![](/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
debug.cpp@98:25528494287d, 2015-10-22 (annotated)
- Committer:
- annesteenbeek
- Date:
- Thu Oct 22 10:06:46 2015 +0200
- Revision:
- 98:25528494287d
- Parent:
- 78:0cc7c64ba94c
- Child:
- 100:222c27f55b85
added EMG and implemented Servo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 14:0c0d1bfd94ea | 1 | #include "mbed.h" |
annesteenbeek | 14:0c0d1bfd94ea | 2 | #include "debug.h" |
annesteenbeek | 25:874675516927 | 3 | #include "HIDScope.h" |
annesteenbeek | 25:874675516927 | 4 | #include "buttons.h" |
annesteenbeek | 25:874675516927 | 5 | #include "actuators.h" |
annesteenbeek | 25:874675516927 | 6 | #include "config.h" |
annesteenbeek | 1:80f098c05d4b | 7 | // all the debugging functions |
annesteenbeek | 25:874675516927 | 8 | |
annesteenbeek | 98:25528494287d | 9 | // #define TUNEPID // set to switch between normal opperation or tuning PID |
annesteenbeek | 98:25528494287d | 10 | // #define TUNEEMG // set hdiscope for EMG |
annesteenbeek | 98:25528494287d | 11 | #define TUNEPWM // set hidscope for rest |
annesteenbeek | 57:43f707648f2b | 12 | |
annesteenbeek | 57:43f707648f2b | 13 | #ifdef TUNEPID |
annesteenbeek | 57:43f707648f2b | 14 | HIDScope scope(5); |
annesteenbeek | 57:43f707648f2b | 15 | |
annesteenbeek | 57:43f707648f2b | 16 | void debugProcess(){ |
annesteenbeek | 60:20945383ad1b | 17 | scope.set(0, motor2PID.getKp()); |
annesteenbeek | 60:20945383ad1b | 18 | scope.set(1, motor2PID.getKi()); |
annesteenbeek | 60:20945383ad1b | 19 | scope.set(2, motor2PID.getKd()); |
annesteenbeek | 57:43f707648f2b | 20 | scope.set(3, motor2SetSpeed); |
annesteenbeek | 57:43f707648f2b | 21 | scope.set(4, motor2Speed); |
annesteenbeek | 62:6c566e6f9664 | 22 | scope.set(5, motor2PWM); |
annesteenbeek | 57:43f707648f2b | 23 | scope.send(); |
annesteenbeek | 57:43f707648f2b | 24 | } |
annesteenbeek | 57:43f707648f2b | 25 | |
annesteenbeek | 78:0cc7c64ba94c | 26 | #endif |
annesteenbeek | 78:0cc7c64ba94c | 27 | #ifdef TUNEPWM |
annesteenbeek | 50:b0cf07ca53cf | 28 | HIDScope scope(4); |
annesteenbeek | 1:80f098c05d4b | 29 | |
annesteenbeek | 1:80f098c05d4b | 30 | void debugProcess(){ |
annesteenbeek | 60:20945383ad1b | 31 | scope.set(0, motor2Pos); |
annesteenbeek | 52:2ac9dee099ce | 32 | scope.set(1, motor2SetSpeed); |
annesteenbeek | 56:f730962fbb53 | 33 | scope.set(2, motor2Speed); |
annesteenbeek | 52:2ac9dee099ce | 34 | scope.set(3, motor2PWM); |
annesteenbeek | 25:874675516927 | 35 | scope.send(); |
annesteenbeek | 57:43f707648f2b | 36 | } |
annesteenbeek | 57:43f707648f2b | 37 | |
annesteenbeek | 78:0cc7c64ba94c | 38 | #endif |
annesteenbeek | 78:0cc7c64ba94c | 39 | |
annesteenbeek | 78:0cc7c64ba94c | 40 | #ifdef TUNEEMG |
annesteenbeek | 78:0cc7c64ba94c | 41 | HIDScope scope(4); // Number of scopes |
annesteenbeek | 78:0cc7c64ba94c | 42 | |
annesteenbeek | 78:0cc7c64ba94c | 43 | void debugProcess(){ |
annesteenbeek | 78:0cc7c64ba94c | 44 | scope.set(0,x_velocity); |
annesteenbeek | 78:0cc7c64ba94c | 45 | scope.set(1,y_velocity); |
annesteenbeek | 78:0cc7c64ba94c | 46 | scope.set(2,pump); |
annesteenbeek | 78:0cc7c64ba94c | 47 | scope.set(3,DOF); |
annesteenbeek | 78:0cc7c64ba94c | 48 | scope.send(); |
annesteenbeek | 78:0cc7c64ba94c | 49 | } |
annesteenbeek | 57:43f707648f2b | 50 | #endif |