control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
main.cpp@110:a6439e13be8b, 2015-10-27 (annotated)
- Committer:
- annesteenbeek
- Date:
- Tue Oct 27 14:45:15 2015 +0000
- Revision:
- 110:a6439e13be8b
- Parent:
- 99:7030e9790b1d
- Child:
- 111:43c0881fe7e7
- Child:
- 115:d8d2968981f3
testing calibration;
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 | 110:a6439e13be8b | 17 | int a =4; |
annesteenbeek | 110:a6439e13be8b | 18 | |
annesteenbeek | 79:cf500b63f349 | 19 | Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick; |
annesteenbeek | 79:cf500b63f349 | 20 | volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false; |
annesteenbeek | 0:525558a26464 | 21 | |
annesteenbeek | 30:a20f16bf8dda | 22 | void switches_activate(){switches_go=true;}; |
annesteenbeek | 30:a20f16bf8dda | 23 | void debug_activate(){debug_go=true;}; |
annesteenbeek | 30:a20f16bf8dda | 24 | void motor_activate(){motor_go=true;}; |
annesteenbeek | 60:20945383ad1b | 25 | void emg_activate(){emg_go=true;}; |
annesteenbeek | 79:cf500b63f349 | 26 | void safety_activate(){safety_go=true;}; |
annesteenbeek | 59:fe00be2cf8fd | 27 | |
annesteenbeek | 62:6c566e6f9664 | 28 | double motorCall = 0.01; // set motor frequency global so it can be used for speed. |
annesteenbeek | 98:25528494287d | 29 | const int sample = 0; // Constant for mode switching for program readability |
annesteenbeek | 98:25528494287d | 30 | const int normalize = 1; // Constant for mode switching for program readability |
annesteenbeek | 98:25528494287d | 31 | bool mode = normalize; // Set program mode |
annesteenbeek | 110:a6439e13be8b | 32 | bool calReady = false; // flag for calibration ready |
annesteenbeek | 29:e4f3455aaa0b | 33 | |
annesteenbeek | 98:25528494287d | 34 | int main(){ |
annesteenbeek | 98:25528494287d | 35 | motorInit(); |
annesteenbeek | 110:a6439e13be8b | 36 | calReady = calibrateMotors(); // start motor calibration |
annesteenbeek | 59:fe00be2cf8fd | 37 | |
annesteenbeek | 98:25528494287d | 38 | EMGTick.attach(&emg_activate, 0.005f); |
annesteenbeek | 98:25528494287d | 39 | switchesTick.attach(&switches_activate, 0.02f); |
annesteenbeek | 98:25528494287d | 40 | debugTick.attach(&debug_activate, 0.03f); |
annesteenbeek | 98:25528494287d | 41 | motorTick.attach(&motor_activate, motorCall); |
annesteenbeek | 98:25528494287d | 42 | safetyTick.attach(&safety_activate, 0.001f); |
annesteenbeek |
32:2006977785f5 | 43 | |
annesteenbeek | 0:525558a26464 | 44 | while (true) { |
annesteenbeek | 78:0cc7c64ba94c | 45 | if(emg_go){ |
annesteenbeek | 78:0cc7c64ba94c | 46 | emg_go=false; |
annesteenbeek | 78:0cc7c64ba94c | 47 | readEMG(); |
annesteenbeek | 78:0cc7c64ba94c | 48 | } |
annesteenbeek | 98:25528494287d | 49 | if(mode==0){ // wait until EMG is done with calibration |
annesteenbeek | 98:25528494287d | 50 | if(safety_go){ |
annesteenbeek | 98:25528494287d | 51 | safety_go=false; |
annesteenbeek | 98:25528494287d | 52 | safety(); |
annesteenbeek | 98:25528494287d | 53 | } |
annesteenbeek | 98:25528494287d | 54 | if(emg_go){ |
annesteenbeek | 98:25528494287d | 55 | emg_go=false; |
annesteenbeek | 98:25528494287d | 56 | readEMG(); |
annesteenbeek | 98:25528494287d | 57 | } |
annesteenbeek | 98:25528494287d | 58 | if(switches_go){ |
annesteenbeek | 98:25528494287d | 59 | switches_go=false; |
annesteenbeek | 98:25528494287d | 60 | checkSwitches(); |
annesteenbeek | 98:25528494287d | 61 | } |
annesteenbeek | 98:25528494287d | 62 | if(debug_go){ |
annesteenbeek | 98:25528494287d | 63 | debug_go=false; |
annesteenbeek | 98:25528494287d | 64 | debugProcess(); |
annesteenbeek | 98:25528494287d | 65 | } |
annesteenbeek | 98:25528494287d | 66 | if(motor_go){ |
annesteenbeek | 98:25528494287d | 67 | motor_go=false; |
annesteenbeek | 98:25528494287d | 68 | motorControl(); |
annesteenbeek | 98:25528494287d | 69 | } |
annesteenbeek | 30:a20f16bf8dda | 70 | } |
annesteenbeek | 0:525558a26464 | 71 | } |
annesteenbeek | 0:525558a26464 | 72 | } |