demo project
Dependencies: AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL
RobotArm.cpp@10:9b21566a5ddb, 2016-01-06 (annotated)
- Committer:
- henryrawas
- Date:
- Wed Jan 06 00:58:41 2016 +0000
- Revision:
- 10:9b21566a5ddb
- Parent:
- 9:a0fb6c370dbb
- Child:
- 11:3a2e6eb9fbb8
Send status every minute. Add stress sequence. Use LED colors
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 | 10:9b21566a5ddb | 16 | #define NUMPARTS 5 |
henryrawas | 5:36916b1c5a06 | 17 | int PartIds[] = { 2, 3, 4, 6, 1 }; |
henryrawas | 4:36a4eceb1b7f | 18 | |
henryrawas | 7:6723f6887d00 | 19 | #define FailMsLimit 200 |
henryrawas | 7:6723f6887d00 | 20 | |
henryrawas | 4:36a4eceb1b7f | 21 | RobotArm::RobotArm() |
henryrawas | 4:36a4eceb1b7f | 22 | { |
henryrawas | 4:36a4eceb1b7f | 23 | // build arm |
henryrawas | 10:9b21566a5ddb | 24 | for (int i = 0; i < NUMPARTS; i++) |
henryrawas | 10:9b21566a5ddb | 25 | { |
henryrawas | 10:9b21566a5ddb | 26 | AX12* servo = new AX12(&dynbus, PartIds[i]); |
henryrawas | 10:9b21566a5ddb | 27 | servo->TorqueEnable(false); |
henryrawas | 10:9b21566a5ddb | 28 | servo->TorqueEnable(true); |
henryrawas | 10:9b21566a5ddb | 29 | _armParts[i] = dynamic_cast<RobotNode*>(servo); |
henryrawas | 10:9b21566a5ddb | 30 | } |
henryrawas | 10:9b21566a5ddb | 31 | _numParts = NUMPARTS; |
henryrawas | 4:36a4eceb1b7f | 32 | |
henryrawas | 4:36a4eceb1b7f | 33 | numsteps = 0; |
henryrawas | 4:36a4eceb1b7f | 34 | _stepms = 20; // move every 20 ms |
henryrawas | 10:9b21566a5ddb | 35 | allowance = 2.0f; // allow 2 degree diff for position error |
henryrawas | 7:6723f6887d00 | 36 | failms = 0; |
henryrawas | 4:36a4eceb1b7f | 37 | } |
henryrawas | 4:36a4eceb1b7f | 38 | |
henryrawas | 4:36a4eceb1b7f | 39 | |
henryrawas | 4:36a4eceb1b7f | 40 | // move all parts to specified postions in ms time |
henryrawas | 4:36a4eceb1b7f | 41 | bool RobotArm::MoveArmPositionsStart(vector<float> positions, int totms) |
henryrawas | 4:36a4eceb1b7f | 42 | { |
henryrawas | 4:36a4eceb1b7f | 43 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 44 | |
henryrawas | 4:36a4eceb1b7f | 45 | MoveArmPositionsEnd(); |
henryrawas | 5:36916b1c5a06 | 46 | GetArmPositions(lastpos); |
henryrawas | 7:6723f6887d00 | 47 | lastgoals.clear(); |
henryrawas | 8:d98e2dec0f40 | 48 | endgoals.clear(); |
henryrawas | 8:d98e2dec0f40 | 49 | |
henryrawas | 7:6723f6887d00 | 50 | numsteps = totms / _stepms; |
henryrawas | 7:6723f6887d00 | 51 | if (numsteps == 0) numsteps = 1; |
henryrawas | 7:6723f6887d00 | 52 | |
henryrawas | 4:36a4eceb1b7f | 53 | differentials.clear(); |
henryrawas | 8:d98e2dec0f40 | 54 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 55 | { |
henryrawas | 7:6723f6887d00 | 56 | if (positions[ix] > 0.0f) |
henryrawas | 7:6723f6887d00 | 57 | { |
henryrawas | 8:d98e2dec0f40 | 58 | endgoals.push_back(positions[ix]); |
henryrawas | 7:6723f6887d00 | 59 | float difference = (positions[ix] - lastpos[ix]) / (float)numsteps; |
henryrawas | 8:d98e2dec0f40 | 60 | differentials.push_back(difference); |
