demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
RobotArm.cpp@5:36916b1c5a06, 2015-12-28 (annotated)
- Committer:
- henryrawas
- Date:
- Mon Dec 28 17:19:37 2015 +0000
- Revision:
- 5:36916b1c5a06
- Parent:
- 4:36a4eceb1b7f
- Child:
- 7:6723f6887d00
Working Robotarm
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
henryrawas | 4:36a4eceb1b7f | 1 | #include "mbed.h" |
henryrawas | 4:36a4eceb1b7f | 2 | #include "rtos.h" |
henryrawas | 4:36a4eceb1b7f | 3 | |
henryrawas | 4:36a4eceb1b7f | 4 | #include <DynamixelBus.h> |
henryrawas | 4:36a4eceb1b7f | 5 | #include <AX12.h> |
henryrawas | 4:36a4eceb1b7f | 6 | #include <Terminal.h> |
henryrawas | 4:36a4eceb1b7f | 7 | #include <vector> |
henryrawas | 4:36a4eceb1b7f | 8 | #include <RobotArm.h> |
henryrawas | 4:36a4eceb1b7f | 9 | |
henryrawas | 4:36a4eceb1b7f | 10 | using namespace std; |
henryrawas | 4:36a4eceb1b7f | 11 | |
henryrawas | 4:36a4eceb1b7f | 12 | DynamixelBus dynbus( PTC17, PTC16, D7, D6, 1000000 ); |
henryrawas | 4:36a4eceb1b7f | 13 | Terminal* RobotArmPc = NULL; |
henryrawas | 4:36a4eceb1b7f | 14 | |
henryrawas | 4:36a4eceb1b7f | 15 | |
henryrawas | 4:36a4eceb1b7f | 16 | // set the id for each part in the chain, in order |
henryrawas | 5:36916b1c5a06 | 17 | int PartIds[] = { 2, 3, 4, 6, 1 }; |
henryrawas | 4:36a4eceb1b7f | 18 | |
henryrawas | 4:36a4eceb1b7f | 19 | RobotArm::RobotArm() |
henryrawas | 4:36a4eceb1b7f | 20 | { |
henryrawas | 4:36a4eceb1b7f | 21 | // build arm |
henryrawas | 4:36a4eceb1b7f | 22 | int i = 0; |
henryrawas | 4:36a4eceb1b7f | 23 | RobotArmPc->printf( "id[%d] = %d\r\n", i, PartIds[i]); |
henryrawas | 4:36a4eceb1b7f | 24 | AX12* servo1 = new AX12( &dynbus, PartIds[i] ); |
henryrawas | 4:36a4eceb1b7f | 25 | servo1->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 26 | _armParts[i] = dynamic_cast<RobotNode*>(servo1); |
henryrawas | 4:36a4eceb1b7f | 27 | |
henryrawas | 4:36a4eceb1b7f | 28 | i++; |
henryrawas | 4:36a4eceb1b7f | 29 | RobotArmPc->printf( "id[%d] = %d\r\n", i, PartIds[i]); |
henryrawas | 4:36a4eceb1b7f | 30 | AX12* servo2 = new AX12( &dynbus, PartIds[i] ); |
henryrawas | 4:36a4eceb1b7f | 31 | servo2->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 32 | _armParts[i] = dynamic_cast<RobotNode*>(servo2); |
henryrawas | 4:36a4eceb1b7f | 33 | |
henryrawas | 4:36a4eceb1b7f | 34 | i++; |
henryrawas | 4:36a4eceb1b7f | 35 | RobotArmPc->printf( "id[%d] = %d\r\n", i, PartIds[i]); |
henryrawas | 4:36a4eceb1b7f | 36 | AX12* servo3 = new AX12( &dynbus, PartIds[i] ); |
henryrawas | 4:36a4eceb1b7f | 37 | servo3->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 38 | _armParts[i] = dynamic_cast<RobotNode*>(servo3); |
henryrawas | 4:36a4eceb1b7f | 39 | |
henryrawas | 4:36a4eceb1b7f | 40 | i++; |
henryrawas | 4:36a4eceb1b7f | 41 | RobotArmPc->printf( "id[%d] = %d\r\n", i, PartIds[i]); |
henryrawas | 4:36a4eceb1b7f | 42 | AX12* servo4 = new AX12( &dynbus, PartIds[i] ); |
henryrawas | 4:36a4eceb1b7f | 43 | servo4->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 44 | _armParts[i] = dynamic_cast<RobotNode*>(servo4); |
