![](/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
main.cpp
- Committer:
- annesteenbeek
- Date:
- 2015-10-20
- Revision:
- 89:9063484e8a1b
- Parent:
- 88:dd198c58f053
- Child:
- 90:1d0c96a5bc5f
File content as of revision 89:9063484e8a1b:
/* ________ ____ __ __ / ____/ /_ ___ __________ / __ \____ / /_ ____ / /_ / / / __ \/ _ \/ ___/ ___/ / /_/ / __ \/ __ \/ __ \/ __/ / /___/ / / / __(__ |__ ) / _, _/ /_/ / /_/ / /_/ / /_ \____/_/ /_/\___/____/____/ /_/ |_|\____/_.___/\____/\__/ */ #include "mbed.h" #include "config.h" // settings and pin configurations #include "actuators.h" #include "buttons.h" #include "debug.h" #include "emg.h" bool start=false; Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick; volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false; void switches_activate(){switches_go=true;}; void debug_activate(){debug_go=true;}; void motor_activate(){motor_go=true;}; void emg_activate(){emg_go=true;}; void safety_activate(){safety_go=true;}; double motorCall = 0.01; // set motor frequency global so it can be used for speed. int main(){ DigitalIn startButton(startPin); if(startButton.read()==0){ start=true; } if(start){ motorInit(); // calibrateMotors(); // start calibration procedure switchesTick.attach(&switches_activate, 0.02f); debugTick.attach(&debug_activate, 0.03f); motorTick.attach(&motor_activate, motorCall); EMGTick.attach(&emg_activate, 0.005f); safetyTick.attach(&safety_activate, 0.001f); while (true) { if(safety_go){ safety_go=false; safety(); } if(emg_go){ emg_go=false; readEMG(); } if(switches_go){ switches_go=false; checkSwitches(); } if(debug_go){ debug_go=false; debugProcess(); } if(motor_go){ motor_go=false; motorControl(); // servoControl(); } } } }