demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
RobotArm.cpp@8:d98e2dec0f40, 2015-12-31 (annotated)
- Committer:
- henryrawas
- Date:
- Thu Dec 31 17:47:55 2015 +0000
- Revision:
- 8:d98e2dec0f40
- Parent:
- 7:6723f6887d00
- Child:
- 9:a0fb6c370dbb
add taps
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 | |
henryrawas | 4:36a4eceb1b7f | 14 | |
henryrawas | 4:36a4eceb1b7f | 15 | // set the id for each part in the chain, in order |
henryrawas | 5:36916b1c5a06 | 16 | int PartIds[] = { 2, 3, 4, 6, 1 }; |
henryrawas | 4:36a4eceb1b7f | 17 | |
henryrawas | 7:6723f6887d00 | 18 | #define FailMsLimit 200 |
henryrawas | 7:6723f6887d00 | 19 | |
henryrawas | 4:36a4eceb1b7f | 20 | RobotArm::RobotArm() |
henryrawas | 4:36a4eceb1b7f | 21 | { |
henryrawas | 4:36a4eceb1b7f | 22 | // build arm |
henryrawas | 4:36a4eceb1b7f | 23 | int i = 0; |
henryrawas | 8:d98e2dec0f40 | 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 | 8:d98e2dec0f40 | 29 | AX12* servo2 = new AX12(&dynbus, PartIds[i]); |
henryrawas | 4:36a4eceb1b7f | 30 | servo2->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 31 | _armParts[i] = dynamic_cast<RobotNode*>(servo2); |
henryrawas | 4:36a4eceb1b7f | 32 | |
henryrawas | 4:36a4eceb1b7f | 33 | i++; |
henryrawas | 8:d98e2dec0f40 | 34 | AX12* servo3 = new AX12(&dynbus, PartIds[i]); |
henryrawas | 4:36a4eceb1b7f | 35 | servo3->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 36 | _armParts[i] = dynamic_cast<RobotNode*>(servo3); |
henryrawas | 4:36a4eceb1b7f | 37 | |
henryrawas | 4:36a4eceb1b7f | 38 | i++; |
henryrawas | 8:d98e2dec0f40 | 39 | AX12* servo4 = new AX12(&dynbus, PartIds[i]); |
henryrawas | 4:36a4eceb1b7f | 40 | servo4->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 41 | _armParts[i] = dynamic_cast<RobotNode*>(servo4); |
henryrawas | 4:36a4eceb1b7f | 42 | |
henryrawas | 4:36a4eceb1b7f | 43 | i++; |
henryrawas | 8:d98e2dec0f40 | 44 | AX12* servo6 = new AX12(&dynbus, PartIds[i]); |
henryrawas | 4:36a4eceb1b7f | 45 | servo6->TorqueEnable(true); |
henryrawas | 4:36a4eceb1b7f | 46 | _armParts[i] = dynamic_cast<RobotNode*>(servo6); |
henryrawas | 4:36a4eceb1b7f | 47 | |
henryrawas | 4:36a4eceb1b7f | 48 | i++; |
henryrawas | 4:36a4eceb1b7f | 49 | _numParts = i; |
henryrawas | 4:36a4eceb1b7f | 50 | |
henryrawas | 4:36a4eceb1b7f | 51 | numsteps = 0; |
henryrawas | 4:36a4eceb1b7f | 52 | _stepms = 20; // move every 20 ms |
henryrawas | 7:6723f6887d00 | 53 | allowance = 2.0f; // allow 2 degree fudge factor |
henryrawas | 7:6723f6887d00 | 54 | failms = 0; |
henryrawas | 4:36a4eceb1b7f | 55 | } |
henryrawas | 4:36a4eceb1b7f | 56 | |
henryrawas | 4:36a4eceb1b7f | 57 | |
henryrawas | 4:36a4eceb1b7f | 58 | // move all parts to specified postions in ms time |
henryrawas | 4:36a4eceb1b7f | 59 | bool RobotArm::MoveArmPositionsStart(vector<float> positions, int totms) |