henryrawas | 7:6723f6887d00 | 61 | } |
henryrawas | 7:6723f6887d00 | 62 | else |
henryrawas | 7:6723f6887d00 | 63 | { |
henryrawas | 7:6723f6887d00 | 64 | // negative goal. Treat as don't move |
henryrawas | 8:d98e2dec0f40 | 65 | endgoals.push_back(lastpos[ix]); |
henryrawas | 7:6723f6887d00 | 66 | differentials.push_back(0.0f); |
henryrawas | 7:6723f6887d00 | 67 | } |
henryrawas | 4:36a4eceb1b7f | 68 | } |
henryrawas | 4:36a4eceb1b7f | 69 | |
henryrawas | 4:36a4eceb1b7f | 70 | curstep = 1; |
henryrawas | 4:36a4eceb1b7f | 71 | |
henryrawas | 4:36a4eceb1b7f | 72 | delayms = _stepms; |
henryrawas | 4:36a4eceb1b7f | 73 | |
henryrawas | 4:36a4eceb1b7f | 74 | elapseTimer.start(); |
henryrawas | 5:36916b1c5a06 | 75 | expDelay = (int)elapseTimer.read_ms() + delayms; |
henryrawas | 7:6723f6887d00 | 76 | failms = 0; |
henryrawas | 4:36a4eceb1b7f | 77 | |
henryrawas | 4:36a4eceb1b7f | 78 | return true; |
henryrawas | 4:36a4eceb1b7f | 79 | } |
henryrawas | 4:36a4eceb1b7f | 80 | |
henryrawas | 4:36a4eceb1b7f | 81 | bool RobotArm::MoveArmPositionsHasNext() |
henryrawas | 4:36a4eceb1b7f | 82 | { |
henryrawas | 4:36a4eceb1b7f | 83 | return (curstep <= numsteps); |
henryrawas | 4:36a4eceb1b7f | 84 | } |
henryrawas | 4:36a4eceb1b7f | 85 | |
henryrawas | 7:6723f6887d00 | 86 | bool RobotArm::MoveArmPositionsNext() |
henryrawas | 4:36a4eceb1b7f | 87 | { |
henryrawas | 4:36a4eceb1b7f | 88 | _lastErrorPart = 0; |
henryrawas | 4:36a4eceb1b7f | 89 | |
henryrawas | 4:36a4eceb1b7f | 90 | if (curstep > numsteps) |
henryrawas | 4:36a4eceb1b7f | 91 | { |
henryrawas | 4:36a4eceb1b7f | 92 | // no more steps |
henryrawas | 4:36a4eceb1b7f | 93 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 94 | return true; |
henryrawas | 4:36a4eceb1b7f | 95 | } |
henryrawas | 4:36a4eceb1b7f | 96 | |
henryrawas | 4:36a4eceb1b7f | 97 | bool ok = true; |
henryrawas | 7:6723f6887d00 | 98 | |
henryrawas | 5:36916b1c5a06 | 99 | lastgoals.clear(); |
henryrawas | 8:d98e2dec0f40 | 100 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 101 | { |
henryrawas | 4:36a4eceb1b7f | 102 | if (_armParts[ix]->HasAction(NA_Rotate)) |
henryrawas | 4:36a4eceb1b7f | 103 | { |
henryrawas | 8:d98e2dec0f40 | 104 | float goal = (curstep == numsteps) ? |
henryrawas | 8:d98e2dec0f40 | 105 | endgoals[ix] : // last step - use actual goal |
henryrawas | 8:d98e2dec0f40 | 106 | (lastpos[ix] + (differentials[ix] * (float)curstep)); |
henryrawas | 5:36916b1c5a06 | 107 | lastgoals.push_back(goal); |
henryrawas | 7:6723f6887d00 | 108 | if (differentials[ix] != 0.0f) |
henryrawas | 4:36a4eceb1b7f | 109 | { |
henryrawas | 7:6723f6887d00 | 110 | bool ok = _armParts[ix]->DoAction(NA_Rotate, goal); |
henryrawas | 7:6723f6887d00 | 111 | if (!ok) |
henryrawas | 7:6723f6887d00 | 112 | { |
henryrawas | 7:6723f6887d00 | 113 | _lastErrorPart = ix; |
henryrawas | 7:6723f6887d00 | 114 | _lastError = _armParts[_lastErrorPart]->GetLastError(); |
henryrawas | 7:6723f6887d00 | 115 | _lastPosDiff = 0; |
