![](/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
config.h@93:a8898eb80edc, 2015-10-21 (annotated)
- Committer:
- annesteenbeek
- Date:
- Wed Oct 21 13:16:24 2015 +0200
- Revision:
- 93:a8898eb80edc
- Parent:
- 91:6bbbbc6643c8
- Child:
- 94:28e274481b60
working calibration
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
annesteenbeek | 1:80f098c05d4b | 1 | // All the definitions and variables |
annesteenbeek | 78:0cc7c64ba94c | 2 | // #define TUNEPID // set to switch between normal opperation or tuning PID |
annesteenbeek | 78:0cc7c64ba94c | 3 | // #define TUNEEMG // set hdiscope for EMG |
annesteenbeek | 78:0cc7c64ba94c | 4 | #define TUNEPWM // set hidscope for rest |
bjornnijhuis | 70:20e1a73ab134 | 5 | // Analog inputs for EMG |
bjornnijhuis | 70:20e1a73ab134 | 6 | #define EMG1in A0 |
bjornnijhuis | 70:20e1a73ab134 | 7 | #define EMG2in A1 |
annesteenbeek | 1:80f098c05d4b | 8 | |
bjornnijhuis | 70:20e1a73ab134 | 9 | // Analog inputs for potmeters |
bjornnijhuis | 70:20e1a73ab134 | 10 | #define pot1Pin A2 |
bjornnijhuis | 70:20e1a73ab134 | 11 | #define pot2Pin A3 |
bjornnijhuis | 70:20e1a73ab134 | 12 | |
annesteenbeek | 73:05cd0e692b74 | 13 | #define safetyPin D2 |
annesteenbeek | 73:05cd0e692b74 | 14 | |
annesteenbeek | 91:6bbbbc6643c8 | 15 | #define button1Pin D0 |
annesteenbeek | 91:6bbbbc6643c8 | 16 | #define button2Pin D1 |
annesteenbeek |
32:2006977785f5 | 17 | |
annesteenbeek | 31:8fbee6c92753 | 18 | // Servo |
bjornnijhuis | 70:20e1a73ab134 | 19 | #define servoPin D9 |
annesteenbeek | 31:8fbee6c92753 | 20 | |
annesteenbeek | 5:73bfad06b775 | 21 | // MOTORS |
bjornnijhuis | 70:20e1a73ab134 | 22 | #define motor2DirPin D4 |
bjornnijhuis | 70:20e1a73ab134 | 23 | #define motor2PWMPin D5 |
annesteenbeek | 3:47c76be6d402 | 24 | |
bjornnijhuis | 70:20e1a73ab134 | 25 | #define motor1DirPin D7 |
bjornnijhuis | 70:20e1a73ab134 | 26 | #define motor1PWMPin D6 |
annesteenbeek | 3:47c76be6d402 | 27 | |
bjornnijhuis | 70:20e1a73ab134 | 28 | #define enc1A D11 |
bjornnijhuis | 70:20e1a73ab134 | 29 | #define enc1B D10 |
bjornnijhuis | 70:20e1a73ab134 | 30 | #define enc2A D13 |
bjornnijhuis | 70:20e1a73ab134 | 31 | #define enc2B D12 |
annesteenbeek | 3:47c76be6d402 | 32 | |
bjornnijhuis | 70:20e1a73ab134 | 33 | // Motor control constants |
bjornnijhuis | 70:20e1a73ab134 | 34 | #define pwm_frequency 50000 |