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removed unneeded files

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nmelone
2018-09-14 12:02:57 -05:00
parent 0c551c576f
commit 38bcb3486b
4 changed files with 3 additions and 316 deletions
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2
ArmSlaveCommands/ArmSlaveCommands.ino
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@@ -2,7 +2,7 @@
* ArmSlaveCommands.iso
*
* Created on: Sep 30, 2017
* Author: redsc_000 and nmelone
* Author: redsc_000
*/
// Including all Libraries used for ArmSlaveCommands ----------

300
ArmSlaveCommands/ArmSlaveCommands3.2.ino
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@@ -1,300 +0,0 @@
/*
* ArmSlaveCommands.iso
*
* Created on: Sep 30, 2017
* Author: redsc_000 and nmelone
*/
// Including all Libraries used for ArmSlaveCommands ----------
#include <Wire.h>
#include <Servo.h>
// Pin Out --------------------------------------------------
const int rotatePin = 11;
const int sholderPin = 10;
const int elbowPin = 9;
const int wristPin = 5;
const int wrist_rotatePin = 6;
const int gripPin = 3;
// Constant Variables ---------------------------------------
const bool DEBUG = 0;
// Changing Variables ---------------------------------------
int rot = 0;
int pos1 = 0;
int pos2 = 0;
int x = 10;
// Class Objects --------------------------------------------
Servo servo_rotate;
Servo servo_shoulder;
Servo servo_elbow;
Servo servo_wrist;
Servo servo_wrist_rotate;
Servo servo_grip;
// Intial Setup ---------------------------------------------
void setup() {
Wire.begin(8); // join i2c bus with address #8
//startUpArm();
servo_shoulder.attach(sholderPin);
servo_rotate.attach(rotatePin);
servo_elbow.attach(elbowPin);
servo_wrist.attach(wristPin);
servo_wrist_rotate.attach(wrist_rotatePin);
servo_grip.attach(gripPin);
//set arm to start position
resetArm();
Wire.onReceive(receiveEvent); // register event
Serial.begin(115200);
}
// Main Loop ------------------------------------------------
void loop() {
//delay(100);
}
// Functions ------------------------------------------------
void receiveEvent(int howMany) { // takes in the number of bytes from master
/*
* This will take in the arm commands and run the servos
* Function runs whenever Uno receives a transmission
*/
//changed from while loop to if statement might need to change for press vs click
if (Wire.available()) { // loop through all
x = Wire.read(); // receive byte as an integer
moveArm();
if(DEBUG) {
Serial.print("------Arm Command-----\n");
Serial.print(x);
Serial.print("\n");
}
}
}
void moveArm(void){
if (x == 0){
//TRIANGLE
//open the elbow
pos2 = servo_elbow.readMicroseconds();
pos2++;
servo_elbow.writeMicroseconds(pos2);
}
if (x == 1){
//SQUARE
//close the elbow
pos2 = servo_elbow.readMicroseconds();
pos2--;
servo_elbow.writeMicroseconds(pos2);
}
if (x == 2){
//RIGHT
//pivot arm right
rot = servo_rotate.readMicroseconds();
rot--;
servo_rotate.writeMicroseconds(rot);
}
if (x == 3){
//LEFT
//pivot arm left
rot = servo_rotate.readMicroseconds();
rot++;
servo_rotate.writeMicroseconds(rot);
}
if(x == 4){
//UP
//move shoulder up
pos1 = servo_shoulder.readMicroseconds();
pos1--;
servo_shoulder.writeMicroseconds(pos1);
}
if(x == 5){
//DOWN
//move shoulder down
pos1 = servo_shoulder.readMicroseconds();
pos1++;
servo_shoulder.writeMicroseconds(pos1);
}
if(x == 6){
//L1
//open gripper
servo_grip.writeMicroseconds(1100);
}
if(x == 7){
//R1
//close gripper
servo_grip.writeMicroseconds(1575); //Was 1550
}
if(x == 8){
//CIRCLE
//move wrist up
pos1 = servo_wrist.readMicroseconds();
pos1++;
servo_wrist.writeMicroseconds(pos1);
}
if( x == 9){
//CROSS
//move wrist down
pos1 = servo_wrist.readMicroseconds();
pos1--;
servo_wrist.writeMicroseconds(pos1);
}
if (x == 10){
//OPTIONS
//reset to initial position