henryrawas | 7:6723f6887d00 | 116 | break; |
henryrawas | 7:6723f6887d00 | 117 | } |
henryrawas | 4:36a4eceb1b7f | 118 | } |
henryrawas | 4:36a4eceb1b7f | 119 | } |
henryrawas | 4:36a4eceb1b7f | 120 | } |
henryrawas | 4:36a4eceb1b7f | 121 | |
henryrawas | 4:36a4eceb1b7f | 122 | if (!ok) |
henryrawas | 4:36a4eceb1b7f | 123 | { |
henryrawas | 4:36a4eceb1b7f | 124 | return false; |
henryrawas | 4:36a4eceb1b7f | 125 | } |
henryrawas | 4:36a4eceb1b7f | 126 | |
henryrawas | 4:36a4eceb1b7f | 127 | curstep++; |
henryrawas | 4:36a4eceb1b7f | 128 | if (curstep > numsteps) |
henryrawas | 4:36a4eceb1b7f | 129 | { |
henryrawas | 4:36a4eceb1b7f | 130 | MoveArmPositionsEnd(); |
henryrawas | 4:36a4eceb1b7f | 131 | } |
henryrawas | 7:6723f6887d00 | 132 | |
henryrawas | 7:6723f6887d00 | 133 | return true; |
henryrawas | 7:6723f6887d00 | 134 | } |
henryrawas | 7:6723f6887d00 | 135 | |
henryrawas | 7:6723f6887d00 | 136 | // calculate actual delay until expDelay |
henryrawas | 7:6723f6887d00 | 137 | bool RobotArm::MoveArmPositionsDelay(int& nextdelay) |
henryrawas | 7:6723f6887d00 | 138 | { |
henryrawas | 7:6723f6887d00 | 139 | if (curstep <= numsteps) |
henryrawas | 7:6723f6887d00 | 140 | { |
henryrawas | 4:36a4eceb1b7f | 141 | int elapsed = (int)elapseTimer.read_ms(); |
henryrawas | 4:36a4eceb1b7f | 142 | |
henryrawas | 7:6723f6887d00 | 143 | if (elapsed <= expDelay) |
henryrawas | 4:36a4eceb1b7f | 144 | { |
henryrawas | 5:36916b1c5a06 | 145 | if (expDelay - elapsed < delayms) |
henryrawas | 5:36916b1c5a06 | 146 | nextdelay = expDelay - elapsed; |
henryrawas | 4:36a4eceb1b7f | 147 | else |
henryrawas | 4:36a4eceb1b7f | 148 | nextdelay = delayms; |
henryrawas | 7:6723f6887d00 | 149 | // set next expected time by adding step delay |
henryrawas | 7:6723f6887d00 | 150 | expDelay += delayms; |
henryrawas | 4:36a4eceb1b7f | 151 | } |
henryrawas | 4:36a4eceb1b7f | 152 | else |
henryrawas | 4:36a4eceb1b7f | 153 | { |
henryrawas | 7:6723f6887d00 | 154 | nextdelay = delayms; |
henryrawas | 7:6723f6887d00 | 155 | // set next expected time to now plus step delay |
henryrawas | 7:6723f6887d00 | 156 | expDelay = elapsed + delayms; |
henryrawas | 4:36a4eceb1b7f | 157 | } |
henryrawas | 7:6723f6887d00 | 158 | } |
henryrawas | 7:6723f6887d00 | 159 | else |
henryrawas | 7:6723f6887d00 | 160 | { |
henryrawas | 8:d98e2dec0f40 | 161 | nextdelay = delayms; |
henryrawas | 4:36a4eceb1b7f | 162 | } |
henryrawas | 4:36a4eceb1b7f | 163 | |
henryrawas | 4:36a4eceb1b7f | 164 | return true; |
henryrawas | 4:36a4eceb1b7f | 165 | } |
henryrawas | 4:36a4eceb1b7f | 166 | |
henryrawas | 7:6723f6887d00 | 167 | bool RobotArm::MoveArmPositionTest() |
henryrawas | 5:36916b1c5a06 | 168 | { |
henryrawas | 5:36916b1c5a06 | 169 | vector<float> curpos; |
henryrawas | 5:36916b1c5a06 | 170 | GetArmPositions(curpos); |
henryrawas | 8:d98e2dec0f40 | 171 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 5:36916b1c5a06 | 172 | { |
henryrawas | 7:6723f6887d00 | 173 | if (curpos[ix] > 0 && lastgoals.size() > ix) |
