![](/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@123:815ace09b753, 2015-10-29 (annotated)
- Committer:
- annesteenbeek
- Date:
- Thu Oct 29 14:41:54 2015 +0000
- Revision:
- 123:815ace09b753
- Parent:
- 122:1a5df0765790
working copy;
Who changed what in which revision?
User | Revision | Line number | New 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 | |
annesteenbeek | 79:cf500b63f349 | 17 | Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick; |
annesteenbeek | 79:cf500b63f349 | 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 | |
annesteenbeek | 111:43c0881fe7e7 | 26 | void tickerAttach(){ |
annesteenbeek | 98:25528494287d | 27 | EMGTick.attach(&emg_activate, 0.005f); |
annesteenbeek | 98:25528494287d | 28 | switchesTick.attach(&switches_activate, 0.02f); |
annesteenbeek | 122:1a5df0765790 | 29 | debugTick.attach(&debug_activate, motorCall); |
annesteenbeek | 98:25528494287d | 30 | motorTick.attach(&motor_activate, motorCall); |
annesteenbeek | 98:25528494287d | 31 | safetyTick.attach(&safety_activate, 0.001f); |
annesteenbeek | 111:43c0881fe7e7 | 32 | } |
annesteenbeek | 111:43c0881fe7e7 | 33 | |
annesteenbeek | 111:43c0881fe7e7 | 34 | double motorCall = 0.01; // set motor frequency global so it can be used for speed. |
annesteenbeek | 111:43c0881fe7e7 | 35 | const int sample = 0; // Constant for mode switching for program readability |
annesteenbeek | 111:43c0881fe7e7 | 36 | const int normalize = 1; // Constant for mode switching for program readability |
annesteenbeek | 111:43c0881fe7e7 | 37 | bool mode = normalize; // Set program mode |
annesteenbeek | 111:43c0881fe7e7 | 38 | bool tickersActivated = false; |
annesteenbeek | 111:43c0881fe7e7 | 39 | bool calReady = false; // flag for calibration ready |
annesteenbeek | 111:43c0881fe7e7 | 40 | |
annesteenbeek | 111:43c0881fe7e7 | 41 | int main(){ |
annesteenbeek | 111:43c0881fe7e7 | 42 | motorInit(); |
annesteenbeek | 123:815ace09b753 | 43 | calReady = calibrateMotors(); |
annesteenbeek |
32:2006977785f5 | 44 | |
annesteenbeek | 0:525558a26464 | 45 | while (true) { |
annesteenbeek | 111:43c0881fe7e7 | 46 | |
annesteenbeek | 111:43c0881fe7e7 | 47 | if(calReady && !tickersActivated){ // when done with calibration, start tickers |
annesteenbeek | 111:43c0881fe7e7 | 48 | tickerAttach(); |
annesteenbeek | 111:43c0881fe7e7 | 49 | tickersActivated = true; |
annesteenbeek | 111:43c0881fe7e7 | 50 | } |
annesteenbeek | 111:43c0881fe7e7 | 51 | |
annesteenbeek | 78:0cc7c64ba94c | 52 | if(emg_go){ |
annesteenbeek | 78:0cc7c64ba94c | 53 | emg_go=false; |
annesteenbeek | 78:0cc7c64ba94c | 54 | readEMG(); |
annesteenbeek | 78:0cc7c64ba94c | 55 | } |
annesteenbeek | 98:25528494287d | 56 | if(mode==0){ // wait until EMG is done with calibration |
annesteenbeek | 98:25528494287d | 57 | if(safety_go){ |
annesteenbeek | 98:25528494287d | 58 | safety_go=false; |
annesteenbeek | 98:25528494287d | 59 | safety(); |
annesteenbeek | 98:25528494287d | 60 | } |
annesteenbeek | 98:25528494287d | 61 | if(emg_go){ |
annesteenbeek | 98:25528494287d | 62 | emg_go=false; |
annesteenbeek | 98:25528494287d | 63 | readEMG(); |
annesteenbeek | 98:25528494287d | 64 | } |
annesteenbeek | 98:25528494287d | 65 | if(switches_go){ |
annesteenbeek | 98:25528494287d | 66 | switches_go=false; |
annesteenbeek | 98:25528494287d | 67 | checkSwitches(); |
annesteenbeek | 98:25528494287d | 68 | } |
annesteenbeek | 98:25528494287d | 69 | if(debug_go){ |
annesteenbeek | 98:25528494287d | 70 | debug_go=false; |
annesteenbeek | 98:25528494287d | 71 | debugProcess(); |
annesteenbeek | 98:25528494287d | 72 | } |
annesteenbeek | 98:25528494287d | 73 | if(motor_go){ |
annesteenbeek | 98:25528494287d | 74 | motor_go=false; |
annesteenbeek | 98:25528494287d | 75 | motorControl(); |
annesteenbeek | 98:25528494287d | 76 | } |
annesteenbeek | 30:a20f16bf8dda | 77 | } |
annesteenbeek | 0:525558a26464 | 78 | } |
annesteenbeek | 0:525558a26464 | 79 | } |