henryrawas | 4:36a4eceb1b7f | 60 | { |
henryrawas | 4:36a4eceb1b7f | 61 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 62 | |
henryrawas | 4:36a4eceb1b7f | 63 | MoveArmPositionsEnd(); |
henryrawas | 5:36916b1c5a06 | 64 | GetArmPositions(lastpos); |
henryrawas | 7:6723f6887d00 | 65 | lastgoals.clear(); |
henryrawas | 8:d98e2dec0f40 | 66 | endgoals.clear(); |
henryrawas | 8:d98e2dec0f40 | 67 | |
henryrawas | 7:6723f6887d00 | 68 | numsteps = totms / _stepms; |
henryrawas | 7:6723f6887d00 | 69 | if (numsteps == 0) numsteps = 1; |
henryrawas | 7:6723f6887d00 | 70 | |
henryrawas | 4:36a4eceb1b7f | 71 | differentials.clear(); |
henryrawas | 8:d98e2dec0f40 | 72 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 73 | { |
henryrawas | 7:6723f6887d00 | 74 | if (positions[ix] > 0.0f) |
henryrawas | 7:6723f6887d00 | 75 | { |
henryrawas | 8:d98e2dec0f40 | 76 | endgoals.push_back(positions[ix]); |
henryrawas | 7:6723f6887d00 | 77 | float difference = (positions[ix] - lastpos[ix]) / (float)numsteps; |
henryrawas | 8:d98e2dec0f40 | 78 | differentials.push_back(difference); |
henryrawas | 7:6723f6887d00 | 79 | } |
henryrawas | 7:6723f6887d00 | 80 | else |
henryrawas | 7:6723f6887d00 | 81 | { |
henryrawas | 7:6723f6887d00 | 82 | // negative goal. Treat as don't move |
henryrawas | 8:d98e2dec0f40 | 83 | endgoals.push_back(lastpos[ix]); |
henryrawas | 7:6723f6887d00 | 84 | differentials.push_back(0.0f); |
henryrawas | 7:6723f6887d00 | 85 | } |
henryrawas | 4:36a4eceb1b7f | 86 | } |
henryrawas | 4:36a4eceb1b7f | 87 | |
henryrawas | 4:36a4eceb1b7f | 88 | curstep = 1; |
henryrawas | 4:36a4eceb1b7f | 89 | |
henryrawas | 4:36a4eceb1b7f | 90 | delayms = _stepms; |
henryrawas | 4:36a4eceb1b7f | 91 | |
henryrawas | 4:36a4eceb1b7f | 92 | elapseTimer.start(); |
henryrawas | 5:36916b1c5a06 | 93 | expDelay = (int)elapseTimer.read_ms() + delayms; |
henryrawas | 7:6723f6887d00 | 94 | failms = 0; |
henryrawas | 4:36a4eceb1b7f | 95 | |
henryrawas | 4:36a4eceb1b7f | 96 | return true; |
henryrawas | 4:36a4eceb1b7f | 97 | } |
henryrawas | 4:36a4eceb1b7f | 98 | |
henryrawas | 4:36a4eceb1b7f | 99 | bool RobotArm::MoveArmPositionsHasNext() |
henryrawas | 4:36a4eceb1b7f | 100 | { |
henryrawas | 4:36a4eceb1b7f | 101 | return (curstep <= numsteps); |
henryrawas | 4:36a4eceb1b7f | 102 | } |
henryrawas | 4:36a4eceb1b7f | 103 | |
henryrawas | 7:6723f6887d00 | 104 | bool RobotArm::MoveArmPositionsNext() |
henryrawas | 4:36a4eceb1b7f | 105 | { |
henryrawas | 4:36a4eceb1b7f | 106 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 107 | |
henryrawas | 4:36a4eceb1b7f | 108 | if (curstep > numsteps) |
henryrawas | 4:36a4eceb1b7f | 109 | { |
henryrawas | 4:36a4eceb1b7f | 110 | // no more steps |
