control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
buttons.cpp@106:1773bf7b95c5, 2015-10-26 (annotated)
- Committer:
- annesteenbeek
- Date:
- Mon Oct 26 12:46:29 2015 +0100
- Revision:
- 106:1773bf7b95c5
- Parent:
- 99:7030e9790b1d
- Child:
- 107:de47331612d9
before implementation of servo without PWM
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 14:0c0d1bfd94ea | 1 | #include "buttons.h" |
annesteenbeek | 14:0c0d1bfd94ea | 2 | #include "mbed.h" |
annesteenbeek | 17:872fcf85116d | 3 | #include "config.h" |
annesteenbeek | 25:874675516927 | 4 | #include "actuators.h" |
annesteenbeek | 57:43f707648f2b | 5 | #include "PID.h" |
annesteenbeek | 57:43f707648f2b | 6 | |
annesteenbeek | 0:525558a26464 | 7 | // functions for reading all the buttons and switches |
annesteenbeek | 106:1773bf7b95c5 | 8 | AnalogIn pot1(pot1Pin); |
annesteenbeek | 27:5eb5ec295ab2 | 9 | AnalogIn pot2(pot2Pin); |
annesteenbeek | 0:525558a26464 | 10 | |
annesteenbeek |
32:2006977785f5 | 11 | // Led states: |
annesteenbeek |
32:2006977785f5 | 12 | // 0 leds: motors disabled |
annesteenbeek | 35:e26a573e3e9f | 13 | // redLed: control X speed |
annesteenbeek | 35:e26a573e3e9f | 14 | // greenLed: control Y speed |
annesteenbeek | 35:e26a573e3e9f | 15 | // blueLed: control Servo pos |
annesteenbeek | 36:6f9670eb9168 | 16 | DigitalOut redLed(LED_RED); |
annesteenbeek | 36:6f9670eb9168 | 17 | DigitalOut greenLed(LED_GREEN); |
annesteenbeek | 36:6f9670eb9168 | 18 | DigitalOut blueLed(LED_BLUE); |
annesteenbeek |
32:2006977785f5 | 19 | |
annesteenbeek | 41:d5c3055a7bc7 | 20 | DigitalIn button1(button1Pin); |
annesteenbeek | 41:d5c3055a7bc7 | 21 | DigitalIn button2(button2Pin); |
annesteenbeek | 42:d36d216457c4 | 22 | bool button1Pressed = false; |
annesteenbeek | 42:d36d216457c4 | 23 | bool button2Pressed = false; |
annesteenbeek |
32:2006977785f5 | 24 | int actuatorState = 0; |
annesteenbeek | 57:43f707648f2b | 25 | int PIDparam = 0; |
annesteenbeek |
32:2006977785f5 | 26 | |
annesteenbeek | 62:6c566e6f9664 | 27 | double pot1Val = 0; |
annesteenbeek | 62:6c566e6f9664 | 28 | double pot2Val = 0; |
annesteenbeek | 62:6c566e6f9664 | 29 | double Kp = 1; |
annesteenbeek | 62:6c566e6f9664 | 30 | double Ki = 0; |
annesteenbeek | 62:6c566e6f9664 | 31 | double Kd = 0; |
annesteenbeek | 34:f315b2b38555 | 32 | |
annesteenbeek |
32:2006977785f5 | 33 | |
annesteenbeek | 0:525558a26464 | 34 | void checkSwitches(){ |
annesteenbeek |
32:2006977785f5 | 35 | |
annesteenbeek | 57:43f707648f2b | 36 | // read potmeter values |
annesteenbeek | 57:43f707648f2b | 37 | pot1Val = pot1.read(); |
annesteenbeek | 57:43f707648f2b | 38 | pot2Val = pot2.read(); |
annesteenbeek |
32:2006977785f5 | 39 | |
annesteenbeek | 57:43f707648f2b | 40 | // button 1 pressed |
