Aimen Al-Refai / Mbed 2 deprecated 4dofRoboticArmAX12

The intent of this project is to use and learn, inverse kinematics, pid control of position, touch control using smartgpu_v1 board for viewing data or debug messages while moving a 4 DOF robotic arm.

Dependencies:   AX12 InversKinem PIDPositionController SMARTGPU SerialHalfDuplex mbed

http://mbed.org/users/aimen/notebook/4dofroboticarmax12_lpc1768-with-smartgpu/

Diff: main.cpp

Revision:
2:de8b38a39938
Parent:
0:91d276232027
Child:
3:41b605f9cdd5
--- a/main.cpp	Tue Apr 01 06:56:05 2014 +0000
+++ b/main.cpp	Tue Apr 01 07:29:17 2014 +0000
@@ -9,6 +9,10 @@
 DigitalOut myled3(LED3);
 DigitalOut myled4(LED4);
 AX12 myax12_1(p9,p10,1);        //(TX,RX, ID of servo);
+AX12 myax12_2(p9,p10,2);        //(TX,RX, ID of servo);
+AX12 myax12_3(p9,p10,3);        //(TX,RX, ID of servo);
+AX12 myax12_4(p9,p10,4);        //(TX,RX, ID of servo);
+AX12 myax12_5(p9,p10,5);        //(TX,RX, ID of servo);
 
 int main() {
 
@@ -19,17 +23,26 @@
   while(1) {
   
         myled1 = 1;
-        lcd.string(10,10,300,220,YELLOW,FONT3,TRANS,"Before set goal 0");  //write a string on the screen
-        myax12_1.SetGoal(0);    // go to 0 degrees
-        lcd.string(10,70,300,220,YELLOW,FONT3,TRANS,"after goal 0");  //write a string on the screen
+        lcd.string(10,10,300,220,YELLOW,FONT3,TRANS,"Before set goal 150");  //write a string on the screen
+        myax12_1.SetGoal(150);    // go to 150 degrees
+        myax12_2.SetGoal(150);    // go to 150 degrees
+        myax12_3.SetGoal(150);    // go to 150 degrees
+        myax12_4.SetGoal(150);    // go to 150 degrees
+        myax12_5.SetGoal(290);    // go to 150 degrees
+        lcd.string(10,70,300,220,YELLOW,FONT3,TRANS,"after goal 150");  //write a string on the screen
         wait_ms(1000);
+        lcd.erase();
         myled1 = 0;
         myled4 = 1;
-        lcd.string(10,10,300,220,YELLOW,FONT3,TRANS,"Before set goal 300");  //write a string on the screen
-        myax12_1.SetGoal(300);  // go to 300 degrees
-        lcd.string(10,70,300,220,YELLOW,FONT3,TRANS,"after goal 300");  //write a string on the screen
+        lcd.string(10,10,300,220,YELLOW,FONT3,TRANS,"Before set goal fold up");  //write a string on the screen
+        //myax12_1.SetGoal(300);    // go to 150 degrees
+        myax12_2.SetGoal(225);    // go to 150 degrees
+        myax12_3.SetGoal(0);    // go to 150 degrees
+        myax12_4.SetGoal(90);    // go to 150 degrees
+        myax12_5.SetGoal(250);    // go to 150 degrees
+        lcd.string(10,70,300,220,YELLOW,FONT3,TRANS,"after goal fold up");  //write a string on the screen
         wait_ms(1000);
+        lcd.erase();
         myled4 = 0;
     }//end of main while loop
 }
-