henryrawas | 4:36a4eceb1b7f | 111 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 112 | return true; |
henryrawas | 4:36a4eceb1b7f | 113 | } |
henryrawas | 4:36a4eceb1b7f | 114 | |
henryrawas | 4:36a4eceb1b7f | 115 | bool ok = true; |
henryrawas | 7:6723f6887d00 | 116 | |
henryrawas | 5:36916b1c5a06 | 117 | lastgoals.clear(); |
henryrawas | 8:d98e2dec0f40 | 118 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 119 | { |
henryrawas | 4:36a4eceb1b7f | 120 | if (_armParts[ix]->HasAction(NA_Rotate)) |
henryrawas | 4:36a4eceb1b7f | 121 | { |
henryrawas | 8:d98e2dec0f40 | 122 | float goal = (curstep == numsteps) ? |
henryrawas | 8:d98e2dec0f40 | 123 | endgoals[ix] : // last step - use actual goal |
henryrawas | 8:d98e2dec0f40 | 124 | (lastpos[ix] + (differentials[ix] * (float)curstep)); |
henryrawas | 5:36916b1c5a06 | 125 | lastgoals.push_back(goal); |
henryrawas | 7:6723f6887d00 | 126 | if (differentials[ix] != 0.0f) |
henryrawas | 4:36a4eceb1b7f | 127 | { |
henryrawas | 7:6723f6887d00 | 128 | bool ok = _armParts[ix]->DoAction(NA_Rotate, goal); |
henryrawas | 7:6723f6887d00 | 129 | if (!ok) |
henryrawas | 7:6723f6887d00 | 130 | { |
henryrawas | 7:6723f6887d00 | 131 | _lastErrorPart = ix; |
henryrawas | 7:6723f6887d00 | 132 | _lastError = _armParts[_lastErrorPart]->GetLastError(); |
henryrawas | 7:6723f6887d00 | 133 | _lastPosDiff = 0; |
henryrawas | 7:6723f6887d00 | 134 | break; |
henryrawas | 7:6723f6887d00 | 135 | } |
henryrawas | 4:36a4eceb1b7f | 136 | } |
henryrawas | 4:36a4eceb1b7f | 137 | } |
henryrawas | 4:36a4eceb1b7f | 138 | } |
henryrawas | 4:36a4eceb1b7f | 139 | |
henryrawas | 4:36a4eceb1b7f | 140 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 141 | { |
henryrawas | 4:36a4eceb1b7f | 142 | return false; |
henryrawas | 4:36a4eceb1b7f | 143 | } |
henryrawas | 4:36a4eceb1b7f | 144 | |
henryrawas | 4:36a4eceb1b7f | 145 | curstep++; |
henryrawas | 4:36a4eceb1b7f | 146 | if (curstep > numsteps) |
henryrawas | 4:36a4eceb1b7f | 147 | { |
henryrawas | 4:36a4eceb1b7f | 148 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 149 | } |
henryrawas | 7:6723f6887d00 | 150 | |
henryrawas | 7:6723f6887d00 | 151 | return true; |
henryrawas | 7:6723f6887d00 | 152 | } |
henryrawas | 7:6723f6887d00 | 153 | |
henryrawas | 7:6723f6887d00 | 154 | // calculate actual delay until expDelay |
henryrawas | 7:6723f6887d00 | 155 | bool RobotArm::MoveArmPositionsDelay(int& nextdelay) |
henryrawas | 7:6723f6887d00 | 156 | { |
henryrawas | 7:6723f6887d00 | 157 | if (curstep <= numsteps) |
henryrawas | 7:6723f6887d00 | 158 | { |
henryrawas | 4:36a4eceb1b7f | 159 | int elapsed = (int)elapseTimer.read_ms(); |
henryrawas | 4:36a4eceb1b7f | 160 | |
henryrawas | 7:6723f6887d00 | 161 | if (elapsed <= expDelay) |
henryrawas | 4:36a4eceb1b7f | 162 | { |
henryrawas | 5:36916b1c5a06 | 163 | if (expDelay - elapsed < delayms) |