annesteenbeek | 57:43f707648f2b | 41 | if(button1.read() == 0){ |
annesteenbeek | 40:0d88aa25a57d | 42 | if (button1Pressed != true){ |
annesteenbeek | 40:0d88aa25a57d | 43 | motorsEnable = !motorsEnable; |
annesteenbeek | 40:0d88aa25a57d | 44 | button1Pressed = true; |
annesteenbeek | 40:0d88aa25a57d | 45 | } |
annesteenbeek | 40:0d88aa25a57d | 46 | }else{ |
annesteenbeek | 40:0d88aa25a57d | 47 | button1Pressed = false; |
annesteenbeek |
32:2006977785f5 | 48 | } |
annesteenbeek | 57:43f707648f2b | 49 | |
annesteenbeek | 57:43f707648f2b | 50 | #ifdef TUNEPID |
annesteenbeek | 57:43f707648f2b | 51 | setForPID(); // if TUNEPID is defined, use potmeters for PID tuning |
annesteenbeek | 60:20945383ad1b | 52 | #else |
annesteenbeek | 57:43f707648f2b | 53 | setForPositions(); // else use it for motor control |
annesteenbeek | 57:43f707648f2b | 54 | #endif |
annesteenbeek | 57:43f707648f2b | 55 | } |
annesteenbeek | 57:43f707648f2b | 56 | |
annesteenbeek | 57:43f707648f2b | 57 | void setForPID(){ |
annesteenbeek | 57:43f707648f2b | 58 | if(button2.read() == 0){ |
annesteenbeek | 57:43f707648f2b | 59 | if(button2Pressed != true){ |
annesteenbeek | 57:43f707648f2b | 60 | PIDparam++; |
annesteenbeek | 57:43f707648f2b | 61 | if(PIDparam==3){ |
annesteenbeek | 57:43f707648f2b | 62 | PIDparam = 0; |
annesteenbeek | 57:43f707648f2b | 63 | } |
annesteenbeek | 57:43f707648f2b | 64 | button2Pressed = true; |
annesteenbeek | 57:43f707648f2b | 65 | } |
annesteenbeek | 57:43f707648f2b | 66 | }else{ |
annesteenbeek | 57:43f707648f2b | 67 | button2Pressed = false; |
annesteenbeek | 57:43f707648f2b | 68 | } |
annesteenbeek | 57:43f707648f2b | 69 | |
annesteenbeek | 57:43f707648f2b | 70 | if(motorsEnable){ |
annesteenbeek | 57:43f707648f2b | 71 | motor2SetSpeed = 300*pot2.read(); |
annesteenbeek | 57:43f707648f2b | 72 | switch (PIDparam){ |
annesteenbeek | 57:43f707648f2b | 73 | case 0: // potmeters control P gain |
annesteenbeek | 57:43f707648f2b | 74 | redLed.write(0); greenLed.write(1); blueLed.write(1); |
annesteenbeek | 60:20945383ad1b | 75 | Kp =3* pot1.read()+1; |
annesteenbeek | 57:43f707648f2b | 76 | break; |
annesteenbeek | 57:43f707648f2b | 77 | case 1: // potmeters control I gain |
annesteenbeek | 57:43f707648f2b | 78 | redLed.write(1); greenLed.write(0); blueLed.write(1); |
annesteenbeek | 60:20945383ad1b | 79 | Ki = pot1.read(); |
annesteenbeek | 57:43f707648f2b | 80 | break; |
annesteenbeek | 57:43f707648f2b | 81 | case 2: // potmeters control D gain |
annesteenbeek | 57:43f707648f2b | 82 | redLed.write(1); greenLed.write(1); blueLed.write(0); |
annesteenbeek | 60:20945383ad1b | 83 | Kd = pot1.read(); |
annesteenbeek | 57:43f707648f2b | 84 | break; |
annesteenbeek | 57:43f707648f2b | 85 | } |
annesteenbeek | 57:43f707648f2b | 86 | motor2PID.SetTunings(Kp, Ki, Kd); |
