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/

main.cpp

Committer:
aimen
Date:
2014-04-01
Revision:
2:de8b38a39938
Parent:
0:91d276232027
Child:
3:41b605f9cdd5

File content as of revision 2:de8b38a39938:

#include "mbed.h"
#include "AX12.h"
#include "SMARTGPU.h"


SMARTGPU lcd(p28,p27,p26);        //(TX,RX,Reset);
DigitalOut myled1(LED1);
DigitalOut myled2(LED2);
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() {

  lcd.reset();                    //physically reset SMARTGPU
  lcd.start();                    //initialize the SMARTGPU processor
  lcd.baudChange(1000000);        //set high baud for fast drawing

  while(1) {
  
        myled1 = 1;
        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 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
}