henryrawas | 4:36a4eceb1b7f | 45 | |
henryrawas | 4:36a4eceb1b7f | 46 | i++; |
henryrawas | 4:36a4eceb1b7f | 47 | RobotArmPc->printf( "id[%d] = %d\r\n", i, PartIds[i]); |
henryrawas | 4:36a4eceb1b7f | 48 | AX12* servo6 = new AX12( &dynbus, PartIds[i] ); |
henryrawas | 4:36a4eceb1b7f | 49 | servo6->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 50 | _armParts[i] = dynamic_cast<RobotNode*>(servo6); |
henryrawas | 4:36a4eceb1b7f | 51 | |
henryrawas | 4:36a4eceb1b7f | 52 | i++; |
henryrawas | 4:36a4eceb1b7f | 53 | _numParts = i; |
henryrawas | 4:36a4eceb1b7f | 54 | |
henryrawas | 4:36a4eceb1b7f | 55 | numsteps = 0; |
henryrawas | 4:36a4eceb1b7f | 56 | _stepms = 20; // move every 20 ms |
henryrawas | 4:36a4eceb1b7f | 57 | } |
henryrawas | 4:36a4eceb1b7f | 58 | |
henryrawas | 4:36a4eceb1b7f | 59 | // move all parts to specified postions in ms time |
henryrawas | 4:36a4eceb1b7f | 60 | bool RobotArm::MoveArmPositions(vector<float> positions, int ms, int steps) |
henryrawas | 4:36a4eceb1b7f | 61 | { |
henryrawas | 4:36a4eceb1b7f | 62 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 63 | |
henryrawas | 4:36a4eceb1b7f | 64 | GetArmLastPositions(lastpos); |
henryrawas | 4:36a4eceb1b7f | 65 | |
henryrawas | 4:36a4eceb1b7f | 66 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 67 | { |
henryrawas | 4:36a4eceb1b7f | 68 | float difference = positions[ix]- lastpos[ix]; |
henryrawas | 4:36a4eceb1b7f | 69 | differentials.push_back( difference ); |
henryrawas | 4:36a4eceb1b7f | 70 | } |
henryrawas | 4:36a4eceb1b7f | 71 | |
henryrawas | 4:36a4eceb1b7f | 72 | if (steps > 1000) steps = 1000; |
henryrawas | 4:36a4eceb1b7f | 73 | if (ms <= 0) ms = 1; |
henryrawas | 4:36a4eceb1b7f | 74 | |
henryrawas | 4:36a4eceb1b7f | 75 | delayms = ms / steps; |
henryrawas | 4:36a4eceb1b7f | 76 | expDelay = delayms; |
henryrawas | 4:36a4eceb1b7f | 77 | |
henryrawas | 4:36a4eceb1b7f | 78 | elapseTimer.start(); |
henryrawas | 4:36a4eceb1b7f | 79 | bool ok = true; |
henryrawas | 4:36a4eceb1b7f | 80 | |
henryrawas | 4:36a4eceb1b7f | 81 | // move arm to new position in steps |
henryrawas | 4:36a4eceb1b7f | 82 | for( int step = 1; step <= steps; step++) |
henryrawas | 4:36a4eceb1b7f | 83 | { |
henryrawas | 4:36a4eceb1b7f | 84 | //pc.foreground(Red); |
henryrawas | 4:36a4eceb1b7f | 85 | //pc.background(Black); |
henryrawas | 4:36a4eceb1b7f | 86 | //pc.locate( 0 , 24 ); |
henryrawas | 4:36a4eceb1b7f | 87 | float incr = (float)step / (float)steps; |
henryrawas | 4:36a4eceb1b7f | 88 | for( int ix = 0; ix < _numParts; ix++ ) |
henryrawas | 4:36a4eceb1b7f | 89 | { |
henryrawas | 4:36a4eceb1b7f | 90 | //pc.printf( "goal[%d] = %f\r\n", servoIndex, goal); |
henryrawas | 4:36a4eceb1b7f | 91 | if (_armParts[ix]->HasAction(NA_Rotate)) |
henryrawas | 4:36a4eceb1b7f | 92 | { |
henryrawas | 4:36a4eceb1b7f | 93 | float goal = lastpos[ix] + (differentials[ix] * incr); |
henryrawas | 4:36a4eceb1b7f | 94 | bool ok = _armParts[ix]->DoAction(NA_Rotate, goal); |
