![](/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@124:f67ce69557db, 2015-10-29 (annotated)
- Committer:
- annesteenbeek
- Date:
- Thu Oct 29 18:23:08 2015 +0100
- Revision:
- 124:f67ce69557db
- Parent:
- 117:b1667291748d
- Child:
- 125:749b8ce2e040
added serial communication interface
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 | 124:f67ce69557db | 16 | #include "serialcom.h" |
annesteenbeek | 6:b957d8809e7c | 17 | |
annesteenbeek | 124:f67ce69557db | 18 | Ticker switchesTick, debugTick, motorTick, EMGTick, safetyTick serialTick; |
annesteenbeek | 124:f67ce69557db | 19 | volatile bool switches_go=false, debug_go=false, motor_go=false, emg_go=false, safety_go=false, serial_go=false; |
annesteenbeek | 0:525558a26464 | 20 | |
annesteenbeek | 30:a20f16bf8dda | 21 | void switches_activate(){switches_go=true;}; |
annesteenbeek | 30:a20f16bf8dda | 22 | void debug_activate(){debug_go=true;}; |
annesteenbeek | 30:a20f16bf8dda | 23 | void motor_activate(){motor_go=true;}; |
annesteenbeek | 60:20945383ad1b | 24 | void emg_activate(){emg_go=true;}; |
annesteenbeek | 79:cf500b63f349 | 25 | void safety_activate(){safety_go=true;}; |
annesteenbeek | 124:f67ce69557db | 26 | void serial_activate(){serial_go=true;}; |
annesteenbeek | 59:fe00be2cf8fd | 27 | |
annesteenbeek | 111:43c0881fe7e7 | 28 | void tickerAttach(){ |
annesteenbeek | 98:25528494287d | 29 | EMGTick.attach(&emg_activate, 0.005f); |
annesteenbeek | 98:25528494287d | 30 | switchesTick.attach(&switches_activate, 0.02f); |
annesteenbeek | 124:f67ce69557db | 31 | debugTick.attach(&debug_activate, motorCall); |
annesteenbeek | 98:25528494287d | 32 | motorTick.attach(&motor_activate, motorCall); |
annesteenbeek | 98:25528494287d | 33 | safetyTick.attach(&safety_activate, 0.001f); |
annesteenbeek | 124:f67ce69557db | 34 | serialTick.attach(&serial_activate, 0.05f); |
annesteenbeek | 111:43c0881fe7e7 | 35 | } |
annesteenbeek | 111:43c0881fe7e7 | 36 | |
annesteenbeek | 111:43c0881fe7e7 | 37 | double motorCall = 0.01; // set motor frequency global so it can be used for speed. |
annesteenbeek | 111:43c0881fe7e7 | 38 | const int sample = 0; // Constant for mode switching for program readability |
annesteenbeek | 111:43c0881fe7e7 | 39 | const int normalize = 1; // Constant for mode switching for program readability |
annesteenbeek | 111:43c0881fe7e7 | 40 | bool mode = normalize; // Set program mode |
annesteenbeek | 111:43c0881fe7e7 | 41 | bool tickersActivated = false; |
annesteenbeek | 111:43c0881fe7e7 | 42 | bool calReady = false; // flag for calibration ready |
annesteenbeek | 111:43c0881fe7e7 | 43 | |
annesteenbeek | 124:f67ce69557db | 44 | bool usePotmeters = true; |
annesteenbeek | 124:f67ce69557db | 45 | bool controlAngle = false; |
annesteenbeek | 124:f67ce69557db | 46 | bool controlDirection = true; |
annesteenbeek | 124:f67ce69557db | 47 | |
annesteenbeek | 124:f67ce69557db | 48 | |
annesteenbeek | 111:43c0881fe7e7 | 49 | int main(){ |
annesteenbeek | 111:43c0881fe7e7 | 50 | motorInit(); |
annesteenbeek | 124:f67ce69557db | 51 | calReady = true; // calibrateMotors(); |
annesteenbeek |
32:2006977785f5 | 52 | |
annesteenbeek | 0:525558a26464 | 53 | while (true) { |
annesteenbeek | 111:43c0881fe7e7 | 54 | |
annesteenbeek | 111:43c0881fe7e7 | 55 | if(calReady && !tickersActivated){ // when done with calibration, start tickers |
annesteenbeek | 111:43c0881fe7e7 | 56 | tickerAttach(); |
annesteenbeek | 111:43c0881fe7e7 | 57 | tickersActivated = true; |
annesteenbeek | 111:43c0881fe7e7 | 58 | } |
annesteenbeek | 111:43c0881fe7e7 | 59 | |
annesteenbeek | 78:0cc7c64ba94c | 60 | if(emg_go){ |
annesteenbeek | 78:0cc7c64ba94c | 61 | emg_go=false; |
annesteenbeek | 78:0cc7c64ba94c | 62 | readEMG(); |
annesteenbeek | 78:0cc7c64ba94c | 63 | } |
annesteenbeek | 98:25528494287d | 64 | if(mode==0){ // wait until EMG is done with calibration |
annesteenbeek | 98:25528494287d | 65 | if(safety_go){ |
annesteenbeek | 98:25528494287d | 66 | safety_go=false; |
annesteenbeek | 98:25528494287d | 67 | safety(); |
annesteenbeek | 98:25528494287d | 68 | } |
annesteenbeek | 98:25528494287d | 69 | if(emg_go){ |
annesteenbeek | 98:25528494287d | 70 | emg_go=false; |
annesteenbeek | 98:25528494287d | 71 | readEMG(); |
annesteenbeek | 98:25528494287d | 72 | } |
annesteenbeek | 98:25528494287d | 73 | if(switches_go){ |
annesteenbeek | 98:25528494287d | 74 | switches_go=false; |
annesteenbeek | 98:25528494287d | 75 | checkSwitches(); |
annesteenbeek | 98:25528494287d | 76 | } |
annesteenbeek | 98:25528494287d | 77 | if(debug_go){ |
annesteenbeek | 98:25528494287d | 78 | debug_go=false; |
annesteenbeek | 98:25528494287d | 79 | debugProcess(); |
annesteenbeek | 98:25528494287d | 80 | } |
annesteenbeek | 98:25528494287d | 81 | if(motor_go){ |
annesteenbeek | 98:25528494287d | 82 | motor_go=false; |
annesteenbeek | 98:25528494287d | 83 | motorControl(); |
annesteenbeek | 98:25528494287d | 84 | } |
annesteenbeek | 124:f67ce69557db | 85 | if(serial_go){ |
annesteenbeek | 124:f67ce69557db | 86 | serial_go=false; |
annesteenbeek | 124:f67ce69557db | 87 | serialCom(); |
annesteenbeek | 124:f67ce69557db | 88 | } |
annesteenbeek | 30:a20f16bf8dda | 89 | } |
annesteenbeek | 0:525558a26464 | 90 | } |
annesteenbeek | 0:525558a26464 | 91 | } |