteenbeek 59:fe00be2cf8fd 4 / / / __ \/ _ \/ ___/ ___/ / /_/ / __ \/ __ \/ __ \/ __/
annesteenbeek 59:fe00be2cf8fd 5 / /___/ / / / __(__ |__ ) / _, _/ /_/ / /_/ / /_/ / /_
annesteenbeek 59:fe00be2cf8fd 6 \____/_/ /_/\___/____/____/ /_/ |_|\____/_.___/\____/\__/
annesteenbeek 59:fe00be2cf8fd 7
annesteenbeek 59:fe00be2cf8fd 8 */
annesteenbeek 59:fe00be2cf8fd 9
annesteenbeek 12:61759f94c07a 10 #include "mbed.h"
annesteenbeek 13:4837b36b9a68 11 #include "config.h" // settings and pin configurations
annesteenbeek 13:4837b36b9a68 12 #include "actuators.h"
annesteenbeek 15:5fa388ba22cb 13 #include "buttons.h"
annesteenbeek 25:874675516927 14 #include "debug.h"
annesteenbeek 78:0cc7c64ba94c 15 #include "emg.h"
annesteenbeek 6:b957d8809e7c 16
annesteenbeek 79:cf500b63f349 17 Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick;
annesteenbeek 79:cf500b63f349 18 volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false;
annesteenbeek 0:525558a26464 19
annesteenbeek 30:a20f16bf8dda 20 void switches_activate(){switches_go=true;};
annesteenbeek 30:a20f16bf8dda 21 void debug_activate(){debug_go=true;};
annesteenbeek 30:a20f16bf8dda 22 void motor_activate(){motor_go=true;};
annesteenbeek 60:20945383ad1b 23 void emg_activate(){emg_go=true;};
annesteenbeek 79:cf500b63f349 24 void safety_activate(){safety_go=true;};
annesteenbeek 59:fe00be2cf8fd 25
annesteenbeek 111:43c0881fe7e7 26 void tickerAttach(){
annesteenbeek 98:25528494287d 27 EMGTick.attach(&emg_activate, 0.005f);
annesteenbeek 98:25528494287d 28 switchesTick.attach(&switches_activate, 0.02f);
annesteenbeek 98:25528494287d 29 debugTick.attach(&debug_activate, 0.03f);
annesteenbeek 98:25528494287d 30 motorTick.attach(&motor_activate, motorCall);
annesteenbeek 98:25528494287d 31 safetyTick.attach(&safety_activate, 0.001f);
annesteenbeek 111:43c0881fe7e7 32 }
annesteenbeek 111:43c0881fe7e7 33
annesteenbeek 111:43c0881fe7e7 34 double motorCall = 0.01; // set motor frequency global so it can be used for speed.
annesteenbeek 111:43c0881fe7e7 35 const int sample = 0; // Constant for mode switching for program readability
annesteenbeek 111:43c0881fe7e7 36 const int normalize = 1; // Constant for mode switching for program readability
annesteenbeek 111:43c0881fe7e7 37 bool mode = normalize; // Set program mode
annesteenbeek 111:43c0881fe7e7 38 bool tickersActivated = false;
annesteenbeek 111:43c0881fe7e7 39 bool calReady = false; // flag for calibration ready
annesteenbeek 111:43c0881fe7e7 40
annesteenbeek 111:43c0881fe7e7 41 int main(){
annesteenbeek 111:43c0881fe7e7 42 motorInit();
annesteenbeek 111:43c0881fe7e7 43 calReady = calibrateMotors();
annesteenbeek 32:2006977785f5 44
annesteenbeek 0:525558a26464 45 while (true) {
annesteenbeek 111:43c0881fe7e7 46
annesteenbeek 111:43c0881fe7e7 47 if(calReady && !tickersActivated){ // when done with calibration, start tickers
annesteenbeek 111:43c0881fe7e7 48 tickerAttach();
annesteenbeek 111:43c0881fe7e7 49 tickersActivated = true;
annesteenbeek 111:43c0881fe7e7 50 }
annesteenbeek 111:43c0881fe7e7 51
annesteenbeek 78:0cc7c64ba94c 52 if(emg_go){
annesteenbeek 78:0cc7c64ba94c 53 emg_go=false;
annesteenbeek 78:0cc7c64ba94c 54 readEMG();
annesteenbeek 78:0cc7c64ba94c 55 }
annesteenbeek 98:25528494287d 56 if(mode==0){ // wait until EMG is done with calibration
annesteenbeek 98:25528494287d 57 if(safety_go){
annesteenbeek 98:25528494287d 58 safety_go=false;
annesteenbeek 98:25528494287d 59 safety();
annesteenbeek 98:25528494287d 60 }
annesteenbeek 98:25528494287d 61 if(emg_go){
annesteenbeek 98:25528494287d 62 emg_go=false;
annesteenbeek 98:25528494287d 63 readEMG();
annesteenbeek 98:25528494287d 64 }
annesteenbeek 98:25528494287d 65 if(switches_go){
annesteenbeek 98:25528494287d 66 switches_go=false;
annesteenbeek 98:25528494287d 67 checkSwitches();
annesteenbeek 98:25528494287d 68 }
annesteenbeek 98:25528494287d 69 if(debug_go){
annesteenbeek 98:25528494287d 70 debug_go=false;
annesteenbeek 98:25528494287d 71 debugProcess();
annesteenbeek 98:25528494287d 72 }
annesteenbeek 98:25528494287d 73 if(motor_go){
annesteenbeek 98:25528494287d 74 motor_go=false;
annesteenbeek 98:25528494287d 75 motorControl();
annesteenbeek 98:25528494287d 76 }
annesteenbeek 30:a20f16bf8dda 77 }
annesteenbeek 0:525558a26464 78 }
annesteenbeek 0:525558a26464 79 }