Ted Parrott
/
8_motor_test_1
8 motor test
Fork of AX12-HelloWorld by
main.cpp
- Committer:
- tedparrott6
- Date:
- 2017-11-16
- Revision:
- 2:9448381519ed
- Parent:
- 1:b12b06e2fc2d
File content as of revision 2:9448381519ed:
#include "mbed.h" #include "AX12.h" int main() { //Initiates all of the motors in the legs AX12 m1 (p9, p10, 1); AX12 m2 (p9, p10, 2); AX12 m3 (p9, p10, 3); AX12 m4 (p9, p10, 4); AX12 m5 (p9, p10, 5); AX12 m6 (p9, p10, 6); AX12 m7 (p9, p10, 7); AX12 m8 (p9, p10, 8); Serial pc(USBTX, USBRX); // Sets motors to initial positions, with waits in between to ensure positions are reached m3.SetGoal(150); pc.printf("\n\rMotor 3 Initiated"); wait(1); m4.SetGoal(150); pc.printf("\n\rMotor 4 Initiated"); wait(1); m1.SetGoal(150); pc.printf("\n\rMotor 1 Initiated"); wait(1); m2.SetGoal(150); pc.printf("\n\rMotor 2 Initiated"); wait(1); m5.SetGoal(150); pc.printf("\n\rMotor 5 Initiated"); wait(1); m6.SetGoal(150); pc.printf("\n\rMotor 6 Initiated"); wait(1); m7.SetGoal(150); pc.printf("\n\rMotor 7 Initiated"); wait(1); m8.SetGoal(150); pc.printf("\n\rMotor 8 Initiated"); wait(1); while (1) { // Begins loop by sending each joint to key locations at appropriate speeds //m4.SetCRSpeed(0.00489); //m3.SetCRSpeed(0.05381); //m2.SetCRSpeed(0.0349); //m1.SetCRSpeed(0.0083); m4.SetGoal(132); m3.SetGoal(136); m2.SetGoal(142.87); m1.SetGoal(151.7); pc.printf("\n\r1"); wait(0.1); //m5.SetCRSpeed(0.0273); //m6.SetCRSpeed(0.086); //m7.SetCRSpeed(0.0671); //m8.SetCRSpeed(0.0189); m5.SetGoal(152); m6.SetGoal(208); m7.SetGoal(179); m8.SetGoal(143); pc.printf("\n\r2"); wait(0.2); //m4.SetCRSpeed(0.01467); //m3.SetCRSpeed(0.02933); //m2.SetCRSpeed(0.0366); //m1.SetCRSpeed(0.0087); m4.SetGoal(136); m3.SetGoal(128); m2.SetGoal(152.85); m1.SetGoal(149.32); pc.printf("\n\r3"); wait(0.4); //m4.SetCRSpeed(0.02569); //m3.SetCRSpeed(0.01834); //m2.SetCRSpeed(0.021); //m1.SetCRSpeed(0.005); m4.SetGoal(143); m3.SetGoal(133); m2.SetGoal(158.57); m1.SetGoal(147.96); pc.printf("\n\r4"); wait(0.1); //m5.SetCRSpeed(0.0489); //m6.SetCRSpeed(0.0342); //m7.SetCRSpeed(0.0587); //m8.SetCRSpeed(0.0147); m5.SetGoal(162); m6.SetGoal(215); m7.SetGoal(167); m8.SetGoal(146); pc.printf("\n\r5"); wait(0.3); //m4.SetCRSpeed(0.0212); //m3.SetCRSpeed(0.01467); //m2.SetCRSpeed(0.007); //m1.SetCRSpeed(0.0017); //m5.SetCRSpeed(0.022); //m6.SetCRSpeed(0.0587); //m7.SetCRSpeed(0.0416); //m8.SetCRSpeed(0.0098); m4.SetGoal(156); m3.SetGoal(142); m2.SetGoal(162.88); m1.SetGoal(146.94); m5.SetGoal(171); m6.SetGoal(191); m7.SetGoal(150); m8.SetGoal(150); pc.printf("\n\r6"); wait(0.6); //m5.SetCRSpeed(0.0073); //m6.SetCRSpeed(0.1174); //m7.SetCRSpeed(0); //m8.SetCRSpeed(0); m5.SetGoal(172); m6.SetGoal(175); m7.SetGoal(150); m8.SetGoal(150); pc.printf("\n\r7"); wait(0.2); //m5.SetCRSpeed(0.0073); //m6.SetCRSpeed(0.0881); //m7.SetCRSpeed(0.0037); //m8.SetCRSpeed(0); m5.SetGoal(170); m6.SetGoal(151); m7.SetGoal(149); m8.SetGoal(150); pc.printf("\n\r8"); wait(0.1); //m4.SetCRSpeed(0.01467); //m3.SetCRSpeed(0.00734); //m2.SetCRSpeed(0.0106); //m1.SetCRSpeed(0.0025); m4.SetGoal(158); m3.SetGoal(141); m2.SetGoal(164.33); m1.SetGoal(146.6); pc.printf("\n\r9"); wait(0.2); //m4.SetCRSpeed(0.011); //m3.SetCRSpeed(0.02935); //m2.SetCRSpeed(0.0264); //m1.SetCRSpeed(0.0062); m4.SetGoal(161); m3.SetGoal(133); m2.SetGoal(157.14); m1.SetGoal(148.3); pc.printf("\n\r10"); wait(0.1); //m5.SetCRSpeed(0.0073); //m6.SetCRSpeed(0.0147); //m7.SetCRSpeed(0.0073); //m8.SetCRSpeed(0); m5.SetGoal(169); m6.SetGoal(153); m7.SetGoal(150); m8.SetGoal(150); pc.printf("\n\r11"); wait(0.2); //m5.SetCRSpeed(0.0049); //m6.SetCRSpeed(0.0538); //m7.SetCRSpeed(0.0342); //m8.SetCRSpeed(0.0098); m5.SetGoal(168); m6.SetGoal(164); m7.SetGoal(157); m8.SetGoal(148); pc.printf("\n\r12"); wait(0.1); //m4.SetCRSpeed(0.02726); //m3.SetCRSpeed(0.08597); //m2.SetCRSpeed(0.0761); //m1.SetCRSpeed(0.0178); m4.SetGoal(148); m3.SetGoal(92); m2.SetGoal(120.83); m1.SetGoal(156.8); pc.printf("\n\r13"); wait(0.2); //m5.SetCRSpeed(0.022); //m6.SetCRSpeed(0.0294); //m7.SetCRSpeed(0.0367); //m8.SetCRSpeed(0.011); m5.SetGoal(174); m6.SetGoal(172); m7.SetGoal(147); m8.SetGoal(151); pc.printf("\n\r14"); wait(0.4); //m5.SetCRSpeed(0.0624); //m6.SetCRSpeed(0.0183); //m7.SetCRSpeed(0.022); //m8.SetCRSpeed(0.0037); m5.SetGoal(157); m6.SetGoal(167); m7.SetGoal(141); m8.SetGoal(152); pc.printf("\n\r15"); wait(0.1); //m4.SetCRSpeed(0.04892); //m3.SetCRSpeed(0.03424); //m2.SetCRSpeed(0.0584); //m1.SetCRSpeed(0.0133); m4.SetGoal(138); m3.SetGoal(85); m2.SetGoal(132.77); m1.SetGoal(154.08); pc.printf("\n\r16"); wait(0.3); //m4.SetCRSpeed(0.02202); //m3.SetCRSpeed(0.0587); //m2.SetCRSpeed(0.0421); //m1.SetCRSpeed(0.01); //m5.SetCRSpeed(0.0212); //m6.SetCRSpeed(0.0147); //m7.SetCRSpeed(0.0065); //m8.SetCRSpeed(0.0016); m4.SetGoal(129); m3.SetGoal(109); m2.SetGoal(150); m1.SetGoal(150); m5.SetGoal(144); m6.SetGoal(158); m7.SetGoal(137); m8.SetGoal(153); pc.printf("\n\r17"); wait(0.6); //m4.SetCRSpeed(0.0073); //m3.SetCRSpeed(0.11742); //m2.SetCRSpeed(0); //m1.SetCRSpeed(0); m4.SetGoal(128); m3.SetGoal(125); m2.SetGoal(150); m1.SetGoal(150); pc.printf("\n\r18"); wait(0.2); //m4.SetCRSpeed(0.0073); //m3.SetCRSpeed(0.0886); //m2.SetCRSpeed(0.0052); //m1.SetCRSpeed(0.0012); m4.SetGoal(130); m3.SetGoal(149); m2.SetGoal(151.43); m1.SetGoal(149.66); pc.printf("\n\r19"); wait(0.1); //m5.SetCRSpeed(0.0147); //m6.SetCRSpeed(0.0073); //m7.SetCRSpeed(0.0073); //m8.SetCRSpeed(0.0); m5.SetGoal(142); m6.SetGoal(159); m7.SetGoal(136); m8.SetGoal(153); pc.printf("\n\r20"); wait(0.2); //m5.SetCRSpeed(0.011); //m6.SetCRSpeed(0.0294); //m7.SetCRSpeed(0.0257); //m8.SetCRSpeed(0.0037); m5.SetGoal(139); m6.SetGoal(167); m7.SetGoal(143); m8.SetGoal(152); pc.printf("\n\r21"); wait(0.1); //m4.SetCRSpeed(0.0073); //m3.SetCRSpeed(0.01467); //m2.SetCRSpeed(0.0105); //m1.SetCRSpeed(0.0025); m4.SetGoal(131); m3.SetGoal(147); m2.SetGoal(150); m1.SetGoal(150); pc.printf("\n\r22"); wait(0.2); } }