henryrawas | 4:36a4eceb1b7f | 95 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 96 | { |
henryrawas | 4:36a4eceb1b7f | 97 | _lastErrorPart = ix; |
henryrawas | 4:36a4eceb1b7f | 98 | break; |
henryrawas | 4:36a4eceb1b7f | 99 | } |
henryrawas | 4:36a4eceb1b7f | 100 | } |
henryrawas | 4:36a4eceb1b7f | 101 | } |
henryrawas | 4:36a4eceb1b7f | 102 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 103 | break; |
henryrawas | 4:36a4eceb1b7f | 104 | // adjust delay |
henryrawas | 4:36a4eceb1b7f | 105 | int elapsed = (int)elapseTimer.read_ms(); |
henryrawas | 4:36a4eceb1b7f | 106 | expDelay += delayms; |
henryrawas | 4:36a4eceb1b7f | 107 | if (elapsed > expDelay && elapsed - expDelay < delayms) |
henryrawas | 4:36a4eceb1b7f | 108 | wait_ms(elapsed - expDelay); |
henryrawas | 4:36a4eceb1b7f | 109 | else |
henryrawas | 4:36a4eceb1b7f | 110 | wait_ms(delayms); |
henryrawas | 4:36a4eceb1b7f | 111 | } |
henryrawas | 4:36a4eceb1b7f | 112 | |
henryrawas | 4:36a4eceb1b7f | 113 | elapseTimer.stop(); |
henryrawas | 4:36a4eceb1b7f | 114 | return ok; |
henryrawas | 4:36a4eceb1b7f | 115 | } |
henryrawas | 4:36a4eceb1b7f | 116 | |
henryrawas | 4:36a4eceb1b7f | 117 | // move all parts to specified postions in ms time |
henryrawas | 4:36a4eceb1b7f | 118 | bool RobotArm::MoveArmPositionsStart(vector<float> positions, int totms) |
henryrawas | 4:36a4eceb1b7f | 119 | { |
henryrawas | 4:36a4eceb1b7f | 120 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 121 | |
henryrawas | 4:36a4eceb1b7f | 122 | MoveArmPositionsEnd(); |
henryrawas | 5:36916b1c5a06 | 123 | GetArmPositions(lastpos); |
henryrawas | 4:36a4eceb1b7f | 124 | |
henryrawas | 4:36a4eceb1b7f | 125 | differentials.clear(); |
henryrawas | 4:36a4eceb1b7f | 126 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 127 | { |
henryrawas | 4:36a4eceb1b7f | 128 | float difference = positions[ix] - lastpos[ix]; |
henryrawas | 4:36a4eceb1b7f | 129 | differentials.push_back( difference ); |
henryrawas | 4:36a4eceb1b7f | 130 | RobotArmPc->printf( "diff %d = %f\r\n", ix, difference); |
henryrawas | 4:36a4eceb1b7f | 131 | } |
henryrawas | 4:36a4eceb1b7f | 132 | |
henryrawas | 4:36a4eceb1b7f | 133 | numsteps = totms / _stepms; |
henryrawas | 4:36a4eceb1b7f | 134 | if (numsteps == 0) numsteps = 1; |
henryrawas | 4:36a4eceb1b7f | 135 | |
henryrawas | 4:36a4eceb1b7f | 136 | curstep = 1; |
henryrawas | 4:36a4eceb1b7f | 137 | |
henryrawas | 4:36a4eceb1b7f | 138 | delayms = _stepms; |
henryrawas | 4:36a4eceb1b7f | 139 | |
henryrawas | 4:36a4eceb1b7f | 140 | elapseTimer.start(); |
henryrawas | 5:36916b1c5a06 | 141 | expDelay = (int)elapseTimer.read_ms() + delayms; |
henryrawas | 4:36a4eceb1b7f | 142 | |
henryrawas | 4:36a4eceb1b7f | 143 | return true; |
henryrawas | 4:36a4eceb1b7f | 144 | } |
henryrawas | 4:36a4eceb1b7f | 145 | |
henryrawas | 4:36a4eceb1b7f | 146 | bool RobotArm::MoveArmPositionsHasNext() |
henryrawas | 4:36a4eceb1b7f | 147 | { |
henryrawas | 4:36a4eceb1b7f | 148 | return (curstep <= numsteps); |
henryrawas | 4:36a4eceb1b7f | 149 | } |
henryrawas | 4:36a4eceb1b7f | 150 | |
