demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
RobotArm.cpp@4:36a4eceb1b7f, 2015-12-23 (annotated)
- Committer:
- henryrawas
- Date:
- Wed Dec 23 18:34:06 2015 +0000
- Revision:
- 4:36a4eceb1b7f
- Child:
- 5:36916b1c5a06
RobotArm plus publish IoTHub status
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 | // move arm thread timer routine |
henryrawas | 4:36a4eceb1b7f | 16 | void NextMove(void const * tid) |
henryrawas | 4:36a4eceb1b7f | 17 | { |
henryrawas | 4:36a4eceb1b7f | 18 | osSignalSet((osThreadId)tid, AS_NextStep); |
henryrawas | 4:36a4eceb1b7f | 19 | } |
henryrawas | 4:36a4eceb1b7f | 20 | |
henryrawas | 4:36a4eceb1b7f | 21 | |
henryrawas | 4:36a4eceb1b7f | 22 | // set the id for each part in the chain, in order |
henryrawas | 4:36a4eceb1b7f | 23 | int PartIds[] = { 1, 2, 3, 4, 6 }; |
henryrawas | 4:36a4eceb1b7f | 24 | |
henryrawas | 4:36a4eceb1b7f | 25 | RobotArm::RobotArm() |
henryrawas | 4:36a4eceb1b7f | 26 | { |
henryrawas | 4:36a4eceb1b7f | 27 | // build arm |
henryrawas | 4:36a4eceb1b7f | 28 | int i = 0; |
henryrawas | 4:36a4eceb1b7f | 29 | RobotArmPc->printf( "id[%d] = %d\r\n", i, PartIds[i]); |
henryrawas | 4:36a4eceb1b7f | 30 | AX12* servo1 = new AX12( &dynbus, PartIds[i] ); |
henryrawas | 4:36a4eceb1b7f | 31 | servo1->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 32 | _armParts[i] = dynamic_cast<RobotNode*>(servo1); |
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* servo2 = new AX12( &dynbus, PartIds[i] ); |
henryrawas | 4:36a4eceb1b7f | 37 | servo2->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 38 | _armParts[i] = dynamic_cast<RobotNode*>(servo2); |
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* servo3 = new AX12( &dynbus, PartIds[i] ); |
henryrawas | 4:36a4eceb1b7f | 43 | servo3->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 44 | _armParts[i] = dynamic_cast<RobotNode*>(servo3); |
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* servo4 = new AX12( &dynbus, PartIds[i] ); |
henryrawas | 4:36a4eceb1b7f | 49 | servo4->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 50 | _armParts[i] = dynamic_cast<RobotNode*>(servo4); |
henryrawas | 4:36a4eceb1b7f | 51 | |
henryrawas | 4:36a4eceb1b7f | 52 | i++; |
henryrawas | 4:36a4eceb1b7f | 53 | RobotArmPc->printf( "id[%d] = %d\r\n", i, PartIds[i]); |
henryrawas | 4:36a4eceb1b7f | 54 | AX12* servo6 = new AX12( &dynbus, PartIds[i] ); |
henryrawas | 4:36a4eceb1b7f | 55 | servo6->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 56 | _armParts[i] = dynamic_cast<RobotNode*>(servo6); |
henryrawas | 4:36a4eceb1b7f | 57 | |
henryrawas | 4:36a4eceb1b7f | 58 | i++; |
henryrawas | 4:36a4eceb1b7f | 59 | _numParts = i; |
henryrawas | 4:36a4eceb1b7f | 60 | |
henryrawas | 4:36a4eceb1b7f | 61 | numsteps = 0; |
