Ted Parrott
8 motor test
Fork of
AX12-HelloWorld
by 
Chris Styles
Revision 2:9448381519ed, committed 2017-11-16
- Comitter:
- tedparrott6
- Date:
- Thu Nov 16 14:53:46 2017 +0000
- Parent:
- 1:b12b06e2fc2d
- Commit message:
- NA
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
diff -r b12b06e2fc2d -r 9448381519ed main.cpp
--- a/main.cpp Thu Mar 31 12:03:04 2011 +0000
+++ b/main.cpp Thu Nov 16 14:53:46 2017 +0000
@@ -3,12 +3,304 @@
int main() {
- AX12 myax12 (p9, p10, 1);
+ //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) {
- myax12.SetGoal(0); // go to 0 degrees
- wait (2.0);
- myax12.SetGoal(300); // go to 300 degrees
- wait (2.0);
+
+ // 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);
+
}
}
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