henryrawas | 4:36a4eceb1b7f | 151 | bool RobotArm::MoveArmPositionsNext(int& nextdelay) |
henryrawas | 4:36a4eceb1b7f | 152 | { |
henryrawas | 4:36a4eceb1b7f | 153 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 154 | |
henryrawas | 4:36a4eceb1b7f | 155 | if (curstep > numsteps) |
henryrawas | 4:36a4eceb1b7f | 156 | { |
henryrawas | 4:36a4eceb1b7f | 157 | // no more steps |
henryrawas | 4:36a4eceb1b7f | 158 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 159 | return true; |
henryrawas | 4:36a4eceb1b7f | 160 | } |
henryrawas | 4:36a4eceb1b7f | 161 | |
henryrawas | 4:36a4eceb1b7f | 162 | bool ok = true; |
henryrawas | 4:36a4eceb1b7f | 163 | float incr = (float)curstep / (float)numsteps; |
henryrawas | 5:36916b1c5a06 | 164 | lastgoals.clear(); |
henryrawas | 4:36a4eceb1b7f | 165 | for( int ix = 0; ix < _numParts; ix++ ) |
henryrawas | 4:36a4eceb1b7f | 166 | { |
henryrawas | 4:36a4eceb1b7f | 167 | if (_armParts[ix]->HasAction(NA_Rotate)) |
henryrawas | 4:36a4eceb1b7f | 168 | { |
henryrawas | 4:36a4eceb1b7f | 169 | float goal = lastpos[ix] + (differentials[ix] * incr); |
henryrawas | 5:36916b1c5a06 | 170 | lastgoals.push_back(goal); |
henryrawas | 4:36a4eceb1b7f | 171 | bool ok = _armParts[ix]->DoAction(NA_Rotate, goal); |
henryrawas | 4:36a4eceb1b7f | 172 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 173 | { |
henryrawas | 4:36a4eceb1b7f | 174 | _lastErrorPart = ix; |
henryrawas | 4:36a4eceb1b7f | 175 | break; |
henryrawas | 4:36a4eceb1b7f | 176 | } |
henryrawas | 4:36a4eceb1b7f | 177 | } |
henryrawas | 4:36a4eceb1b7f | 178 | } |
henryrawas | 4:36a4eceb1b7f | 179 | |
henryrawas | 4:36a4eceb1b7f | 180 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 181 | { |
henryrawas | 4:36a4eceb1b7f | 182 | return false; |
henryrawas | 4:36a4eceb1b7f | 183 | } |
henryrawas | 4:36a4eceb1b7f | 184 | |
henryrawas | 4:36a4eceb1b7f | 185 | curstep++; |
henryrawas | 4:36a4eceb1b7f | 186 | if (curstep > numsteps) |
henryrawas | 4:36a4eceb1b7f | 187 | { |
henryrawas | 4:36a4eceb1b7f | 188 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 189 | } |
henryrawas | 4:36a4eceb1b7f | 190 | else |
henryrawas | 4:36a4eceb1b7f | 191 | { |
henryrawas | 4:36a4eceb1b7f | 192 | // adjust delay |
henryrawas | 4:36a4eceb1b7f | 193 | int elapsed = (int)elapseTimer.read_ms(); |
henryrawas | 4:36a4eceb1b7f | 194 | |
henryrawas | 5:36916b1c5a06 | 195 | if (elapsed < expDelay) |
henryrawas | 4:36a4eceb1b7f | 196 | { |
henryrawas | 5:36916b1c5a06 | 197 | if (expDelay - elapsed < delayms) |
henryrawas | 5:36916b1c5a06 | 198 | nextdelay = expDelay - elapsed; |
henryrawas | 4:36a4eceb1b7f | 199 | else |
henryrawas | 4:36a4eceb1b7f | 200 | nextdelay = delayms; |
henryrawas | 4:36a4eceb1b7f | 201 | } |
henryrawas | 4:36a4eceb1b7f | 202 | else |
henryrawas | 4:36a4eceb1b7f | 203 | { |
henryrawas | 4:36a4eceb1b7f | 204 | // no delay before next step |
henryrawas | 4:36a4eceb1b7f | 205 | nextdelay = 0; |
henryrawas | 4:36a4eceb1b7f | 206 | } |
henryrawas | 5:36916b1c5a06 | 207 | expDelay += delayms; |