henryrawas | 4:36a4eceb1b7f | 62 | _stepms = 20; // move every 20 ms |
henryrawas | 4:36a4eceb1b7f | 63 | } |
henryrawas | 4:36a4eceb1b7f | 64 | |
henryrawas | 4:36a4eceb1b7f | 65 | // move all parts to specified postions in ms time |
henryrawas | 4:36a4eceb1b7f | 66 | bool RobotArm::MoveArmPositions(vector<float> positions, int ms, int steps) |
henryrawas | 4:36a4eceb1b7f | 67 | { |
henryrawas | 4:36a4eceb1b7f | 68 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 69 | |
henryrawas | 4:36a4eceb1b7f | 70 | GetArmLastPositions(lastpos); |
henryrawas | 4:36a4eceb1b7f | 71 | |
henryrawas | 4:36a4eceb1b7f | 72 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 73 | { |
henryrawas | 4:36a4eceb1b7f | 74 | float difference = positions[ix]- lastpos[ix]; |
henryrawas | 4:36a4eceb1b7f | 75 | differentials.push_back( difference ); |
henryrawas | 4:36a4eceb1b7f | 76 | } |
henryrawas | 4:36a4eceb1b7f | 77 | |
henryrawas | 4:36a4eceb1b7f | 78 | if (steps > 1000) steps = 1000; |
henryrawas | 4:36a4eceb1b7f | 79 | if (ms <= 0) ms = 1; |
henryrawas | 4:36a4eceb1b7f | 80 | |
henryrawas | 4:36a4eceb1b7f | 81 | delayms = ms / steps; |
henryrawas | 4:36a4eceb1b7f | 82 | expDelay = delayms; |
henryrawas | 4:36a4eceb1b7f | 83 | |
henryrawas | 4:36a4eceb1b7f | 84 | elapseTimer.start(); |
henryrawas | 4:36a4eceb1b7f | 85 | bool ok = true; |
henryrawas | 4:36a4eceb1b7f | 86 | |
henryrawas | 4:36a4eceb1b7f | 87 | // move arm to new position in steps |
henryrawas | 4:36a4eceb1b7f | 88 | for( int step = 1; step <= steps; step++) |
henryrawas | 4:36a4eceb1b7f | 89 | { |
henryrawas | 4:36a4eceb1b7f | 90 | //pc.foreground(Red); |
henryrawas | 4:36a4eceb1b7f | 91 | //pc.background(Black); |
henryrawas | 4:36a4eceb1b7f | 92 | //pc.locate( 0 , 24 ); |
henryrawas | 4:36a4eceb1b7f | 93 | float incr = (float)step / (float)steps; |
henryrawas | 4:36a4eceb1b7f | 94 | for( int ix = 0; ix < _numParts; ix++ ) |
henryrawas | 4:36a4eceb1b7f | 95 | { |
henryrawas | 4:36a4eceb1b7f | 96 | //pc.printf( "goal[%d] = %f\r\n", servoIndex, goal); |
henryrawas | 4:36a4eceb1b7f | 97 | if (_armParts[ix]->HasAction(NA_Rotate)) |
henryrawas | 4:36a4eceb1b7f | 98 | { |
henryrawas | 4:36a4eceb1b7f | 99 | float goal = lastpos[ix] + (differentials[ix] * incr); |
henryrawas | 4:36a4eceb1b7f | 100 | bool ok = _armParts[ix]->DoAction(NA_Rotate, goal); |
henryrawas | 4:36a4eceb1b7f | 101 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 102 | { |
henryrawas | 4:36a4eceb1b7f | 103 | _lastErrorPart = ix; |
henryrawas | 4:36a4eceb1b7f | 104 | break; |
henryrawas | 4:36a4eceb1b7f | 105 | } |
henryrawas | 4:36a4eceb1b7f | 106 | } |
henryrawas | 4:36a4eceb1b7f | 107 | } |
henryrawas | 4:36a4eceb1b7f | 108 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 109 | break; |