henryrawas | 5:36916b1c5a06 | 174 | { |
henryrawas | 7:6723f6887d00 | 175 | float diff = fabs(curpos[ix] - lastgoals[ix]); |
henryrawas | 7:6723f6887d00 | 176 | if (diff > (fabs(differentials[ix] * 2.0f) + allowance)) |
henryrawas | 7:6723f6887d00 | 177 | { |
henryrawas | 7:6723f6887d00 | 178 | printf("Bad position for %d. Expect %f - got %f\r\n", ix, lastgoals[ix], curpos[ix]); |
henryrawas | 7:6723f6887d00 | 179 | _lastPosDiff = diff; |
henryrawas | 7:6723f6887d00 | 180 | _lastErrorPart = ix; |
henryrawas | 7:6723f6887d00 | 181 | _lastError = 0; |
henryrawas | 7:6723f6887d00 | 182 | |
henryrawas | 7:6723f6887d00 | 183 | int elapsed = (int)elapseTimer.read_ms(); |
henryrawas | 7:6723f6887d00 | 184 | if (failms > 0) |
henryrawas | 7:6723f6887d00 | 185 | { |
henryrawas | 7:6723f6887d00 | 186 | if (elapsed - failms > FailMsLimit) |
henryrawas | 7:6723f6887d00 | 187 | { |
henryrawas | 7:6723f6887d00 | 188 | // continuous failure for time period |
henryrawas | 7:6723f6887d00 | 189 | // return false |
henryrawas | 7:6723f6887d00 | 190 | lastgoals.clear(); |
henryrawas | 7:6723f6887d00 | 191 | failms = 0; |
henryrawas | 7:6723f6887d00 | 192 | return false; |
henryrawas | 7:6723f6887d00 | 193 | } |
henryrawas | 7:6723f6887d00 | 194 | // within time period. Do not report failure |
henryrawas | 7:6723f6887d00 | 195 | return true; |
henryrawas | 7:6723f6887d00 | 196 | } |
henryrawas | 7:6723f6887d00 | 197 | else |
henryrawas | 7:6723f6887d00 | 198 | { |
henryrawas | 7:6723f6887d00 | 199 | // first failure after success |
henryrawas | 7:6723f6887d00 | 200 | // remember time. Do not report failure |
henryrawas | 7:6723f6887d00 | 201 | failms = elapsed; |
henryrawas | 7:6723f6887d00 | 202 | return true; |
henryrawas | 7:6723f6887d00 | 203 | } |
henryrawas | 7:6723f6887d00 | 204 | } |
henryrawas | 5:36916b1c5a06 | 205 | } |
henryrawas | 5:36916b1c5a06 | 206 | } |
henryrawas | 7:6723f6887d00 | 207 | // success |
henryrawas | 7:6723f6887d00 | 208 | failms = 0; |
henryrawas | 5:36916b1c5a06 | 209 | return true; |
henryrawas | 5:36916b1c5a06 | 210 | } |
henryrawas | 5:36916b1c5a06 | 211 | |
henryrawas | 4:36a4eceb1b7f | 212 | bool RobotArm::MoveArmPositionsEnd() |
henryrawas | 4:36a4eceb1b7f | 213 | { |
henryrawas | 4:36a4eceb1b7f | 214 | if (numsteps > 0) |
henryrawas | 4:36a4eceb1b7f | 215 | { |
henryrawas | 4:36a4eceb1b7f | 216 | elapseTimer.stop(); |
henryrawas | 4:36a4eceb1b7f | 217 | numsteps = 0; |
henryrawas | 4:36a4eceb1b7f | 218 | } |
henryrawas | 4:36a4eceb1b7f | 219 | return true; |
henryrawas | 4:36a4eceb1b7f | 220 | } |
henryrawas | 4:36a4eceb1b7f | 221 | |
henryrawas | 4:36a4eceb1b7f | 222 | |
henryrawas | 4:36a4eceb1b7f | 223 | // get all parts positions |
henryrawas | 4:36a4eceb1b7f | 224 | bool RobotArm::GetArmPositions(vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 225 | { |
henryrawas | 9:a0fb6c370dbb | 226 | bool ok = true; |
henryrawas | 4:36a4eceb1b7f | 227 | outPos.clear(); |
