Craig Evans / MeArm

Library for controlling #MeArm from phenoptix (http://www.phenoptix.com/collections/mearm). Solves inverse kinematics of the arm to position gripper in 3D space.

Dependents:   wizArm_WIZwiki-W7500ECO wizArm_WIZwiki-W7500ECO MeArm_Lab2_Task1 MeArm_Lab3_Task1 ... more

Embed: (wiki syntax)

« Back to documentation index

MeArm Class Reference
Public Member Functions

MeArm Class Reference

Library for controlling the MeArm (https://shop.mime.co.uk) More...

#include <MeArm.h>

Public Member Functions

 MeArm (PinName middle_pin, PinName left_pin, PinName right_pin, PinName claw_pin)
 Create a MeArm object connected to the specified pins.
 ~MeArm ()
 Destructor.
void set_claw_calibration_values (int open_val, int closed_val)
 Calibrate the claw servo.
void set_middle_calibration_values (int zero, int ninety)
 Calibrate the middle servo.
void set_left_calibration_values (int zero, int ninety)
 Calibrate the left servo.
void set_right_calibration_values (int zero, int ninety)
 Calibrate the left servo.
void set_claw (float value)
 Control the claw.
void goto_xyz (float x, float y, float z)
 Move end-effector to position.

Detailed Description

Library for controlling the MeArm (https://shop.mime.co.uk)

Revision 1.1

Author:
Craig A. Evans
Date:
June 2017
#include "mbed.h"
#include "MeArm.h "

// create MeArm object - base, shoulder, elbow, gripper
MeArm arm(p21,p22,p23,p24);

AnalogIn m_pot(p17);
AnalogIn l_pot(p18);
AnalogIn r_pot(p19);
AnalogIn c_pot(p20);

int main()
{
    //                             open , closed
    arm.set_claw_calibration_values(1450,2160);
    //                                   0 , 90
    arm.set_middle_calibration_values(1650,2700);
    arm.set_right_calibration_values(2000,1000);
    arm.set_left_calibration_values(1870,850);

    while(1) {
        
        float x = 100.0 + 100.0*m_pot.read();
        float y = -140.0 + 280.0*l_pot.read();
        float z = 150.0*r_pot.read();   
        float claw_val = c_pot.read();   // 0.0 to 1.0
        
        arm.set_claw(claw_val);
        arm.goto_xyz(x,y,z);

        wait(0.2);      
    }    
}

Definition at line 61 of file MeArm.h.

Constructor & Destructor Documentation

MeArm ( PinName  middle_pin,
PinName  left_pin,
PinName  right_pin,
PinName  claw_pin 
)

Create a MeArm object connected to the specified pins.

MUST be PWM-enabled pins.

Parameters:
Pinfor middle (base servo)
Pinfor left servo
Pinfor right servo
Pinfor claw servo

Definition at line 7 of file MeArm.cpp.

~MeArm (  )

Destructor.

Definition at line 42 of file MeArm.cpp.

Member Function Documentation

void goto_xyz ( float  x,
float  y,
float  z 
)

Move end-effector to position.

Positions outside of workspace will result in error and code exiting.

Parameters:
x- x coordinate (mm) forwards
y- y coordinate (mm) left (> 0 mm) and right (< 0 mm)
z- z coordinate (mm) up (must be > 0mm)

Definition at line 80 of file MeArm.cpp.

void set_claw ( float  value )

Control the claw.

Parameters:
Value- range of 0.0 (closed) to 1.0 (open)

Definition at line 69 of file MeArm.cpp.

void set_claw_calibration_values ( int  open_val,
int  closed_val 
)

Calibrate the claw servo.

Parameters:
pulse-widthvalue (us) when claw is open
pulse-widthvalue (us) when claw is closed

Definition at line 47 of file MeArm.cpp.

void set_left_calibration_values ( int  zero,
int  ninety 
)

Calibrate the left servo.

Parameters:
pulse-widthvalue (us) when left servo horn is horizontal (0 degrees)
pulse-widthvalue (us) when left servo horn is vertical (90 degrees)

Definition at line 63 of file MeArm.cpp.

void set_middle_calibration_values ( int  zero,
int  ninety 
)

Calibrate the middle servo.

Parameters:
pulse-widthvalue (us) when base is facing forward (0 degrees)
pulse-widthvalue (us) when base is facing left (90 degrees)

Definition at line 53 of file MeArm.cpp.

void set_right_calibration_values ( int  zero,
int  ninety 
)

Calibrate the left servo.

Parameters:
pulse-widthvalue (us) when right servo horn is horizontal (0 degrees)
pulse-widthvalue (us) when right servo horn is vertical (90 degrees)

Definition at line 58 of file MeArm.cpp.

Generated on Wed Jul 13 2022 02:33:16 by  doxygen 1.7.2