henryrawas | 4:36a4eceb1b7f | 110 | // adjust delay |
henryrawas | 4:36a4eceb1b7f | 111 | int elapsed = (int)elapseTimer.read_ms(); |
henryrawas | 4:36a4eceb1b7f | 112 | expDelay += delayms; |
henryrawas | 4:36a4eceb1b7f | 113 | if (elapsed > expDelay && elapsed - expDelay < delayms) |
henryrawas | 4:36a4eceb1b7f | 114 | wait_ms(elapsed - expDelay); |
henryrawas | 4:36a4eceb1b7f | 115 | else |
henryrawas | 4:36a4eceb1b7f | 116 | wait_ms(delayms); |
henryrawas | 4:36a4eceb1b7f | 117 | } |
henryrawas | 4:36a4eceb1b7f | 118 | |
henryrawas | 4:36a4eceb1b7f | 119 | elapseTimer.stop(); |
henryrawas | 4:36a4eceb1b7f | 120 | return ok; |
henryrawas | 4:36a4eceb1b7f | 121 | } |
henryrawas | 4:36a4eceb1b7f | 122 | |
henryrawas | 4:36a4eceb1b7f | 123 | // move all parts to specified postions in ms time |
henryrawas | 4:36a4eceb1b7f | 124 | bool RobotArm::MoveArmPositionsStart(vector<float> positions, int totms) |
henryrawas | 4:36a4eceb1b7f | 125 | { |
henryrawas | 4:36a4eceb1b7f | 126 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 127 | |
henryrawas | 4:36a4eceb1b7f | 128 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 129 | GetArmLastPositions(lastpos); |
henryrawas | 4:36a4eceb1b7f | 130 | |
henryrawas | 4:36a4eceb1b7f | 131 | differentials.clear(); |
henryrawas | 4:36a4eceb1b7f | 132 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 133 | { |
henryrawas | 4:36a4eceb1b7f | 134 | float difference = positions[ix] - lastpos[ix]; |
henryrawas | 4:36a4eceb1b7f | 135 | differentials.push_back( difference ); |
henryrawas | 4:36a4eceb1b7f | 136 | RobotArmPc->printf( "diff %d = %f\r\n", ix, difference); |
henryrawas | 4:36a4eceb1b7f | 137 | } |
henryrawas | 4:36a4eceb1b7f | 138 | |
henryrawas | 4:36a4eceb1b7f | 139 | numsteps = totms / _stepms; |
henryrawas | 4:36a4eceb1b7f | 140 | if (numsteps == 0) numsteps = 1; |
henryrawas | 4:36a4eceb1b7f | 141 | |
henryrawas | 4:36a4eceb1b7f | 142 | curstep = 1; |
henryrawas | 4:36a4eceb1b7f | 143 | |
henryrawas | 4:36a4eceb1b7f | 144 | delayms = _stepms; |
henryrawas | 4:36a4eceb1b7f | 145 | expDelay = _stepms; |
henryrawas | 4:36a4eceb1b7f | 146 | |
henryrawas | 4:36a4eceb1b7f | 147 | elapseTimer.start(); |
henryrawas | 4:36a4eceb1b7f | 148 | |
henryrawas | 4:36a4eceb1b7f | 149 | return true; |
henryrawas | 4:36a4eceb1b7f | 150 | } |
henryrawas | 4:36a4eceb1b7f | 151 | |
henryrawas | 4:36a4eceb1b7f | 152 | bool RobotArm::MoveArmPositionsHasNext() |
henryrawas | 4:36a4eceb1b7f | 153 | { |
henryrawas | 4:36a4eceb1b7f | 154 | return (curstep <= numsteps); |
henryrawas | 4:36a4eceb1b7f | 155 | } |
henryrawas | 4:36a4eceb1b7f | 156 | |
henryrawas | 4:36a4eceb1b7f | 157 | bool RobotArm::MoveArmPositionsNext(int& nextdelay) |