henryrawas | 8:d98e2dec0f40 | 228 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 229 | { |
henryrawas | 4:36a4eceb1b7f | 230 | float pos = _armParts[ix]->GetMeasure(NM_Degrees); |
henryrawas | 8:d98e2dec0f40 | 231 | outPos.push_back(pos); |
henryrawas | 9:a0fb6c370dbb | 232 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 233 | { |
henryrawas | 9:a0fb6c370dbb | 234 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 235 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 236 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 237 | } |
henryrawas | 4:36a4eceb1b7f | 238 | } |
henryrawas | 9:a0fb6c370dbb | 239 | return ok; |
henryrawas | 4:36a4eceb1b7f | 240 | } |
henryrawas | 4:36a4eceb1b7f | 241 | |
henryrawas | 7:6723f6887d00 | 242 | // get all parts last measured positions |
henryrawas | 4:36a4eceb1b7f | 243 | bool RobotArm::GetArmLastPositions(vector<float>& outPos) |
henryrawas | 4:36a4eceb1b7f | 244 | { |
henryrawas | 9:a0fb6c370dbb | 245 | bool ok = true; |
henryrawas | 4:36a4eceb1b7f | 246 | outPos.clear(); |
henryrawas | 8:d98e2dec0f40 | 247 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 248 | { |
henryrawas | 4:36a4eceb1b7f | 249 | float pos = _armParts[ix]->GetLastMeasure(NM_Degrees); |
henryrawas | 8:d98e2dec0f40 | 250 | outPos.push_back(pos); |
henryrawas | 9:a0fb6c370dbb | 251 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 252 | { |
henryrawas | 9:a0fb6c370dbb | 253 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 254 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 255 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 256 | } |
henryrawas | 4:36a4eceb1b7f | 257 | } |
henryrawas | 9:a0fb6c370dbb | 258 | return ok; |
henryrawas | 4:36a4eceb1b7f | 259 | } |
henryrawas | 4:36a4eceb1b7f | 260 | |
henryrawas | 7:6723f6887d00 | 261 | // get all parts measurements |
henryrawas | 8:d98e2dec0f40 | 262 | bool RobotArm::GetArmMeasure(int measureId, vector<float>& outVals) |
henryrawas | 4:36a4eceb1b7f | 263 | { |
henryrawas | 9:a0fb6c370dbb | 264 | bool ok = true; |
henryrawas | 8:d98e2dec0f40 | 265 | outVals.clear(); |
henryrawas | 8:d98e2dec0f40 | 266 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 267 | { |
henryrawas | 8:d98e2dec0f40 | 268 | float val = _armParts[ix]->GetMeasure(measureId); |
henryrawas | 8:d98e2dec0f40 | 269 | outVals.push_back(val); |
henryrawas | 9:a0fb6c370dbb | 270 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 271 | { |
henryrawas | 9:a0fb6c370dbb | 272 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 273 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 274 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 275 | } |
henryrawas | 4:36a4eceb1b7f | 276 | } |
henryrawas | 9:a0fb6c370dbb | 277 | return ok; |
henryrawas | 4:36a4eceb1b7f | 278 | } |
henryrawas | 4:36a4eceb1b7f | 279 | |
henryrawas | 7:6723f6887d00 | 280 | // get all parts last measurements |
henryrawas | 8:d98e2dec0f40 | 281 | bool RobotArm::GetArmLastMeasure(int measureId, vector<float>& outVals) |
henryrawas | 4:36a4eceb1b7f | 282 | { |
