robot arm demo team / Mbed 2 deprecated RobotArmDemo Featured

demo project

Dependencies:   AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL

RobotArm.h@7:6723f6887d00, 2015-12-29 (annotated)

Committer:
henryrawas
Date:
Tue Dec 29 23:31:28 2015 +0000
Revision:
7:6723f6887d00
Parent:
5:36916b1c5a06
Child:
8:d98e2dec0f40
motion block alerts, more commands

Who changed what in which revision?

UserRevisionLine numberNew contents of line
henryrawas 4:36a4eceb1b7f 1 /*
henryrawas 4:36a4eceb1b7f 2 Copyright (c) 2015 Jonathan Pickett & Microsoft. Some appropriate open source license.
henryrawas 4:36a4eceb1b7f 3 */
henryrawas 4:36a4eceb1b7f 4
henryrawas 4:36a4eceb1b7f 5 #ifndef __ROBOT_ARM_H__
henryrawas 4:36a4eceb1b7f 6 #define __ROBOT_ARM_H__
henryrawas 4:36a4eceb1b7f 7
henryrawas 4:36a4eceb1b7f 8 #include "mbed.h"
henryrawas 4:36a4eceb1b7f 9 #include "rtos.h"
henryrawas 4:36a4eceb1b7f 10
henryrawas 4:36a4eceb1b7f 11 #include "DynamixelBus.h"
henryrawas 4:36a4eceb1b7f 12 #include "RobotNode.h"
henryrawas 4:36a4eceb1b7f 13
henryrawas 4:36a4eceb1b7f 14 #define MAX_PARTS 8
henryrawas 4:36a4eceb1b7f 15
henryrawas 4:36a4eceb1b7f 16
henryrawas 4:36a4eceb1b7f 17 enum ArmAction
henryrawas 4:36a4eceb1b7f 18 {
henryrawas 4:36a4eceb1b7f 19 AA_RunSeq = 0x1,
henryrawas 4:36a4eceb1b7f 20 AA_Status = 0x2,
henryrawas 4:36a4eceb1b7f 21 AA_Alert = 0x3
henryrawas 4:36a4eceb1b7f 22 };
henryrawas 4:36a4eceb1b7f 23
henryrawas 4:36a4eceb1b7f 24 enum ArmThreadSignals
henryrawas 4:36a4eceb1b7f 25 {
henryrawas 4:36a4eceb1b7f 26 AS_Action = 0x1,
henryrawas 4:36a4eceb1b7f 27 AS_LocalAlert = 0x2,
henryrawas 4:36a4eceb1b7f 28 AS_Cancel = 0x4,
henryrawas 4:36a4eceb1b7f 29 AS_NextStep = 0x8,
henryrawas 4:36a4eceb1b7f 30 AS_NextSeq = 0x10
henryrawas 4:36a4eceb1b7f 31 };
henryrawas 4:36a4eceb1b7f 32
henryrawas 4:36a4eceb1b7f 33 enum IothubThreadSignals
henryrawas 4:36a4eceb1b7f 34 {
henryrawas 4:36a4eceb1b7f 35 IS_Close = 0x1,
henryrawas 4:36a4eceb1b7f 36 IS_SendStatus = 0x2
henryrawas 4:36a4eceb1b7f 37 };
henryrawas 4:36a4eceb1b7f 38
henryrawas 7:6723f6887d00 39
henryrawas 4:36a4eceb1b7f 40 class RobotArm
henryrawas 4:36a4eceb1b7f 41 {
henryrawas 4:36a4eceb1b7f 42 public:
henryrawas 4:36a4eceb1b7f 43
henryrawas 4:36a4eceb1b7f 44 RobotArm();
henryrawas 4:36a4eceb1b7f 45
henryrawas 4:36a4eceb1b7f 46 // start - move all parts to specified postions in ms time
henryrawas 4:36a4eceb1b7f 47 bool MoveArmPositionsStart(vector<float> positions, int ms);
henryrawas 4:36a4eceb1b7f 48
henryrawas 4:36a4eceb1b7f 49 // start - move all parts to specified postions - test if done
henryrawas 4:36a4eceb1b7f 50 bool MoveArmPositionsHasNext();
henryrawas 4:36a4eceb1b7f 51
henryrawas 4:36a4eceb1b7f 52 // start - move all parts to specified postions - next step
henryrawas 7:6723f6887d00 53 bool MoveArmPositionsNext();
henryrawas 7:6723f6887d00 54
henryrawas 7:6723f6887d00 55 // start - move all parts to specified postions - next delay
henryrawas 7:6723f6887d00 56 bool MoveArmPositionsDelay(int& nextdelay);
henryrawas 4:36a4eceb1b7f 57
henryrawas 4:36a4eceb1b7f 58 // start - move all parts to specified postions - finish
henryrawas 4:36a4eceb1b7f 59 bool MoveArmPositionsEnd();
henryrawas 5:36916b1c5a06 60
henryrawas 5:36916b1c5a06 61 // start - test if positions are close to expected
henryrawas 7:6723f6887d00 62 bool MoveArmPositionTest();
henryrawas 4:36a4eceb1b7f 63
henryrawas 4:36a4eceb1b7f 64 // get all parts positions