henryrawas | 4:36a4eceb1b7f | 158 | { |
henryrawas | 4:36a4eceb1b7f | 159 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 160 | |
henryrawas | 4:36a4eceb1b7f | 161 | if (curstep > numsteps) |
henryrawas | 4:36a4eceb1b7f | 162 | { |
henryrawas | 4:36a4eceb1b7f | 163 | // no more steps |
henryrawas | 4:36a4eceb1b7f | 164 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 165 | return true; |
henryrawas | 4:36a4eceb1b7f | 166 | } |
henryrawas | 4:36a4eceb1b7f | 167 | |
henryrawas | 4:36a4eceb1b7f | 168 | bool ok = true; |
henryrawas | 4:36a4eceb1b7f | 169 | float incr = (float)curstep / (float)numsteps; |
henryrawas | 4:36a4eceb1b7f | 170 | for( int ix = 0; ix < _numParts; ix++ ) |
henryrawas | 4:36a4eceb1b7f | 171 | { |
henryrawas | 4:36a4eceb1b7f | 172 | if (_armParts[ix]->HasAction(NA_Rotate)) |
henryrawas | 4:36a4eceb1b7f | 173 | { |
henryrawas | 4:36a4eceb1b7f | 174 | float goal = lastpos[ix] + (differentials[ix] * incr); |
henryrawas | 4:36a4eceb1b7f | 175 | bool ok = _armParts[ix]->DoAction(NA_Rotate, goal); |
henryrawas | 4:36a4eceb1b7f | 176 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 177 | { |
henryrawas | 4:36a4eceb1b7f | 178 | _lastErrorPart = ix; |
henryrawas | 4:36a4eceb1b7f | 179 | break; |
henryrawas | 4:36a4eceb1b7f | 180 | } |
henryrawas | 4:36a4eceb1b7f | 181 | } |
henryrawas | 4:36a4eceb1b7f | 182 | } |
henryrawas | 4:36a4eceb1b7f | 183 | |
henryrawas | 4:36a4eceb1b7f | 184 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 185 | { |
henryrawas | 4:36a4eceb1b7f | 186 | return false; |
henryrawas | 4:36a4eceb1b7f | 187 | } |
henryrawas | 4:36a4eceb1b7f | 188 | |
henryrawas | 4:36a4eceb1b7f | 189 | curstep++; |
henryrawas | 4:36a4eceb1b7f | 190 | if (curstep > numsteps) |
henryrawas | 4:36a4eceb1b7f | 191 | { |
henryrawas | 4:36a4eceb1b7f | 192 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 193 | } |
henryrawas | 4:36a4eceb1b7f | 194 | else |
henryrawas | 4:36a4eceb1b7f | 195 | { |
henryrawas | 4:36a4eceb1b7f | 196 | // adjust delay |
henryrawas | 4:36a4eceb1b7f | 197 | int elapsed = (int)elapseTimer.read_ms(); |
henryrawas | 4:36a4eceb1b7f | 198 | expDelay += delayms; |
henryrawas | 4:36a4eceb1b7f | 199 | |
henryrawas | 4:36a4eceb1b7f | 200 | if (elapsed > expDelay) |
henryrawas | 4:36a4eceb1b7f | 201 | { |
henryrawas | 4:36a4eceb1b7f | 202 | if (elapsed - expDelay < delayms) |
henryrawas | 4:36a4eceb1b7f | 203 | nextdelay = elapsed - expDelay; |
henryrawas | 4:36a4eceb1b7f | 204 | else |
henryrawas | 4:36a4eceb1b7f | 205 | nextdelay = delayms; |
henryrawas | 4:36a4eceb1b7f | 206 | } |
henryrawas | 4:36a4eceb1b7f | 207 | else |
henryrawas | 4:36a4eceb1b7f | 208 | { |
henryrawas | 4:36a4eceb1b7f | 209 | // no delay before next step |
