Diff: meArm.h

Revision:

0:e8eecd4b9a3d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/meArm.h	Thu Dec 06 01:30:51 2018 +0000
@@ -0,0 +1,62 @@
+/* meArm library York Hack Space May 2014
+ * A simple control library for Phenoptix' meArm
+ * Usage:
+ *   meArm arm;
+ *   arm.begin(1, 10, 9, 6);
+ *   arm.openGripper();
+ *   arm.gotoPoint(-80, 100, 140);
+ *   arm.closeGripper();
+ *   arm.gotoPoint(70, 200, 10);
+ *   arm.openGripper();
+ */
+#ifndef MEARM_H
+#define MEARM_H
+
+const float pi=3.14159265359;
+
+struct ServoInfo {
+    int n_min, n_max;   // PWM 'soft' limits - should be just within range
+    float gain;         // PWM per radian
+    float zero;         // Theoretical PWM for zero angle
+};
+
+class meArm {
+  public:
+    //Full constructor uses calibration data, or can just give pins
+    meArm(int sweepMinBase=145, int sweepMaxBase=49, float angleMinBase=-pi/4, float angleMaxBase=pi/4,
+      int sweepMinShoulder=118, int sweepMaxShoulder=22, float angleMinShoulder=pi/4, float angleMaxShoulder=3*pi/4,
+      int sweepMinElbow=144, int sweepMaxElbow=36, float angleMinElbow=pi/4, float angleMaxElbow=-pi/4,
+      int sweepMinGripper=115, int sweepMaxGripper=115, float angleMinGripper=pi/4, float angleMaxGripper=pi/4);
+    //required before running
+    void begin();
+    //Travel smoothly from current point to another point
+    void gotoPoint(float x, float y, float z);
+    //Set servos to reach a certain point directly without caring how we get there 
+    void goDirectlyTo(float x, float y, float z);
+
+    //Same as above but for cylindrical polar coodrinates
+    void gotoPointCylinder(float theta, float r, float z);
+    void goDirectlyToCylinder(float theta, float r, float z);
+
+    //Grab something
+    void openGripper();
+    //Let go of something
+    void closeGripper();
+    //Check to see if possible
+    bool isReachable(float x, float y, float z);
+    //Current x, y and z
+    float getX();
+    float getY();
+    float getZ();
+
+    float getR();
+    float getTheta();
+  private:
+    void polarToCartesian(float theta, float r, float& x, float& y);
+    float _x, _y, _z;
+    float _r, _t;
+    ServoInfo _svoBase, _svoShoulder, _svoElbow, _svoGripper;
+    int _pinBase, _pinShoulder, _pinElbow, _pinGripper;
+};
+
+#endif
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