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:
- 110:a6439e13be8b
- Parent:
- 109:026abd708dce
- Child:
- 111:43c0881fe7e7
- Child:
- 115:d8d2968981f3
diff -r 026abd708dce -r a6439e13be8b actuators.cpp --- a/actuators.cpp Mon Oct 26 12:45:41 2015 +0000 +++ b/actuators.cpp Tue Oct 27 14:45:15 2015 +0000 @@ -50,6 +50,7 @@ double timechange; // Set servo values +double servoSpeed = 0; const int servoStartPos = 1300; // Servo ranges from 600ms(-90) to 2000ms(90), 1300 is 0 deg // Set calibration values @@ -116,10 +117,10 @@ void motorControl(){ #ifndef SETPOS // if not tuning with potmeters, switch to EMG // EMG signals to motor speeds - const double scaleVel = 20; - motor1SetSpeed = x_velocity*scaleVel; - motor2SetSpeed = y_velocity*scaleVel; - servoSpeed = z_velocity*scaleVel; +// const double scaleVel = 20; +// motor1SetSpeed = x_velocity*scaleVel; +// motor2SetSpeed = y_velocity*scaleVel; +// servoSpeed = z_velocity*scaleVel; #endif // get encoder positions in degrees // 131.25:1 gear ratio @@ -192,6 +193,7 @@ redLed.write(0); greenLed.write(1); blueLed.write(1); while (calibrating1 || calibrating2){ if (calibrating1){ + motor1SetSpeed = motorCalSpeed; redLed.write(1); greenLed.write(0); blueLed.write(1); if(safetyIn.read() !=1){ // check if arm reached safety position encoder1.setPosition(0); // set motor 1 cal angle @@ -230,7 +232,7 @@ } motorsEnable = false; // turn motor's off again safetyOn = true; // turn safety on after callibration - return true; // return true wehn finished + return true; // return true when finished }