henryrawas | 4:36a4eceb1b7f | 208 | } |
henryrawas | 4:36a4eceb1b7f | 209 | |
henryrawas | 4:36a4eceb1b7f | 210 | return true; |
henryrawas | 4:36a4eceb1b7f | 211 | } |
henryrawas | 4:36a4eceb1b7f | 212 | |
henryrawas | 5:36916b1c5a06 | 213 | bool RobotArm::TestArmPosition(int& partix, float& diffpos) |
henryrawas | 5:36916b1c5a06 | 214 | { |
henryrawas | 5:36916b1c5a06 | 215 | vector<float> curpos; |
henryrawas | 5:36916b1c5a06 | 216 | GetArmPositions(curpos); |
henryrawas | 5:36916b1c5a06 | 217 | for( int ix = 0; ix < _numParts; ix++ ) |
henryrawas | 5:36916b1c5a06 | 218 | { |
henryrawas | 5:36916b1c5a06 | 219 | float diff = abs(curpos[ix] - lastgoals[ix]); |
henryrawas | 5:36916b1c5a06 | 220 | if (diff > abs(differentials[ix]) + allowance) |
henryrawas | 5:36916b1c5a06 | 221 | { |
henryrawas | 5:36916b1c5a06 | 222 | diffpos = diff; |
henryrawas | 5:36916b1c5a06 | 223 | partix = ix; |
henryrawas | 5:36916b1c5a06 | 224 | return false; |
henryrawas | 5:36916b1c5a06 | 225 | } |
henryrawas | 5:36916b1c5a06 | 226 | } |
henryrawas | 5:36916b1c5a06 | 227 | return true; |
henryrawas | 5:36916b1c5a06 | 228 | } |
henryrawas | 5:36916b1c5a06 | 229 | |
henryrawas | 4:36a4eceb1b7f | 230 | bool RobotArm::MoveArmPositionsEnd() |
henryrawas | 4:36a4eceb1b7f | 231 | { |
henryrawas | 4:36a4eceb1b7f | 232 | if (numsteps > 0) |
henryrawas | 4:36a4eceb1b7f | 233 | { |
henryrawas | 4:36a4eceb1b7f | 234 | elapseTimer.stop(); |
henryrawas | 4:36a4eceb1b7f | 235 | numsteps = 0; |
henryrawas | 4:36a4eceb1b7f | 236 | } |
henryrawas | 4:36a4eceb1b7f | 237 | return true; |
henryrawas | 4:36a4eceb1b7f | 238 | } |
henryrawas | 4:36a4eceb1b7f | 239 | |
henryrawas | 4:36a4eceb1b7f | 240 | // move one part to specified postion in ms time |
henryrawas | 4:36a4eceb1b7f | 241 | bool RobotArm::MovePartPosition(int partIx, float position, int ms, int steps) |
henryrawas | 4:36a4eceb1b7f | 242 | { |
henryrawas | 4:36a4eceb1b7f | 243 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 244 | if (!_armParts[partIx]->HasAction(NA_Rotate)) |
henryrawas | 4:36a4eceb1b7f | 245 | return false; |
henryrawas | 4:36a4eceb1b7f | 246 | |
henryrawas | 4:36a4eceb1b7f | 247 | float lastpos = _armParts[partIx]->GetLastMeasure(NM_Degrees); |
henryrawas | 4:36a4eceb1b7f | 248 | |
henryrawas | 4:36a4eceb1b7f | 249 | float difference = position- lastpos; |
henryrawas | 4:36a4eceb1b7f | 250 | |
henryrawas | 4:36a4eceb1b7f | 251 | if (steps > 1000) steps = 1000; |
henryrawas | 4:36a4eceb1b7f | 252 | if (ms <= 0) ms = 1; |
henryrawas | 4:36a4eceb1b7f | 253 | |
henryrawas | 4:36a4eceb1b7f | 254 | int delayms = ms / steps; |
henryrawas | 4:36a4eceb1b7f | 255 | |
henryrawas | 4:36a4eceb1b7f | 256 | bool ok = true; |
henryrawas | 4:36a4eceb1b7f | 257 | |
henryrawas | 4:36a4eceb1b7f | 258 | // move arm to new position in steps |
henryrawas | 4:36a4eceb1b7f | 259 | for( int step = 1; step <= steps; step++) |
henryrawas | 4:36a4eceb1b7f | 260 | { |
henryrawas | 4:36a4eceb1b7f | 261 | //pc.foreground(Red); |
henryrawas | 4:36a4eceb1b7f | 262 | //pc.background(Black); |
