control for robotic arm that can play chess using a granular gripper
Dependencies: Encoder mbed HIDScope Servo MODSERIAL
Fork of chessRobot by
Diff: actuators.cpp
- Revision:
- 76:0aa90e728e4a
- Parent:
- 74:75be98779124
- Child:
- 79:cf500b63f349
diff -r 75be98779124 -r 0aa90e728e4a actuators.cpp --- a/actuators.cpp Tue Oct 20 12:14:18 2015 +0200 +++ b/actuators.cpp Tue Oct 20 12:33:23 2015 +0200 @@ -7,6 +7,8 @@ #include "Servo.h" // functions for controlling the motors bool motorsEnable = false; + bool safetyOn = false; // start with safety off for calibration + double encoder1Counts = 0; double encoder2Counts = 0; @@ -132,7 +134,7 @@ void writeMotors(){ motor1PID.Compute(); // calculate PID outputs, output changes automatically - pidOut = motor2PID.Compute(); + motor2PID.Compute(); // write new values to motor's if (motor1SetSpeed >= 0 ){ // CCW rotation direction1 = false; @@ -146,11 +148,9 @@ } motor1Dir.write(direction1); motor2Dir.write(direction2); - - double motor2FF = 0.0012*motor2SetSpeed+0.02; motor1.write(abs(motor1PWM)); - motor2.write(abs(motor2PWM)+motor2FF); + motor2.write(abs(motor2PWM)); } void servoControl(){ @@ -189,10 +189,10 @@ // // set the encoder values for angle. // encoder1.setValue(0); // encoder2.setValue(0); + safetyOn = true; // turn safety on after callibration } -safetyOn = false; // start with safety off for calibration void safety(){ if (safetyOn){ motorsEnable = false;