John Lam / Mbed 2 deprecated DR-ArmServoTest

ServoRobotArm

Dependencies:   mbed BufferedSerial LSCServo DC_Stepper_Controller_Lib

Files at this revision

API Documentation at this revision

Revision 0:901a3ec83ba4, committed 2021-06-03

Comitter:
stivending
Date:
Thu Jun 03 04:56:59 2021 +0000
Child:
1:1eb3a5a00fbb
Commit message:
robot arm & servo union-test

Changed in this revision

BufferedSerial.lib Show annotated file Show diff for this revision Revisions of this file
DC_Motor_Controller_Lib.lib Show annotated file Show diff for this revision Revisions of this file
LSCServo.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BufferedSerial.lib	Thu Jun 03 04:56:59 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/sam_grove/code/BufferedSerial/#7e5e866edd3d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DC_Motor_Controller_Lib.lib	Thu Jun 03 04:56:59 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/Robocon-2021/code/DC_Stepper_Controller_Lib/#87df75ee8731

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LSCServo.lib	Thu Jun 03 04:56:59 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/Robocon-2021/code/LSCServo/#acaaf1126d76

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Jun 03 04:56:59 2021 +0000
@@ -0,0 +1,50 @@
+/*******************************************************
+              DC MODOR CONTROLLER LIBRARY
+ *******************************************************           
+         IMPORTANT: GO TO README FOR DOCUMENT!
+********************************************************/
+
+#include "mbed.h"
+#include "LSCServo.h"
+#include "DC_Motor_Controller.h"
+
+
+DC_Motor_PID motor(D6,D3,D4,D5,792); //M1, M2, INA, INB, PPR 
+DigitalIn but(D7);
+LSCServo robot_arm(D1, D0); //D1 = Tx, D0 = Rx
+
+int main() {
+    
+    motor.set_pid(0.008, 0, 0, 0.10);
+
+    but.mode(PullUp);
+    
+    
+    wait(0.5);motor.set_out(0.4,0);
+    while(1)
+    {
+            if(but) { motor.set_out(0,0); break;}
+    }
+    
+    wait(0.5);
+    motor.reset();
+    wait(0.5);
+    motor.move_angle(615);
+    wait(2);
+    
+    robot_arm.moveServos(3,1000,2,185,3,560,4,0); // initial pos to put an arrow
+    wait(2);
+    
+    robot_arm.moveServos(3,1000,2,185,3,560,4,800); // catch/crawl the arror
+    robot_arm.moveServos(3,1000,2,185,3,190,4,800); // rotate down
+    wait(2);
+    robot_arm.moveServos(3,1500,2,760,3,190,4,800); // rotate left
+    wait(2);
+    
+    robot_arm.moveServos(3,1000,2,580,3,190,4,0); // open the crawler
+    //robot_arm.moveServos(3,1000,2,600,3,190,4,0); // rotate a little back
+    motor.move_angle(420);
+    
+    robot_arm.moveServos(3,1000,2,185,3,560,4,0); // reset to init
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Thu Jun 03 04:56:59 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file