henryrawas | 4:36a4eceb1b7f | 263 | //pc.locate( 0 , 24 ); |
henryrawas | 4:36a4eceb1b7f | 264 | float incr = (float)step / (float)steps; |
henryrawas | 4:36a4eceb1b7f | 265 | |
henryrawas | 4:36a4eceb1b7f | 266 | //pc.printf( "goal[%d] = %f\r\n", servoIndex, goal); |
henryrawas | 4:36a4eceb1b7f | 267 | float goal = lastpos + (difference * incr); |
henryrawas | 4:36a4eceb1b7f | 268 | bool ok = _armParts[partIx]->DoAction(NA_Rotate, goal); |
henryrawas | 4:36a4eceb1b7f | 269 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 270 | { |
henryrawas | 4:36a4eceb1b7f | 271 | _lastErrorPart = partIx; |
henryrawas | 4:36a4eceb1b7f | 272 | break; |
henryrawas | 4:36a4eceb1b7f | 273 | } |
henryrawas | 4:36a4eceb1b7f | 274 | |
henryrawas | 4:36a4eceb1b7f | 275 | wait_ms(delayms); |
henryrawas | 4:36a4eceb1b7f | 276 | } |
henryrawas | 4:36a4eceb1b7f | 277 | return ok; |
henryrawas | 4:36a4eceb1b7f | 278 | } |
henryrawas | 4:36a4eceb1b7f | 279 | |
henryrawas | 4:36a4eceb1b7f | 280 | // get all parts positions |
henryrawas | 4:36a4eceb1b7f | 281 | bool RobotArm::GetArmPositions(vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 282 | { |
henryrawas | 4:36a4eceb1b7f | 283 | outPos.clear(); |
henryrawas | 4:36a4eceb1b7f | 284 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 285 | { |
henryrawas | 4:36a4eceb1b7f | 286 | float pos = _armParts[ix]->GetMeasure(NM_Degrees); |
henryrawas | 4:36a4eceb1b7f | 287 | outPos.push_back( pos ); |
henryrawas | 4:36a4eceb1b7f | 288 | } |
henryrawas | 4:36a4eceb1b7f | 289 | return true; |
henryrawas | 4:36a4eceb1b7f | 290 | } |
henryrawas | 4:36a4eceb1b7f | 291 | |
henryrawas | 4:36a4eceb1b7f | 292 | // get all parts positions |
henryrawas | 4:36a4eceb1b7f | 293 | bool RobotArm::GetArmLastPositions(vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 294 | { |
henryrawas | 4:36a4eceb1b7f | 295 | outPos.clear(); |
henryrawas | 4:36a4eceb1b7f | 296 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 297 | { |
henryrawas | 4:36a4eceb1b7f | 298 | float pos = _armParts[ix]->GetLastMeasure(NM_Degrees); |
henryrawas | 4:36a4eceb1b7f | 299 | outPos.push_back( pos ); |
henryrawas | 4:36a4eceb1b7f | 300 | } |
henryrawas | 4:36a4eceb1b7f | 301 | return true; |
henryrawas | 4:36a4eceb1b7f | 302 | } |
henryrawas | 4:36a4eceb1b7f | 303 | |
henryrawas | 4:36a4eceb1b7f | 304 | // get one part position |
henryrawas | 4:36a4eceb1b7f | 305 | float RobotArm::GetPartPosition(int partIx) |
henryrawas | 4:36a4eceb1b7f | 306 | { |
henryrawas | 4:36a4eceb1b7f | 307 | return _armParts[partIx]->GetMeasure(NM_Degrees); |
henryrawas | 4:36a4eceb1b7f | 308 | } |
henryrawas | 4:36a4eceb1b7f | 309 | |
henryrawas | 4:36a4eceb1b7f | 310 | |
henryrawas | 4:36a4eceb1b7f | 311 | // get all parts positions |
henryrawas | 4:36a4eceb1b7f | 312 | bool RobotArm::GetArmMeasure(int measureId, vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 313 | { |
henryrawas | 4:36a4eceb1b7f | 314 | outPos.clear(); |
henryrawas | 4:36a4eceb1b7f | 315 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 316 | { |
