Diff: main.cpp

Revision:

1:ea13195efe98

Parent:

0:be56eef4c199

Child:

2:2494cdc6977a

--- a/main.cpp	Tue Nov 04 20:54:57 2014 +0000
+++ b/main.cpp	Tue Jul 04 16:32:49 2017 +0000
@@ -4,14 +4,32 @@
 // create MeArm object - base, shoulder, elbow, gripper
 MeArm arm(p21,p22,p23,p24);
 
+AnalogIn m_pot(p17);
+
 int main()
 {
-    arm.setTarget(50.0,100.0,120.0);  // set x,y,z co-ordinate in mm
-    arm.solveInverseKinematics();  // solve for servo angles
-    arm.moveServos();   // update servos
-    
-    while (1) {
+    //                             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) {
+        
+        // create x value in range 100 to 200 mm
+        float x = 100.0 + 100.0*m_pot.read();
+        float y = 0.0;
+        float z = 100.0;   
+        float claw_val = 1.0;   // 0.0 to 1.0
+        
+        arm.set_claw(claw_val);
+        // move to co-ordinate
+        arm.goto_xyz(x,y,z);
 
-}
+        wait(0.2);
+        
+    }
+   
+}
\ No newline at end of file