Lino/RoboterArm
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defin max min pos added

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LinoSchmidt
2021-09-30 08:44:09 +02:00
parent 6a2dce7270
commit 1f7dec21ad
1 changed files with 16 additions and 4 deletions
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20
src/main.cpp
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@@ -11,6 +11,18 @@
#define poti3Pin 2
#define poti4Pin 3
#define DrehungMax 180
#define DrehungMin 0
#define ArmMax 130
#define ArmMin 0
#define OberarmMax 180
#define OberarmMin 0
#define HandMax 140
#define HandMin 45
#define loopTime 25
#define PotiFehlerBereich 100
#define AusschaltDelay 80
@@ -41,10 +53,10 @@ void loop()
Poti3 = analogRead(poti3Pin);
Poti4 = analogRead(poti4Pin);
servoDrehungPos = map(Poti1, 0, 1023, 0, 180);
servoArmPos = map(Poti2, 1023, 0, 0, 130);
servoOberarmPos = map(Poti3, 0, 1023, 0, 180);
servoHandPos = map(Poti4, 0, 1023, 45, 140);
servoDrehungPos = map(Poti1, 0, 1023, DrehungMin, DrehungMax);
servoArmPos = map(Poti2, 1023, 0, ArmMin, ArmMax);
servoOberarmPos = map(Poti3, 0, 1023, OberarmMin, OberarmMax);
servoHandPos = map(Poti4, 0, 1023, HandMin, HandMax);
if (servoDrehungPos <= servoDrehungPosOLD + PotiFehlerBereich && servoDrehungPos >= servoDrehungPosOLD - PotiFehlerBereich && servoArmPos <= servoArmPosOLD + PotiFehlerBereich && servoArmPos >= servoArmPosOLD - PotiFehlerBereich && servoOberarmPos <= servoOberarmPosOLD + PotiFehlerBereich && servoOberarmPos >= servoOberarmPosOLD - PotiFehlerBereich && servoHandPos <= servoHandPosOLD + PotiFehlerBereich && servoHandPos >= servoHandPosOLD - PotiFehlerBereich)
{