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@105:663b73bb2f81, 2015-10-26 (annotated)

Committer:
MartijnGJ
Date:
Mon Oct 26 11:25:25 2015 +0000
Revision:
105:663b73bb2f81
Parent:
104:750d7e13137d 
changed filter settings, fixed shaking cables

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
MartijnGJ 105:663b73bb2f81 17 Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick;
MartijnGJ 105:663b73bb2f81 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
MartijnGJ 105:663b73bb2f81 26 double motorCall = 0.01; // set motor frequency global so it can be used for speed.
MartijnGJ 105:663b73bb2f81 27 const int sample = 0; // Constant for mode switching for program readability
MartijnGJ 105:663b73bb2f81 28 const int normalize = 1; // Constant for mode switching for program readability
MartijnGJ 105:663b73bb2f81 29 bool mode = normalize; // Set program mode
annesteenbeek 29:e4f3455aaa0b 30
annesteenbeek 98:25528494287d 31 int main(){
MartijnGJ 105:663b73bb2f81 32 motorInit();
annesteenbeek 99:7030e9790b1d 33 // calibrateMotors(); // start motor calibration
MartijnGJ 105:663b73bb2f81 34
MartijnGJ 105:663b73bb2f81 35 EMGTick.attach(&emg_activate, 0.005f);
MartijnGJ 105:663b73bb2f81 36 switchesTick.attach(&switches_activate, 0.02f);
MartijnGJ 105:663b73bb2f81 37 debugTick.attach(&debug_activate, 0.03f);
annesteenbeek 98:25528494287d 38 motorTick.attach(&motor_activate, motorCall);
annesteenbeek 98:25528494287d 39 safetyTick.attach(&safety_activate, 0.001f);
annesteenbeek 32:2006977785f5 40
annesteenbeek 0:525558a26464 41 while (true) {
annesteenbeek 78:0cc7c64ba94c 42 if(emg_go){
annesteenbeek 78:0cc7c64ba94c 43 emg_go=false;
annesteenbeek 78:0cc7c64ba94c 44 readEMG();
annesteenbeek 78:0cc7c64ba94c 45 }
annesteenbeek 98:25528494287d 46 if(mode==0){ // wait until EMG is done with calibration
annesteenbeek 98:25528494287d 47 if(safety_go){
annesteenbeek 98:25528494287d 48 safety_go=false;
annesteenbeek 98:25528494287d 49 safety();
annesteenbeek 98:25528494287d 50 }
annesteenbeek 98:25528494287d 51 if(emg_go){
annesteenbeek 98:25528494287d 52 emg_go=false;
annesteenbeek 98:25528494287d 53 readEMG();
annesteenbeek 98:25528494287d 54 }
annesteenbeek 98:25528494287d 55 if(switches_go){
annesteenbeek 98:25528494287d 56 switches_go=false;
annesteenbeek 98:25528494287d 57 checkSwitches();
annesteenbeek 98:25528494287d 58 }
annesteenbeek 98:25528494287d 59 if(debug_go){
annesteenbeek 98:25528494287d 60 debug_go=false;
annesteenbeek 98:25528494287d 61 debugProcess();
annesteenbeek 98:25528494287d 62 }
MartijnGJ 105:663b73bb2f81 63 if(motor_go){
MartijnGJ 105:663b73bb2f81 64 motor_go=false;
MartijnGJ 105:663b73bb2f81 65 motorControl();
MartijnGJ 105:663b73bb2f81 66 }
annesteenbeek 30:a20f16bf8dda 67 }
annesteenbeek 0:525558a26464 68 }
annesteenbeek 0:525558a26464 69 }