Diff: robotarm.h

Revision:

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+/* University of York Robotics Laboratory Robot Arm Controller Board
+ * 
+ * Robot Arm Controller 
+ *
+ * File: robotarm.h
+ *
+ * (C) Dept. Electronics & Computer Science, University of York
+ * 
+ * James Hilder, Alan Millard, Shuhei Miyashita, Homero Elizondo, Jon Timmis
+ *
+ * February 2017, Version 1.0
+ */ 
+
+
+#ifndef ROBOTARM_H
+#define ROBOTARM_H
+
+#define SOFTWARE_VERSION_CODE 0.21
+#define LCD_ADDRESS 0x7C
+
+// Remote control definitions:
+// REMOTE_ENABLED = 1 to enable remote control polling
+// REMOTE_POLL_RATE = poll rate in microseconds
+// REMOTE_LINEAR_STEPS = 1 to use same step amount each step; 0 to use a exponentially increasing amount as button held
+// REMOTE_START_SPEED = Size of step to use; suggest 2 for LINEAR_STEPS=0 or 10 for LINEAR_STEPS=1
+// REMOTE_USE_CURRENT_POSITION = 0 will move based on the stored target position, 1 will read the current position and set target accordingly.  This may make certain settings combinations fail to move under cases of high-torque load and low step size
+#define REMOTE_ENABLED 1
+#define REMOTE_POLL_RATE 15627
+#define REMOTE_LINEAR_STEPS 1
+#define REMOTE_START_SPEED 10
+#define REMOTE_USE_CURRENT_POSITION 0
+
+#define HAS_BASE 1
+#define HAS_SHOULDER 1
+#define HAS_ELBOW 1
+#define HAS_WRIST 0
+
+#define INVERT_BASE 1
+#define INVERT_SHOULDER 1
+#define INVERT_ELBOW 0
+#define INVERT_WRIST 0
+
+// If USE_SOFT_LIMITS = 1, SERVOS WILL BE LIMITED TO RANGES THAT FOLLOW
+#define USE_SOFT_LIMITS 1
+#define BASE_LIMIT_LOW 100
+#define BASE_LIMIT_HIGH 4000
+#define SHOULDER_LIMIT_LOW 700
+#define SHOULDER_LIMIT_HIGH 3400
+#define ELBOW_LIMIT_LOW 380
+#define ELBOW_LIMIT_HIGH 3720
+#define USE_LIMIT_WARNING 1
+
+#define BASE 10
+#define SHOULDER 11
+#define ELBOW 12
+#define WRIST 13
+
+#include "mbed.h"
+#include "display.h"
+#include "remote.h"
+#include "servo.h"
+#include "SerialHalfDuplex.h"
+
+extern Display display;
+extern Remote remote;
+extern Serial pc;
+extern Serial servo_data;
+extern Servo servo;
+
+extern char remote_on;
+extern short target_base;
+extern short target_shoulder;
+extern short target_elbow;
+extern short target_wrist;
+
+/** Robotarm Class
+ * The main class to define the robot arm
+ *
+ * Example code for main.cpp:
+ * @code
+ * #include "robotarm.h"
+ * Robotarm arm;
+ * int main(){
+ *    arm.init();
+ *    while(1) { //Do something!
+ *    }
+ * }
+ * @endcode
+ */
+class Robotarm
+{
+public:
+    /**
+     * Main initialisation routine for the robot arm
+     *
+     * Set up the display, set up listener for remote control, set up servos
+     */
+    void init(void);
+    
+    /**
+     * Test and initialise the servo motors
+     */
+    void init_servos(void);
+
+    /**
+     * Zero the servo motors (set to center position and activate)
+     * @param time_delay: The time delay in seconds to wait before zeroing (0=no delay)
+     */
+    void zero_servos(float time_delay);
+    
+    /**
+     * Called when servo initialisation fails; displays warning and halts program.
+     */
+    void fail_init(void);
+    
+    /**
+     * Hardware test scans for all servos at different baud rates
+     */
+    void hardware_test(void); 
+
+    /**
+     * Initialise_servo is used to set the EPROM on a single servo so that its
+     * ID and baud rate are correct; only to be used in initial configuration of the
+     * arm, not in a normal program
+     */
+    void initialise_servo(int target_servo);
+    
+    private:
+    
+    void _zero_servos(void);
+    void _zero_servos_display_update(void);
+};
+#endif // ROBOTARM_H
+
+/*
+ * Copyright 2017 University of York
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. 
+ * You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
+ * Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
+ * See the License for the specific language governing permissions and limitations under the License.
+ *
+ */
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