henryrawas | 4:36a4eceb1b7f | 210 | nextdelay = 0; |
henryrawas | 4:36a4eceb1b7f | 211 | } |
henryrawas | 4:36a4eceb1b7f | 212 | } |
henryrawas | 4:36a4eceb1b7f | 213 | |
henryrawas | 4:36a4eceb1b7f | 214 | return true; |
henryrawas | 4:36a4eceb1b7f | 215 | } |
henryrawas | 4:36a4eceb1b7f | 216 | |
henryrawas | 4:36a4eceb1b7f | 217 | bool RobotArm::MoveArmPositionsEnd() |
henryrawas | 4:36a4eceb1b7f | 218 | { |
henryrawas | 4:36a4eceb1b7f | 219 | if (numsteps > 0) |
henryrawas | 4:36a4eceb1b7f | 220 | { |
henryrawas | 4:36a4eceb1b7f | 221 | elapseTimer.stop(); |
henryrawas | 4:36a4eceb1b7f | 222 | numsteps = 0; |
henryrawas | 4:36a4eceb1b7f | 223 | } |
henryrawas | 4:36a4eceb1b7f | 224 | return true; |
henryrawas | 4:36a4eceb1b7f | 225 | } |
henryrawas | 4:36a4eceb1b7f | 226 | |
henryrawas | 4:36a4eceb1b7f | 227 | // move one part to specified postion in ms time |
henryrawas | 4:36a4eceb1b7f | 228 | bool RobotArm::MovePartPosition(int partIx, float position, int ms, int steps) |
henryrawas | 4:36a4eceb1b7f | 229 | { |
henryrawas | 4:36a4eceb1b7f | 230 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 231 | if (!_armParts[partIx]->HasAction(NA_Rotate)) |
henryrawas | 4:36a4eceb1b7f | 232 | return false; |
henryrawas | 4:36a4eceb1b7f | 233 | |
henryrawas | 4:36a4eceb1b7f | 234 | float lastpos = _armParts[partIx]->GetLastMeasure(NM_Degrees); |
henryrawas | 4:36a4eceb1b7f | 235 | |
henryrawas | 4:36a4eceb1b7f | 236 | float difference = position- lastpos; |
henryrawas | 4:36a4eceb1b7f | 237 | |
henryrawas | 4:36a4eceb1b7f | 238 | if (steps > 1000) steps = 1000; |
henryrawas | 4:36a4eceb1b7f | 239 | if (ms <= 0) ms = 1; |
henryrawas | 4:36a4eceb1b7f | 240 | |
henryrawas | 4:36a4eceb1b7f | 241 | int delayms = ms / steps; |
henryrawas | 4:36a4eceb1b7f | 242 | |
henryrawas | 4:36a4eceb1b7f | 243 | bool ok = true; |
henryrawas | 4:36a4eceb1b7f | 244 | |
henryrawas | 4:36a4eceb1b7f | 245 | // move arm to new position in steps |
henryrawas | 4:36a4eceb1b7f | 246 | for( int step = 1; step <= steps; step++) |
henryrawas | 4:36a4eceb1b7f | 247 | { |
henryrawas | 4:36a4eceb1b7f | 248 | //pc.foreground(Red); |
henryrawas | 4:36a4eceb1b7f | 249 | //pc.background(Black); |
henryrawas | 4:36a4eceb1b7f | 250 | //pc.locate( 0 , 24 ); |
henryrawas | 4:36a4eceb1b7f | 251 | float incr = (float)step / (float)steps; |
henryrawas | 4:36a4eceb1b7f | 252 | |
henryrawas | 4:36a4eceb1b7f | 253 | //pc.printf( "goal[%d] = %f\r\n", servoIndex, goal); |
henryrawas | 4:36a4eceb1b7f | 254 | float goal = lastpos + (difference * incr); |
henryrawas | 4:36a4eceb1b7f | 255 | bool ok = _armParts[partIx]->DoAction(NA_Rotate, goal); |
henryrawas | 4:36a4eceb1b7f | 256 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 257 | { |