henryrawas | 9:a0fb6c370dbb | 283 | bool ok = true; |
henryrawas | 8:d98e2dec0f40 | 284 | outVals.clear(); |
henryrawas | 8:d98e2dec0f40 | 285 | for (int ix = 0; ix < _numParts; ix++) |
henryrawas | 4:36a4eceb1b7f | 286 | { |
henryrawas | 8:d98e2dec0f40 | 287 | float val = _armParts[ix]->GetLastMeasure(measureId); |
henryrawas | 8:d98e2dec0f40 | 288 | outVals.push_back(val); |
henryrawas | 9:a0fb6c370dbb | 289 | if (_armParts[ix]->HasError()) |
henryrawas | 9:a0fb6c370dbb | 290 | { |
henryrawas | 9:a0fb6c370dbb | 291 | _lastErrorPart = ix; |
henryrawas | 9:a0fb6c370dbb | 292 | _lastError = _armParts[ix]->GetLastError(); |
henryrawas | 9:a0fb6c370dbb | 293 | ok = false; |
henryrawas | 9:a0fb6c370dbb | 294 | } |
henryrawas | 4:36a4eceb1b7f | 295 | } |
henryrawas | 9:a0fb6c370dbb | 296 | return ok; |
henryrawas | 4:36a4eceb1b7f | 297 | } |
henryrawas | 4:36a4eceb1b7f | 298 | |
henryrawas | 4:36a4eceb1b7f | 299 | int RobotArm::GetNumParts() |
henryrawas | 4:36a4eceb1b7f | 300 | { |
henryrawas | 4:36a4eceb1b7f | 301 | return _numParts; |
henryrawas | 4:36a4eceb1b7f | 302 | } |
henryrawas | 4:36a4eceb1b7f | 303 | |
henryrawas | 4:36a4eceb1b7f | 304 | void RobotArm::SetStepMs(int stepms) |
henryrawas | 4:36a4eceb1b7f | 305 | { |
henryrawas | 4:36a4eceb1b7f | 306 | if (stepms > 0 && stepms < 5000) |
henryrawas | 4:36a4eceb1b7f | 307 | _stepms = stepms; |
henryrawas | 4:36a4eceb1b7f | 308 | } |
henryrawas | 4:36a4eceb1b7f | 309 | |
henryrawas | 4:36a4eceb1b7f | 310 | void RobotArm::SetThreadId(osThreadId tid) |
henryrawas | 4:36a4eceb1b7f | 311 | { |
henryrawas | 4:36a4eceb1b7f | 312 | _tid = tid; |
henryrawas | 4:36a4eceb1b7f | 313 | } |
henryrawas | 4:36a4eceb1b7f | 314 | |
henryrawas | 4:36a4eceb1b7f | 315 | // get part by position |
henryrawas | 4:36a4eceb1b7f | 316 | RobotNode* RobotArm::GetArmPart(int partIx) |
henryrawas | 4:36a4eceb1b7f | 317 | { |
henryrawas | 4:36a4eceb1b7f | 318 | return _armParts[partIx]; |
henryrawas | 4:36a4eceb1b7f | 319 | } |
henryrawas | 4:36a4eceb1b7f | 320 | |
henryrawas | 7:6723f6887d00 | 321 | int RobotArm::GetLastError() |
henryrawas | 4:36a4eceb1b7f | 322 | { |
henryrawas | 7:6723f6887d00 | 323 | return _lastError; |
henryrawas | 7:6723f6887d00 | 324 | } |
henryrawas | 7:6723f6887d00 | 325 | |
henryrawas | 7:6723f6887d00 | 326 | float RobotArm::GetLastPosDiff() |
henryrawas | 7:6723f6887d00 | 327 | { |
henryrawas | 7:6723f6887d00 | 328 | return _lastPosDiff; |
henryrawas | 4:36a4eceb1b7f | 329 | } |
henryrawas | 4:36a4eceb1b7f | 330 | |
henryrawas | 4:36a4eceb1b7f | 331 | int RobotArm::GetLastErrorPart() |
henryrawas | 4:36a4eceb1b7f | 332 | { |
henryrawas | 4:36a4eceb1b7f | 333 | return _lastErrorPart; |
henryrawas | 4:36a4eceb1b7f | 334 | } |
henryrawas | 7:6723f6887d00 | 335 | |
henryrawas | 7:6723f6887d00 | 336 | void RobotArm::SetAllowance(float allow) |
henryrawas | 7:6723f6887d00 | 337 | { |
henryrawas | 7:6723f6887d00 | 338 | allowance = allow; |
henryrawas | 7:6723f6887d00 | 339 | } |