henryrawas 4:36a4eceb1b7f 65 bool GetArmPositions(vector<float>& outPos);
henryrawas 4:36a4eceb1b7f 66
henryrawas 4:36a4eceb1b7f 67 // get all parts last positions
henryrawas 4:36a4eceb1b7f 68 bool GetArmLastPositions(vector<float>& outPos);
henryrawas 4:36a4eceb1b7f 69
henryrawas 4:36a4eceb1b7f 70 // get all parts for a measurement
henryrawas 4:36a4eceb1b7f 71 bool GetArmMeasure(int measureId, vector<float>& outPos);
henryrawas 4:36a4eceb1b7f 72
henryrawas 4:36a4eceb1b7f 73 // get all parts last measurement
henryrawas 4:36a4eceb1b7f 74 bool GetArmLastMeasure(int measureId, vector<float>& outPos);
henryrawas 4:36a4eceb1b7f 75
henryrawas 4:36a4eceb1b7f 76 int GetNumParts();
henryrawas 4:36a4eceb1b7f 77
henryrawas 4:36a4eceb1b7f 78 // set arm speed as ms between steps
henryrawas 4:36a4eceb1b7f 79 void SetStepMs(int stepms);
henryrawas 4:36a4eceb1b7f 80
henryrawas 4:36a4eceb1b7f 81 // set ThreadId for signals
henryrawas 4:36a4eceb1b7f 82 void SetThreadId(osThreadId tid);
henryrawas 4:36a4eceb1b7f 83
henryrawas 4:36a4eceb1b7f 84 // get the part object
henryrawas 4:36a4eceb1b7f 85 RobotNode* GetArmPart(int partIx);
henryrawas 4:36a4eceb1b7f 86
henryrawas 4:36a4eceb1b7f 87 // get last error code from action
henryrawas 7:6723f6887d00 88 int GetLastError();
henryrawas 4:36a4eceb1b7f 89
henryrawas 4:36a4eceb1b7f 90 // get index of part with error
henryrawas 4:36a4eceb1b7f 91 int GetLastErrorPart();
henryrawas 4:36a4eceb1b7f 92
henryrawas 7:6723f6887d00 93 // get size of position diff (valid if error)
henryrawas 7:6723f6887d00 94 float GetLastPosDiff();
henryrawas 7:6723f6887d00 95
henryrawas 7:6723f6887d00 96 // set allwable position diff
henryrawas 7:6723f6887d00 97 void SetAllowance(float allow);
henryrawas 7:6723f6887d00 98
henryrawas 4:36a4eceb1b7f 99 private:
henryrawas 4:36a4eceb1b7f 100 // sensors and actuators
henryrawas 4:36a4eceb1b7f 101 RobotNode* _armParts[MAX_PARTS];
henryrawas 4:36a4eceb1b7f 102
henryrawas 4:36a4eceb1b7f 103 int _numParts;
henryrawas 4:36a4eceb1b7f 104
henryrawas 4:36a4eceb1b7f 105 // #ms between steps
henryrawas 4:36a4eceb1b7f 106 int _stepms;
henryrawas 4:36a4eceb1b7f 107
henryrawas 4:36a4eceb1b7f 108 // thread id
henryrawas 4:36a4eceb1b7f 109 osThreadId _tid;
henryrawas 4:36a4eceb1b7f 110
henryrawas 4:36a4eceb1b7f 111 // part ix for last error
henryrawas 4:36a4eceb1b7f 112 int _lastErrorPart;
henryrawas 7:6723f6887d00 113 // last HW error
henryrawas 7:6723f6887d00 114 int _lastError;
henryrawas 7:6723f6887d00 115 // last position error
henryrawas 7:6723f6887d00 116 float _lastPosDiff;
henryrawas 4:36a4eceb1b7f 117
henryrawas 4:36a4eceb1b7f 118 // for thread friendly moves
henryrawas 4:36a4eceb1b7f 119 vector<float> lastpos;
henryrawas 4:36a4eceb1b7f 120 vector<float> differentials;
henryrawas 5:36916b1c5a06 121 vector<float> lastgoals;
henryrawas 5:36916b1c5a06 122
henryrawas 5:36916b1c5a06 123 // allowance for difference between expected pos and actual pos
henryrawas 7:6723f6887d00 124 float allowance;
henryrawas 7:6723f6887d00 125 // keep track of time period when position is off
henryrawas 7:6723f6887d00 126 int failms;
henryrawas 5:36916b1c5a06 127
henryrawas 4:36a4eceb1b7f 128 int numsteps;
henryrawas 4:36a4eceb1b7f 129 int curstep;
henryrawas 4:36a4eceb1b7f 130 int delayms;
henryrawas 4:36a4eceb1b7f 131 int expDelay;
henryrawas 4:36a4eceb1b7f 132 Timer elapseTimer;
henryrawas 4:36a4eceb1b7f 133 };
henryrawas 4:36a4eceb1b7f 134
henryrawas 4:36a4eceb1b7f 135 #endif