henryrawas | 4:36a4eceb1b7f | 258 | _lastErrorPart = partIx; |
henryrawas | 4:36a4eceb1b7f | 259 | break; |
henryrawas | 4:36a4eceb1b7f | 260 | } |
henryrawas | 4:36a4eceb1b7f | 261 | |
henryrawas | 4:36a4eceb1b7f | 262 | wait_ms(delayms); |
henryrawas | 4:36a4eceb1b7f | 263 | } |
henryrawas | 4:36a4eceb1b7f | 264 | return ok; |
henryrawas | 4:36a4eceb1b7f | 265 | } |
henryrawas | 4:36a4eceb1b7f | 266 | |
henryrawas | 4:36a4eceb1b7f | 267 | // get all parts positions |
henryrawas | 4:36a4eceb1b7f | 268 | bool RobotArm::GetArmPositions(vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 269 | { |
henryrawas | 4:36a4eceb1b7f | 270 | outPos.clear(); |
henryrawas | 4:36a4eceb1b7f | 271 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 272 | { |
henryrawas | 4:36a4eceb1b7f | 273 | float pos = _armParts[ix]->GetMeasure(NM_Degrees); |
henryrawas | 4:36a4eceb1b7f | 274 | outPos.push_back( pos ); |
henryrawas | 4:36a4eceb1b7f | 275 | } |
henryrawas | 4:36a4eceb1b7f | 276 | return true; |
henryrawas | 4:36a4eceb1b7f | 277 | } |
henryrawas | 4:36a4eceb1b7f | 278 | |
henryrawas | 4:36a4eceb1b7f | 279 | // get all parts positions |
henryrawas | 4:36a4eceb1b7f | 280 | bool RobotArm::GetArmLastPositions(vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 281 | { |
henryrawas | 4:36a4eceb1b7f | 282 | outPos.clear(); |
henryrawas | 4:36a4eceb1b7f | 283 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 284 | { |
henryrawas | 4:36a4eceb1b7f | 285 | float pos = _armParts[ix]->GetLastMeasure(NM_Degrees); |
henryrawas | 4:36a4eceb1b7f | 286 | outPos.push_back( pos ); |
henryrawas | 4:36a4eceb1b7f | 287 | } |
henryrawas | 4:36a4eceb1b7f | 288 | return true; |
henryrawas | 4:36a4eceb1b7f | 289 | } |
henryrawas | 4:36a4eceb1b7f | 290 | |
henryrawas | 4:36a4eceb1b7f | 291 | // get one part position |
henryrawas | 4:36a4eceb1b7f | 292 | float RobotArm::GetPartPosition(int partIx) |
henryrawas | 4:36a4eceb1b7f | 293 | { |
henryrawas | 4:36a4eceb1b7f | 294 | return _armParts[partIx]->GetMeasure(NM_Degrees); |
henryrawas | 4:36a4eceb1b7f | 295 | } |
henryrawas | 4:36a4eceb1b7f | 296 | |
henryrawas | 4:36a4eceb1b7f | 297 | |
henryrawas | 4:36a4eceb1b7f | 298 | // get all parts positions |
henryrawas | 4:36a4eceb1b7f | 299 | bool RobotArm::GetArmMeasure(int measureId, vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 300 | { |
henryrawas | 4:36a4eceb1b7f | 301 | outPos.clear(); |
henryrawas | 4:36a4eceb1b7f | 302 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 303 | { |
henryrawas | 4:36a4eceb1b7f | 304 | float pos = _armParts[ix]->GetMeasure(measureId); |
henryrawas | 4:36a4eceb1b7f | 305 | outPos.push_back( pos ); |
henryrawas | 4:36a4eceb1b7f | 306 | } |
henryrawas | 4:36a4eceb1b7f | 307 | return true; |
henryrawas | 4:36a4eceb1b7f | 308 | } |