annesteenbeek | 57:43f707648f2b | 87 | }else{ |
annesteenbeek | 57:43f707648f2b | 88 | redLed.write(1); greenLed.write(1); blueLed.write(1); |
annesteenbeek | 57:43f707648f2b | 89 | } |
annesteenbeek | 57:43f707648f2b | 90 | } |
annesteenbeek | 57:43f707648f2b | 91 | |
annesteenbeek | 57:43f707648f2b | 92 | void setForPositions(){ |
annesteenbeek | 57:43f707648f2b | 93 | // 3 states: X control, Y control en Servo control |
annesteenbeek | 57:43f707648f2b | 94 | // button 1 to enable/disable actuators |
annesteenbeek | 57:43f707648f2b | 95 | // button 2 to switch between states |
annesteenbeek | 57:43f707648f2b | 96 | |
annesteenbeek | 57:43f707648f2b | 97 | |
annesteenbeek | 44:a947bc232d84 | 98 | if(button2.read() == 0){ |
annesteenbeek | 40:0d88aa25a57d | 99 | if(button2Pressed != true){ |
annesteenbeek | 40:0d88aa25a57d | 100 | actuatorState++; |
annesteenbeek | 40:0d88aa25a57d | 101 | if(actuatorState==3){ |
annesteenbeek | 40:0d88aa25a57d | 102 | actuatorState = 0; |
annesteenbeek | 40:0d88aa25a57d | 103 | } |
annesteenbeek | 40:0d88aa25a57d | 104 | button2Pressed = true; |
annesteenbeek | 34:f315b2b38555 | 105 | } |
annesteenbeek | 40:0d88aa25a57d | 106 | }else{ |
annesteenbeek | 40:0d88aa25a57d | 107 | button2Pressed = false; |
annesteenbeek |
32:2006977785f5 | 108 | } |
annesteenbeek |
32:2006977785f5 | 109 | |
annesteenbeek | 57:43f707648f2b | 110 | |
annesteenbeek |
32:2006977785f5 | 111 | |
annesteenbeek |
32:2006977785f5 | 112 | if(motorsEnable){ |
annesteenbeek |
32:2006977785f5 | 113 | switch (actuatorState){ |
annesteenbeek |
32:2006977785f5 | 114 | case 0: // potmeters control X speed |
annesteenbeek | 36:6f9670eb9168 | 115 | redLed.write(0); greenLed.write(1); blueLed.write(1); |
annesteenbeek | 54:c14c3bc48b8a | 116 | motor1SetSpeed = 300*(pot2.read()-pot1.read()); |
annesteenbeek |
32:2006977785f5 | 117 | break; |
annesteenbeek |
32:2006977785f5 | 118 | case 1: // potmeters control Y speed |
annesteenbeek | 36:6f9670eb9168 | 119 | redLed.write(1); greenLed.write(0); blueLed.write(1); |
annesteenbeek | 54:c14c3bc48b8a | 120 | motor2SetSpeed = 300*(pot2.read()-pot1.read()); |
annesteenbeek |
32:2006977785f5 | 121 | break; |
annesteenbeek |
32:2006977785f5 | 122 | case 2: // potmeters control Servo pos |
annesteenbeek | 36:6f9670eb9168 | 123 | redLed.write(1); greenLed.write(1); blueLed.write(0); |
annesteenbeek | 99:7030e9790b1d | 124 | servoSpeed = pot2.read(); |
annesteenbeek |
32:2006977785f5 | 125 | break; |
annesteenbeek |
32:2006977785f5 | 126 | } |
annesteenbeek |
32:2006977785f5 | 127 | }else{ |
annesteenbeek | 36:6f9670eb9168 | 128 | redLed.write(1); greenLed.write(1); blueLed.write(1); |
annesteenbeek |
32:2006977785f5 | 129 | } |
annesteenbeek | 57:43f707648f2b | 130 | } |