Paolina Povolotskaya
added normalization and use of keyboard. I tested it and it worked
Dependencies: Adafruit-16-Ch-PWM-Servo-Driver mbed
Fork of
theRobot
by 
Thomas Ashworth
Revision 4:116829a5ae3c, committed 2014-03-08
- Comitter:
- Fairy_Paolina
- Date:
- Sat Mar 08 23:23:35 2014 +0000
- Parent:
- 3:587441455259
- Commit message:
- revision 3/8;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r 587441455259 -r 116829a5ae3c main.cpp
--- a/main.cpp Thu Mar 06 00:12:56 2014 +0000
+++ b/main.cpp Sat Mar 08 23:23:35 2014 +0000
@@ -3,7 +3,7 @@
#include "ShapeDetect.h"
Serial pc(USBTX,USBRX);
-Adafruit_PWMServoDriver pwm(p9,p10);
+Adafruit_PWMServoDriver pwm(p28,p27);
DigitalOut ServoOutputDisable(p8);
extern Serial lrf;
@@ -47,9 +47,9 @@
// POSITION ODER:
// base_rotate, base_arm, lil_arm, int big_arm, int claw_arm, int claw_rotate, int claw_open
- {STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position
- {OIL_RIG1, 1500, 1400, 1900, 900, 900, 0, 0}, // point laser at oilrig2
- {STORE_POSITION, 2350, 1050, 700, 500, 2350, 0, 0}, // Shape Detect
+ {STORE_POSITION, 46, 0, 0, 100, 96, 0, 0}, // storing position
+ {OIL_RIG1, 83, 75, 100, 33, 33, 0, 0}, // point laser at oilrig2
+ {STORE_POSITION, 100, 17, 17, 0, 100, 0, 0}, // Shape Detect
{STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position
{STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position
{STORE_POSITION, 900, 500, 600, 2450, 2450, 0, 0}, // storing position
@@ -75,7 +75,7 @@
while(1){
int instr;
- printf("Set Servo Position = 0, Shape Detect = 1, Oil Rig Detect = 2");
+ pc.printf("Set Servo Position = 0, Shape Detect = 1, Oil Rig Detect = 2");
while(!pc.readable());
pc.scanf("%d", &instr);
@@ -128,37 +128,38 @@
void setServoPulse(uint8_t n, float pulse) {
float pulselength = 20000; // 20,000 us per second
int i = currentPosition[n], pstart;
- pc.printf("\ncurrent position = %d\n", currentPosition[n]);
- int pulse2, pulse1;
+ int pulse2, min=500, max=2700;
// Set when to start the pulse for the different servos
// and normalize values
- if(n < 2){
+ /* if(n < 2){
pstart = 0;// need to change this to match the different servos
- pulse1= pulse + 500;
+ pulse1= pulse ;
}
else{
pstart = 0;
- pulse1=pulse+500;
- }
+ pulse1=pulse;
+ } */
+
+ pulse= ((pulse*(max-min))/100)+min;
if(currentPosition[n] < pulse){
- pc.printf("\ncurrent position < pulse\n");
- for(i; i < pulse1; i++){
+ pc.printf("\ncurrent position < pulse\n\r");
+ for(i=currentPosition[n]; i < pulse; i++){
pulse2 = 4094 * i / pulselength;
pwm.setPWM(n, pstart, pulse2);
- wait_ms(3);
+ wait_ms(1);
}
} else if (currentPosition[n] > pulse) {
- pc.printf("\ncurrent position > pulse\n");
- for(i; i > pulse1; i--){
+ pc.printf("\ncurrent position > pulse\n\r");
+ for(i=currentPosition[n]; i > pulse; i--){
pulse2 = 4094 * i / pulselength;
pwm.setPWM(n, pstart, pulse2);
- wait_ms(3);
+ wait_ms(1);
}
}
currentPosition[n] = i;
- pc.printf("\nending position = %d\n\n", i);
+ pc.printf("\nending position = %d\n\n\r", i);
}
void initServoDriver(void) {
