![](/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@1:80f098c05d4b, 2015-10-01 (annotated)
- Committer:
- annesteenbeek
- Date:
- Thu Oct 01 15:09:24 2015 +0200
- Revision:
- 1:80f098c05d4b
- Parent:
- 0:525558a26464
- Child:
- 3:47c76be6d402
Added motor control functions
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 0:525558a26464 | 1 | #include "PID.h" |
annesteenbeek | 0:525558a26464 | 2 | #include "QEI.h" |
annesteenbeek | 0:525558a26464 | 3 | #include "MODSERIAL.h" |
annesteenbeek | 0:525558a26464 | 4 | #include "mbed.h" |
annesteenbeek | 0:525558a26464 | 5 | #include "config.h" // settings and pin configurations |
annesteenbeek | 0:525558a26464 | 6 | |
annesteenbeek | 0:525558a26464 | 7 | |
annesteenbeek | 0:525558a26464 | 8 | |
annesteenbeek | 0:525558a26464 | 9 | #define DEBUG // send debug data to serial console |
annesteenbeek | 0:525558a26464 | 10 | #define ARM // enable motors |
annesteenbeek | 0:525558a26464 | 11 | |
annesteenbeek | 1:80f098c05d4b | 12 | #ifdef DEBUG |
annesteenbeek | 1:80f098c05d4b | 13 | MODSERIAL pc(USBTX, USBRX); |
annesteenbeek | 1:80f098c05d4b | 14 | pc.baud(115200); |
annesteenbeek | 1:80f098c05d4b | 15 | #endif |
annesteenbeek | 1:80f098c05d4b | 16 | |
annesteenbeek | 1:80f098c05d4b | 17 | enablePins(); |
annesteenbeek | 0:525558a26464 | 18 | motorInit(); |
annesteenbeek | 0:525558a26464 | 19 | |
annesteenbeek | 0:525558a26464 | 20 | int main() |
annesteenbeek | 0:525558a26464 | 21 | { |
annesteenbeek | 1:80f098c05d4b | 22 | Timer time; // create timer object |
annesteenbeek | 1:80f098c05d4b | 23 | time.start(); // start the timer |
annesteenbeek | 1:80f098c05d4b | 24 | |
annesteenbeek | 0:525558a26464 | 25 | while (true) { |
annesteenbeek | 0:525558a26464 | 26 | checkSwitches(); |
annesteenbeek | 0:525558a26464 | 27 | readEMG(); |
annesteenbeek | 0:525558a26464 | 28 | motorControl(); |
annesteenbeek | 0:525558a26464 | 29 | servoControl(); |
annesteenbeek | 0:525558a26464 | 30 | pumpControl(); |
annesteenbeek | 0:525558a26464 | 31 | |
annesteenbeek | 0:525558a26464 | 32 | #ifdef DEBUG |
annesteenbeek | 0:525558a26464 | 33 | debugProcess(); |
annesteenbeek | 0:525558a26464 | 34 | #endif |
annesteenbeek | 0:525558a26464 | 35 | } |
annesteenbeek | 0:525558a26464 | 36 | } |