Simmerl Manuel
/
MRT_Studienarbeit
This program control a 5 axis arm robot from lynx motion
robot.cpp
- Committer:
- msimmerl
- Date:
- 2011-02-15
- Revision:
- 0:b6608b36efd7
File content as of revision 0:b6608b36efd7:
#include "robot.h" //float speed = 0.02; /*void GoToPos1(float speed){ //1. Arm vorne heben for(float offset = 0.0; (offset + 0.0011)<0.0018; offset+=0.00002) { arm_vorne.pulsewidth(0.0011 + offset); // servo position determined by a pulsewidth between 1-2ms wait(0.02); } arm_vorne.pulsewidth(P1_ARM_VORNE); arm_hinten.pulsewidth(P1_ARM_HINTEN); klaue.pulsewidth(P1_KLAUE); heben1.pulsewidth(P1_HEBEN); heben2.pulsewidth(P1_HEBEN); }*/ float Drive(PwmOut servo, float posAkt, float posNeu, float speed) { if(posAkt < posNeu){ for(float offset=0.0; (offset + posAkt)<=posNeu; offset+=0.00001) { servo.pulsewidth(posAkt + offset); // servo position determined by a pulsewidth between 1-2ms wait(speed); } } else { for(float offset=0.0; (posAkt - offset)>=posNeu; offset+=0.00001) { servo.pulsewidth(posAkt - offset); // servo position determined by a pulsewidth between 1-2ms wait(speed); } } return posNeu; } float Drive(PwmOut servo1, PwmOut servo2, float posAkt, float posNeu, float speed) { if(posAkt < posNeu){ for(float offset=0.0; (offset + posAkt)<=posNeu; offset+=0.00001) { servo1.pulsewidth(posAkt + offset); // servo position determined by a pulsewidth between 1-2ms servo2.pulsewidth(posAkt + offset); // servo position determined by a pulsewidth between 1-2ms wait(speed); } } else { for(float offset=0.0; (posAkt - offset)>=posNeu; offset+=0.00001) { servo1.pulsewidth(posAkt - offset); // servo position determined by a pulsewidth between 1-2ms servo2.pulsewidth(posAkt - offset); // servo position determined by a pulsewidth between 1-2ms wait(speed); } } return posNeu; } /*void Welcome(void) { for(float offset=0.0; (offset + 0.0011)<0.0018; offset+=0.00002) { arm_vorne.pulsewidth(0.0011 + offset); // servo position determined by a pulsewidth between 1-2ms wait(0.02); } for(float offset=0.0; (0.0018 - offset)>0.0011; offset+=0.00002) { arm_vorne.pulsewidth(0.0018 - offset); // servo position determined by a pulsewidth between 1-2ms wait(0.02); } }*/