@@ -170,17 +171,20 @@
}
void servoBegin(void){
- setServoPulseNo_delay(0, 900);
- setServoPulseNo_delay(1, 500);
- setServoPulseNo_delay(2, 600);
- setServoPulseNo_delay(3, 2450);
- setServoPulseNo_delay(4, 2450);
+ setServoPulseNo_delay(0, 46);
+ setServoPulseNo_delay(1, 0);
+ setServoPulseNo_delay(2, 0);
+ setServoPulseNo_delay(3, 100);
+ setServoPulseNo_delay(4, 96);
setServoPulseNo_delay(5, 0);
setServoPulseNo_delay(6, 0);
}
void setServoPulseNo_delay(uint8_t n, float pulse) {
float pulselength = 20000; // 20,000 us per second
+ int min=500, max=2700;
+
+ pulse= ((pulse*(max-min))/100)+min;
currentPosition[n] = pulse;
pulse = 4094 * pulse / pulselength;
pwm.setPWM(n, 0, pulse);
@@ -198,57 +202,57 @@
}
int ServoTest(void){
- int num, delta=50; // Change Delta to change increment size
- static int move[7]={900, 500, 600, 2450, 2450, 0, 0};
+ int num, delta=1; // Change Delta to change increment size
+ static int move[7]={46, 0, 0, 100, 96, 0, 0};
if(pc.readable()){
num=pc.getc();
if(num == 'a' || num == 'z'){
- if(move[0]>2650)move[0]=2700;
- else if(move[0] < 550) move[0]=500;
+ if(move[0]>=(100-delta))move[0]=(100-delta);
+ else if(move[0] <= (0+delta)) move[0]=delta;
if(num=='a')setServoPulse(0, (move[0]+=delta));
else setServoPulse(0, (move[0]-=delta));
}
else if(num == 's' || num == 'x'){
- if(move[1]> 2650)move[1]=2700;
- else if(move[1] < 550) move[1]=500;
+ if(move[1]>=(100-delta))move[1]=(100-delta);
+ else if(move[1] <= (0+delta)) move[1]=delta;
if(num=='s')setServoPulse(1, (move[1]+=delta));
else setServoPulse(1, (move[1]-=delta));
}
else if(num == 'd' || num == 'c'){
- if(move[2]> 2650)move[2]=2700;
- else if(move[2] < 550) move[2]=500;
+ if(move[2]>=(100-delta))move[2]=(100-delta);
+ else if(move[2] <= (0+delta)) move[2]=delta;
if(num=='d')setServoPulse(2, (move[2]+=delta));
else setServoPulse(2, (move[2]-=delta));
}
else if(num == 'f' || num == 'v'){
- if(move[3]> 2650)move[3]=2700;
- else if(move[3] < 550) move[3]=500;
+ if(move[3]>=(100-delta))move[3]=(100-delta);
+ else if(move[3] <= (0+delta)) move[3]=delta;
if(num=='f')setServoPulse(3, (move[3]+=delta));
else setServoPulse(3, (move[3]-=delta));
}
else if(num == 'g' || num == 'b'){
- if(move[4]> 2650)move[4]=2700;
- else if(move[4] < 550) move[4]=500;
+ if(move[4]>=(100-delta))move[4]=(100-delta);
+ else if(move[4] <= (0+delta)) move[4]=delta;
if(num=='g')setServoPulse(4, (move[4]+=delta));
else setServoPulse(4, (move[4]-=delta));
}
else if(num == 'h' || num == 'n'){
- if(move[5]> 2650)move[5]=2700;
- else if(move[5] < 550) move[5]=500;
+ if(move[5]>=(100-delta))move[5]=(100-delta);
+ else if(move[5] <= (0+delta)) move[5]=delta;
if(num=='h')setServoPulse(5, (move[5]+=delta));
else setServoPulse(5, (move[5]-=delta));
}
else if(num == 'j' || num == 'n'){
- if(move[6]> 2650)move[6]=2700;
- else if(move[6] < 550) move[6]=500;
+ if(move[6]>=(100-delta))move[6]=(100-delta);
+ else if(move[6] <= (0+delta)) move[6]=delta;
if(num=='j')setServoPulse(6, (move[6]+=delta));
else setServoPulse(6, (move[6]-=delta));