henryrawas | 4:36a4eceb1b7f | 317 | float pos = _armParts[ix]->GetMeasure(measureId); |
henryrawas | 4:36a4eceb1b7f | 318 | outPos.push_back( pos ); |
henryrawas | 4:36a4eceb1b7f | 319 | } |
henryrawas | 4:36a4eceb1b7f | 320 | return true; |
henryrawas | 4:36a4eceb1b7f | 321 | } |
henryrawas | 4:36a4eceb1b7f | 322 | |
henryrawas | 4:36a4eceb1b7f | 323 | // get all parts positions |
henryrawas | 4:36a4eceb1b7f | 324 | bool RobotArm::GetArmLastMeasure(int measureId, vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 325 | { |
henryrawas | 4:36a4eceb1b7f | 326 | outPos.clear(); |
henryrawas | 4:36a4eceb1b7f | 327 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 328 | { |
henryrawas | 4:36a4eceb1b7f | 329 | float pos = _armParts[ix]->GetLastMeasure(measureId); |
henryrawas | 4:36a4eceb1b7f | 330 | outPos.push_back( pos ); |
henryrawas | 4:36a4eceb1b7f | 331 | } |
henryrawas | 4:36a4eceb1b7f | 332 | return true; |
henryrawas | 4:36a4eceb1b7f | 333 | } |
henryrawas | 4:36a4eceb1b7f | 334 | |
henryrawas | 4:36a4eceb1b7f | 335 | // get one part position |
henryrawas | 4:36a4eceb1b7f | 336 | float RobotArm::GetPartMeasure(int measureId, int partIx) |
henryrawas | 4:36a4eceb1b7f | 337 | { |
henryrawas | 4:36a4eceb1b7f | 338 | return _armParts[partIx]->GetMeasure(measureId); |
henryrawas | 4:36a4eceb1b7f | 339 | } |
henryrawas | 4:36a4eceb1b7f | 340 | |
henryrawas | 4:36a4eceb1b7f | 341 | int RobotArm::GetNumParts() |
henryrawas | 4:36a4eceb1b7f | 342 | { |
henryrawas | 4:36a4eceb1b7f | 343 | return _numParts; |
henryrawas | 4:36a4eceb1b7f | 344 | } |
henryrawas | 4:36a4eceb1b7f | 345 | |
henryrawas | 4:36a4eceb1b7f | 346 | void RobotArm::SetStepMs(int stepms) |
henryrawas | 4:36a4eceb1b7f | 347 | { |
henryrawas | 4:36a4eceb1b7f | 348 | if (stepms > 0 && stepms < 5000) |
henryrawas | 4:36a4eceb1b7f | 349 | _stepms = stepms; |
henryrawas | 4:36a4eceb1b7f | 350 | } |
henryrawas | 4:36a4eceb1b7f | 351 | |
henryrawas | 4:36a4eceb1b7f | 352 | void RobotArm::SetThreadId(osThreadId tid) |
henryrawas | 4:36a4eceb1b7f | 353 | { |
henryrawas | 4:36a4eceb1b7f | 354 | _tid = tid; |
henryrawas | 4:36a4eceb1b7f | 355 | } |
henryrawas | 4:36a4eceb1b7f | 356 | |
henryrawas | 4:36a4eceb1b7f | 357 | // get part by position |
henryrawas | 4:36a4eceb1b7f | 358 | RobotNode* RobotArm::GetArmPart(int partIx) |
henryrawas | 4:36a4eceb1b7f | 359 | { |
henryrawas | 4:36a4eceb1b7f | 360 | return _armParts[partIx]; |
henryrawas | 4:36a4eceb1b7f | 361 | } |
henryrawas | 4:36a4eceb1b7f | 362 | |
henryrawas | 4:36a4eceb1b7f | 363 | unsigned char RobotArm::GetLastError() |
henryrawas | 4:36a4eceb1b7f | 364 | { |
henryrawas | 4:36a4eceb1b7f | 365 | return _armParts[_lastErrorPart]->GetLastError(); |
henryrawas | 4:36a4eceb1b7f | 366 | } |
henryrawas | 4:36a4eceb1b7f | 367 | |
henryrawas | 4:36a4eceb1b7f | 368 | int RobotArm::GetLastErrorPart() |
henryrawas | 4:36a4eceb1b7f | 369 | { |
henryrawas | 4:36a4eceb1b7f | 370 | return _lastErrorPart; |
henryrawas | 4:36a4eceb1b7f | 371 | } |