henryrawas | 5:36916b1c5a06 | 164 | nextdelay = expDelay - elapsed; |
henryrawas | 4:36a4eceb1b7f | 165 | else |
henryrawas | 4:36a4eceb1b7f | 166 | nextdelay = delayms; |
henryrawas | 7:6723f6887d00 | 167 | // set next expected time by adding step delay |
henryrawas | 7:6723f6887d00 | 168 | expDelay += delayms; |
henryrawas | 4:36a4eceb1b7f | 169 | } |
henryrawas | 4:36a4eceb1b7f | 170 | else |
henryrawas | 4:36a4eceb1b7f | 171 | { |
henryrawas | 7:6723f6887d00 | 172 | nextdelay = delayms; |
henryrawas | 7:6723f6887d00 | 173 | // set next expected time to now plus step delay |
henryrawas | 7:6723f6887d00 | 174 | expDelay = elapsed + delayms; |
henryrawas | 4:36a4eceb1b7f | 175 | } |
henryrawas | 7:6723f6887d00 | 176 | } |
henryrawas | 7:6723f6887d00 | 177 | else |
henryrawas | 7:6723f6887d00 | 178 | { |
henryrawas | 8:d98e2dec0f40 | 179 | nextdelay = delayms; |
henryrawas | 4:36a4eceb1b7f | 180 | } |
henryrawas | 4:36a4eceb1b7f | 181 | |
henryrawas | 4:36a4eceb1b7f | 182 | return true; |
henryrawas | 4:36a4eceb1b7f | 183 | } |
henryrawas | 4:36a4eceb1b7f | 184 | |
henryrawas | 7:6723f6887d00 | 185 | bool RobotArm::MoveArmPositionTest() |
henryrawas | 5:36916b1c5a06 | 186 | { |
henryrawas | 5:36916b1c5a06 | 187 | vector<float> curpos; |
henryrawas | 5:36916b1c5a06 | 188 | GetArmPositions(curpos); |
henryrawas | 8:d98e2dec0f40 | 189 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 5:36916b1c5a06 | 190 | { |
henryrawas | 7:6723f6887d00 | 191 | if (curpos[ix] > 0 && lastgoals.size() > ix) |
henryrawas | 5:36916b1c5a06 | 192 | { |
henryrawas | 7:6723f6887d00 | 193 | float diff = fabs(curpos[ix] - lastgoals[ix]); |
henryrawas | 7:6723f6887d00 | 194 | if (diff > (fabs(differentials[ix] * 2.0f) + allowance)) |
henryrawas | 7:6723f6887d00 | 195 | { |
henryrawas | 7:6723f6887d00 | 196 | printf("Bad position for %d. Expect %f - got %f\r\n", ix, lastgoals[ix], curpos[ix]); |
henryrawas | 7:6723f6887d00 | 197 | _lastPosDiff = diff; |
henryrawas | 7:6723f6887d00 | 198 | _lastErrorPart = ix; |
henryrawas | 7:6723f6887d00 | 199 | _lastError = 0; |
henryrawas | 7:6723f6887d00 | 200 | |
henryrawas | 7:6723f6887d00 | 201 | int elapsed = (int)elapseTimer.read_ms(); |
henryrawas | 7:6723f6887d00 | 202 | if (failms > 0) |
henryrawas | 7:6723f6887d00 | 203 | { |
henryrawas | 7:6723f6887d00 | 204 | if (elapsed - failms > FailMsLimit) |
henryrawas | 7:6723f6887d00 | 205 | { |
henryrawas | 7:6723f6887d00 | 206 | // continuous failure for time period |
henryrawas | 7:6723f6887d00 | 207 | // return false |
henryrawas | 7:6723f6887d00 | 208 | lastgoals.clear(); |
henryrawas | 7:6723f6887d00 | 209 | failms = 0; |
henryrawas | 7:6723f6887d00 | 210 | return false; |
henryrawas | 7:6723f6887d00 | 211 | } |
henryrawas | 7:6723f6887d00 | 212 | // within time period. Do not report failure |
