Union test running for robot arm servos & motor
Dependencies: mbed BufferedSerial LSCServo DC_Stepper_Controller_Lib
main.cpp@0:901a3ec83ba4, 2021-06-03 (annotated)
- Committer:
- stivending
- Date:
- Thu Jun 03 04:56:59 2021 +0000
- Revision:
- 0:901a3ec83ba4
- Child:
- 1:1eb3a5a00fbb
robot arm & servo union-test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
stivending | 0:901a3ec83ba4 | 1 | /******************************************************* |
stivending | 0:901a3ec83ba4 | 2 | DC MODOR CONTROLLER LIBRARY |
stivending | 0:901a3ec83ba4 | 3 | ******************************************************* |
stivending | 0:901a3ec83ba4 | 4 | IMPORTANT: GO TO README FOR DOCUMENT! |
stivending | 0:901a3ec83ba4 | 5 | ********************************************************/ |
stivending | 0:901a3ec83ba4 | 6 | |
stivending | 0:901a3ec83ba4 | 7 | #include "mbed.h" |
stivending | 0:901a3ec83ba4 | 8 | #include "LSCServo.h" |
stivending | 0:901a3ec83ba4 | 9 | #include "DC_Motor_Controller.h" |
stivending | 0:901a3ec83ba4 | 10 | |
stivending | 0:901a3ec83ba4 | 11 | |
stivending | 0:901a3ec83ba4 | 12 | DC_Motor_PID motor(D6,D3,D4,D5,792); //M1, M2, INA, INB, PPR |
stivending | 0:901a3ec83ba4 | 13 | DigitalIn but(D7); |
stivending | 0:901a3ec83ba4 | 14 | LSCServo robot_arm(D1, D0); //D1 = Tx, D0 = Rx |
stivending | 0:901a3ec83ba4 | 15 | |
stivending | 0:901a3ec83ba4 | 16 | int main() { |
stivending | 0:901a3ec83ba4 | 17 | |
stivending | 0:901a3ec83ba4 | 18 | motor.set_pid(0.008, 0, 0, 0.10); |
stivending | 0:901a3ec83ba4 | 19 | |
stivending | 0:901a3ec83ba4 | 20 | but.mode(PullUp); |
stivending | 0:901a3ec83ba4 | 21 | |
stivending | 0:901a3ec83ba4 | 22 | |
stivending | 0:901a3ec83ba4 | 23 | wait(0.5);motor.set_out(0.4,0); |
stivending | 0:901a3ec83ba4 | 24 | while(1) |
stivending | 0:901a3ec83ba4 | 25 | { |
stivending | 0:901a3ec83ba4 | 26 | if(but) { motor.set_out(0,0); break;} |
stivending | 0:901a3ec83ba4 | 27 | } |
stivending | 0:901a3ec83ba4 | 28 | |
stivending | 0:901a3ec83ba4 | 29 | wait(0.5); |
stivending | 0:901a3ec83ba4 | 30 | motor.reset(); |
stivending | 0:901a3ec83ba4 | 31 | wait(0.5); |
stivending | 0:901a3ec83ba4 | 32 | motor.move_angle(615); |
stivending | 0:901a3ec83ba4 | 33 | wait(2); |
stivending | 0:901a3ec83ba4 | 34 | |
stivending | 0:901a3ec83ba4 | 35 | robot_arm.moveServos(3,1000,2,185,3,560,4,0); // initial pos to put an arrow |
stivending | 0:901a3ec83ba4 | 36 | wait(2); |
stivending | 0:901a3ec83ba4 | 37 | |
stivending | 0:901a3ec83ba4 | 38 | robot_arm.moveServos(3,1000,2,185,3,560,4,800); // catch/crawl the arror |
stivending | 0:901a3ec83ba4 | 39 | robot_arm.moveServos(3,1000,2,185,3,190,4,800); // rotate down |
stivending | 0:901a3ec83ba4 | 40 | wait(2); |
stivending | 0:901a3ec83ba4 | 41 | robot_arm.moveServos(3,1500,2,760,3,190,4,800); // rotate left |
stivending | 0:901a3ec83ba4 | 42 | wait(2); |
stivending | 0:901a3ec83ba4 | 43 | |
stivending | 0:901a3ec83ba4 | 44 | robot_arm.moveServos(3,1000,2,580,3,190,4,0); // open the crawler |
stivending | 0:901a3ec83ba4 | 45 | //robot_arm.moveServos(3,1000,2,600,3,190,4,0); // rotate a little back |
stivending | 0:901a3ec83ba4 | 46 | motor.move_angle(420); |
stivending | 0:901a3ec83ba4 | 47 | |
stivending | 0:901a3ec83ba4 | 48 | robot_arm.moveServos(3,1000,2,185,3,560,4,0); // reset to init |
stivending | 0:901a3ec83ba4 | 49 | |
stivending | 0:901a3ec83ba4 | 50 | } |