resetArm();
}
if(x==11){
//SHARE
//print current positions in microseconds
Serial.print("---------------------------\n");
Serial.print("Rotate: ");
Serial.print(servo_rotate.readMicroseconds());
Serial.print("\n");
Serial.print("Shoulder: ");
Serial.print(servo_shoulder.readMicroseconds());
Serial.print("\n");
Serial.print("Elbow: ");
Serial.print(servo_elbow.readMicroseconds());
Serial.print("\n");
Serial.print("Wrist: ");
Serial.print(servo_wrist.readMicroseconds());
Serial.print("\n");
Serial.print("Write Rotate: ");
Serial.print(servo_wrist_rotate.readMicroseconds());
Serial.print("\n");
Serial.print("Grip: ");
Serial.print(servo_grip.readMicroseconds());
Serial.print("\n");
}
if(x == 12){
pos1 = servo_shoulder.readMicroseconds();
if(pos1 < 1800){
pos1++;
servo_shoulder.writeMicroseconds(pos1);
}else if(pos1 > 1800){
pos1--;
servo_shoulder.writeMicroseconds(pos1);
}
pos1 = servo_elbow.readMicroseconds();
if(pos1 < 1879){
pos1++;
servo_elbow.writeMicroseconds(pos1);
}else if(pos1 > 1879){
pos1--;
servo_elbow.writeMicroseconds(pos1);
}
pos1 = servo_wrist.readMicroseconds();
if(pos1 < 1434){
pos1++;
servo_wrist.writeMicroseconds(pos1);
}else if(pos1 > 1434){
pos1--;
servo_wrist.writeMicroseconds(pos1);
}
pos1 = servo_rotate.readMicroseconds();
if(pos1 < 2245){
pos1++;
servo_rotate.writeMicroseconds(pos1);
}else if(pos1 > 2245){
pos1--;
servo_rotate.writeMicroseconds(pos1);
}
}
if(x == 20){
servo_shoulder.writeMicroseconds(1500);
}
if(x == 21){
servo_elbow.writeMicroseconds(1879);
}
if(x == 22){
servo_wrist.writeMicroseconds(1434);
}
if(x == 23){
servo_rotate.writeMicroseconds(2245);
}
if(x >= 24){
int k = servo_shoulder.readMicroseconds();
if(k < 2245){
servo_shoulder.writeMicroseconds(k+100);
}
}
}
void resetArm(void){
//writing initial position
servo_rotate.writeMicroseconds(2000);
//544 straight up
servo_shoulder.writeMicroseconds(1500);
servo_elbow.writeMicroseconds(1500);
servo_wrist.writeMicroseconds(1500);
servo_wrist_rotate.writeMicroseconds(1500);
servo_grip.writeMicroseconds(1550);
}
void startUpArm(void){
servo_shoulder.attach(sholderPin);
for(int i = 0; i < 1800; i++) {
servo_shoulder.writeMicroseconds(1800);
delay(700);
}
servo_elbow.attach(elbowPin);
servo_elbow.writeMicroseconds(1500);
delay(700);
servo_rotate.attach(rotatePin);
servo_rotate.writeMicroseconds(2400);
delay(700);
servo_wrist.attach(wristPin);
servo_wrist.writeMicroseconds(800);
servo_wrist_rotate.attach(wrist_rotatePin);
servo_wrist_rotate.writeMicroseconds(1500);
servo_grip.attach(gripPin);
servo_grip.writeMicroseconds(1550);
servo_elbow.writeMicroseconds(1200);
}

7
RobotCommands/RobotCommands.ino
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@@ -86,12 +86,7 @@ void loop() {
} //End of PS4.getAnaloghat if() statement
//Arm Controls
/*CURRENT ISSUE 05-OCT-2017
* When set to getButtonPress causes arm to go crazy
* activates more than the intended servo cause unknown
* when the button is release arm returns to the position it was
* already in before pressing the button
*/
if (PS4.getButtonClick(UP)|| PS4.getButtonPress(UP)){//open the elbow
armCommand = 0;
tellArm();

10
RobotCommands/RobotCommands3.3.ino
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@@ -86,15 +86,7 @@ void loop() {
} //End of PS4.getAnaloghat if() statement
//Arm Controls
/*CURRENT ISSUE 05-OCT-2017
* When set to getButtonPress causes arm to go crazy
* activates more than the intended servo cause unknown
* when the button is release arm returns to the position it was
* already in before pressing the button
* FROM LIBRARY NOTES
* getButtonPress(ButtonEnum b) will return true as long as the button is held down.
* While getButtonClick(ButtonEnum b) will only return it once.
*/
if(PS4.getButtonClick(TRIANGLE)|| PS4.getButtonPress(TRIANGLE)){//open the elbow
armCommand = 0;
tellArm();