henryrawas | 7:6723f6887d00 | 213 | return true; |
henryrawas | 7:6723f6887d00 | 214 | } |
henryrawas | 7:6723f6887d00 | 215 | else |
henryrawas | 7:6723f6887d00 | 216 | { |
henryrawas | 7:6723f6887d00 | 217 | // first failure after success |
henryrawas | 7:6723f6887d00 | 218 | // remember time. Do not report failure |
henryrawas | 7:6723f6887d00 | 219 | failms = elapsed; |
henryrawas | 7:6723f6887d00 | 220 | return true; |
henryrawas | 7:6723f6887d00 | 221 | } |
henryrawas | 7:6723f6887d00 | 222 | } |
henryrawas | 5:36916b1c5a06 | 223 | } |
henryrawas | 5:36916b1c5a06 | 224 | } |
henryrawas | 7:6723f6887d00 | 225 | // success |
henryrawas | 7:6723f6887d00 | 226 | failms = 0; |
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 | |
henryrawas | 4:36a4eceb1b7f | 241 | // get all parts positions |
henryrawas | 4:36a4eceb1b7f | 242 | bool RobotArm::GetArmPositions(vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 243 | { |
henryrawas | 4:36a4eceb1b7f | 244 | outPos.clear(); |
henryrawas | 8:d98e2dec0f40 | 245 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 246 | { |
henryrawas | 4:36a4eceb1b7f | 247 | float pos = _armParts[ix]->GetMeasure(NM_Degrees); |
henryrawas | 8:d98e2dec0f40 | 248 | outPos.push_back(pos); |
henryrawas | 4:36a4eceb1b7f | 249 | } |
henryrawas | 4:36a4eceb1b7f | 250 | return true; |
henryrawas | 4:36a4eceb1b7f | 251 | } |
henryrawas | 4:36a4eceb1b7f | 252 | |
henryrawas | 7:6723f6887d00 | 253 | // get all parts last measured positions |
henryrawas | 4:36a4eceb1b7f | 254 | bool RobotArm::GetArmLastPositions(vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 255 | { |
henryrawas | 4:36a4eceb1b7f | 256 | outPos.clear(); |
henryrawas | 8:d98e2dec0f40 | 257 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 258 | { |
henryrawas | 4:36a4eceb1b7f | 259 | float pos = _armParts[ix]->GetLastMeasure(NM_Degrees); |
henryrawas | 8:d98e2dec0f40 | 260 | outPos.push_back(pos); |
henryrawas | 4:36a4eceb1b7f | 261 | } |
henryrawas | 4:36a4eceb1b7f | 262 | return true; |
henryrawas | 4:36a4eceb1b7f | 263 | } |
henryrawas | 4:36a4eceb1b7f | 264 | |
henryrawas | 7:6723f6887d00 | 265 | // get all parts measurements |
henryrawas | 8:d98e2dec0f40 | 266 | bool RobotArm::GetArmMeasure(int measureId, vector<float>& outVals) |
henryrawas | 4:36a4eceb1b7f | 267 | { |
henryrawas | 8:d98e2dec0f40 | 268 | outVals.clear(); |
henryrawas | 8:d98e2dec0f40 | 269 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 270 | { |
henryrawas | 8:d98e2dec0f40 | 271 | float val = _armParts[ix]->GetMeasure(measureId); |
henryrawas | 8:d98e2dec0f40 | 272 | outVals.push_back(val); |
henryrawas | 4:36a4eceb1b7f | 273 | } |
henryrawas | 4:36a4eceb1b7f | 274 | return true; |
henryrawas | 4:36a4eceb1b7f | 275 | } |
henryrawas | 4:36a4eceb1b7f | 276 | |
