Aimen Al-Refai
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:
- 0:91d276232027
- Child:
- 2:de8b38a39938
diff -r 000000000000 -r 91d276232027 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Apr 01 06:50:49 2014 +0000
@@ -0,0 +1,35 @@
+#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);
+
+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 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
+ wait_ms(1000);
+ 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
+ wait_ms(1000);
+ myled4 = 0;
+ }//end of main while loop
+}
+