![](/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@76:0aa90e728e4a, 2015-10-20 (annotated)
- Committer:
- annesteenbeek
- Date:
- Tue Oct 20 12:33:23 2015 +0200
- Revision:
- 76:0aa90e728e4a
- Parent:
- 73:05cd0e692b74
- Child:
- 78:0cc7c64ba94c
working safety
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 | 25:874675516927 | 8 | |
annesteenbeek | 25:874675516927 | 9 | |
annesteenbeek | 34:f315b2b38555 | 10 | extern bool motorsEnable; |
annesteenbeek | 73:05cd0e692b74 | 11 | extern bool safetyOn; |
annesteenbeek | 25:874675516927 | 12 | |
annesteenbeek | 25:874675516927 | 13 | // CCW is false(positive rotation), CW is true (neg rotation) |
annesteenbeek | 62:6c566e6f9664 | 14 | extern double motor1Pos; |
annesteenbeek | 62:6c566e6f9664 | 15 | extern double motor2Pos; |
annesteenbeek | 25:874675516927 | 16 | |
annesteenbeek | 62:6c566e6f9664 | 17 | extern double motor1SetSpeed; |
annesteenbeek | 62:6c566e6f9664 | 18 | extern double motor2SetSpeed; |
annesteenbeek | 25:874675516927 | 19 | |
annesteenbeek | 62:6c566e6f9664 | 20 | extern double servoPos; |
annesteenbeek | 62:6c566e6f9664 | 21 | extern double motorCall; |
annesteenbeek | 25:874675516927 | 22 | |
annesteenbeek | 25:874675516927 | 23 | // Set PID values |
annesteenbeek | 52:2ac9dee099ce | 24 | extern PID motor2PID; |
annesteenbeek | 30:a20f16bf8dda | 25 | |
annesteenbeek | 13:4837b36b9a68 | 26 | void motorInit(); |
annesteenbeek | 13:4837b36b9a68 | 27 | void motorControl(); |
annesteenbeek | 13:4837b36b9a68 | 28 | void servoControl(); |
annesteenbeek |
32:2006977785f5 | 29 | void calibrateMotors(); |
annesteenbeek | 34:f315b2b38555 | 30 | void writeMotors(); |
annesteenbeek | 76:0aa90e728e4a | 31 | void safety(); |
annesteenbeek | 25:874675516927 | 32 | |
annesteenbeek | 13:4837b36b9a68 | 33 | #endif |