henryrawas | 4:36a4eceb1b7f | 309 | |
henryrawas | 4:36a4eceb1b7f | 310 | // get all parts positions |
henryrawas | 4:36a4eceb1b7f | 311 | bool RobotArm::GetArmLastMeasure(int measureId, vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 312 | { |
henryrawas | 4:36a4eceb1b7f | 313 | outPos.clear(); |
henryrawas | 4:36a4eceb1b7f | 314 | for( int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 315 | { |
henryrawas | 4:36a4eceb1b7f | 316 | float pos = _armParts[ix]->GetLastMeasure(measureId); |
henryrawas | 4:36a4eceb1b7f | 317 | outPos.push_back( pos ); |
henryrawas | 4:36a4eceb1b7f | 318 | } |
henryrawas | 4:36a4eceb1b7f | 319 | return true; |
henryrawas | 4:36a4eceb1b7f | 320 | } |
henryrawas | 4:36a4eceb1b7f | 321 | |
henryrawas | 4:36a4eceb1b7f | 322 | // get one part position |
henryrawas | 4:36a4eceb1b7f | 323 | float RobotArm::GetPartMeasure(int measureId, int partIx) |
henryrawas | 4:36a4eceb1b7f | 324 | { |
henryrawas | 4:36a4eceb1b7f | 325 | return _armParts[partIx]->GetMeasure(measureId); |
henryrawas | 4:36a4eceb1b7f | 326 | } |
henryrawas | 4:36a4eceb1b7f | 327 | |
henryrawas | 4:36a4eceb1b7f | 328 | int RobotArm::GetNumParts() |
henryrawas | 4:36a4eceb1b7f | 329 | { |
henryrawas | 4:36a4eceb1b7f | 330 | return _numParts; |
henryrawas | 4:36a4eceb1b7f | 331 | } |
henryrawas | 4:36a4eceb1b7f | 332 | |
henryrawas | 4:36a4eceb1b7f | 333 | void RobotArm::SetStepMs(int stepms) |
henryrawas | 4:36a4eceb1b7f | 334 | { |
henryrawas | 4:36a4eceb1b7f | 335 | if (stepms > 0 && stepms < 5000) |
henryrawas | 4:36a4eceb1b7f | 336 | _stepms = stepms; |
henryrawas | 4:36a4eceb1b7f | 337 | } |
henryrawas | 4:36a4eceb1b7f | 338 | |
henryrawas | 4:36a4eceb1b7f | 339 | void RobotArm::SetThreadId(osThreadId tid) |
henryrawas | 4:36a4eceb1b7f | 340 | { |
henryrawas | 4:36a4eceb1b7f | 341 | _tid = tid; |
henryrawas | 4:36a4eceb1b7f | 342 | } |
henryrawas | 4:36a4eceb1b7f | 343 | |
henryrawas | 4:36a4eceb1b7f | 344 | // get part by position |
henryrawas | 4:36a4eceb1b7f | 345 | RobotNode* RobotArm::GetArmPart(int partIx) |
henryrawas | 4:36a4eceb1b7f | 346 | { |
henryrawas | 4:36a4eceb1b7f | 347 | return _armParts[partIx]; |
henryrawas | 4:36a4eceb1b7f | 348 | } |
henryrawas | 4:36a4eceb1b7f | 349 | |
henryrawas | 4:36a4eceb1b7f | 350 | unsigned char RobotArm::GetLastError() |
henryrawas | 4:36a4eceb1b7f | 351 | { |
henryrawas | 4:36a4eceb1b7f | 352 | return _armParts[_lastErrorPart]->GetLastError(); |
henryrawas | 4:36a4eceb1b7f | 353 | } |
henryrawas | 4:36a4eceb1b7f | 354 | |
henryrawas | 4:36a4eceb1b7f | 355 | int RobotArm::GetLastErrorPart() |
henryrawas | 4:36a4eceb1b7f | 356 | { |
henryrawas | 4:36a4eceb1b7f | 357 | return _lastErrorPart; |
henryrawas | 4:36a4eceb1b7f | 358 | } |