henryrawas | 7:6723f6887d00 | 277 | // get all parts last measurements |
henryrawas | 8:d98e2dec0f40 | 278 | bool RobotArm::GetArmLastMeasure(int measureId, vector<float>& outVals) |
henryrawas | 4:36a4eceb1b7f | 279 | { |
henryrawas | 8:d98e2dec0f40 | 280 | outVals.clear(); |
henryrawas | 8:d98e2dec0f40 | 281 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 282 | { |
henryrawas | 8:d98e2dec0f40 | 283 | float val = _armParts[ix]->GetLastMeasure(measureId); |
henryrawas | 8:d98e2dec0f40 | 284 | outVals.push_back(val); |
henryrawas | 4:36a4eceb1b7f | 285 | } |
henryrawas | 4:36a4eceb1b7f | 286 | return true; |
henryrawas | 4:36a4eceb1b7f | 287 | } |
henryrawas | 4:36a4eceb1b7f | 288 | |
henryrawas | 4:36a4eceb1b7f | 289 | int RobotArm::GetNumParts() |
henryrawas | 4:36a4eceb1b7f | 290 | { |
henryrawas | 4:36a4eceb1b7f | 291 | return _numParts; |
henryrawas | 4:36a4eceb1b7f | 292 | } |
henryrawas | 4:36a4eceb1b7f | 293 | |
henryrawas | 4:36a4eceb1b7f | 294 | void RobotArm::SetStepMs(int stepms) |
henryrawas | 4:36a4eceb1b7f | 295 | { |
henryrawas | 4:36a4eceb1b7f | 296 | if (stepms > 0 && stepms < 5000) |
henryrawas | 4:36a4eceb1b7f | 297 | _stepms = stepms; |
henryrawas | 4:36a4eceb1b7f | 298 | } |
henryrawas | 4:36a4eceb1b7f | 299 | |
henryrawas | 4:36a4eceb1b7f | 300 | void RobotArm::SetThreadId(osThreadId tid) |
henryrawas | 4:36a4eceb1b7f | 301 | { |
henryrawas | 4:36a4eceb1b7f | 302 | _tid = tid; |
henryrawas | 4:36a4eceb1b7f | 303 | } |
henryrawas | 4:36a4eceb1b7f | 304 | |
henryrawas | 4:36a4eceb1b7f | 305 | // get part by position |
henryrawas | 4:36a4eceb1b7f | 306 | RobotNode* RobotArm::GetArmPart(int partIx) |
henryrawas | 4:36a4eceb1b7f | 307 | { |
henryrawas | 4:36a4eceb1b7f | 308 | return _armParts[partIx]; |
henryrawas | 4:36a4eceb1b7f | 309 | } |
henryrawas | 4:36a4eceb1b7f | 310 | |
henryrawas | 7:6723f6887d00 | 311 | int RobotArm::GetLastError() |
henryrawas | 4:36a4eceb1b7f | 312 | { |
henryrawas | 7:6723f6887d00 | 313 | return _lastError; |
henryrawas | 7:6723f6887d00 | 314 | } |
henryrawas | 7:6723f6887d00 | 315 | |
henryrawas | 7:6723f6887d00 | 316 | float RobotArm::GetLastPosDiff() |
henryrawas | 7:6723f6887d00 | 317 | { |
henryrawas | 7:6723f6887d00 | 318 | return _lastPosDiff; |
henryrawas | 4:36a4eceb1b7f | 319 | } |
henryrawas | 4:36a4eceb1b7f | 320 | |
henryrawas | 4:36a4eceb1b7f | 321 | int RobotArm::GetLastErrorPart() |
henryrawas | 4:36a4eceb1b7f | 322 | { |
henryrawas | 4:36a4eceb1b7f | 323 | return _lastErrorPart; |
henryrawas | 4:36a4eceb1b7f | 324 | } |
henryrawas | 7:6723f6887d00 | 325 | |
henryrawas | 7:6723f6887d00 | 326 | void RobotArm::SetAllowance(float allow) |
henryrawas | 7:6723f6887d00 | 327 | { |
henryrawas | 7:6723f6887d00 | 328 | allowance = allow; |
henryrawas | 7:6723f6887d00 | 329 | } |