Lino/RoboterArm
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Lino Schmidt
2022-05-12 19:54:09 +02:00
parent c4092b53b5
commit 28df10785f
1 changed files with 9 additions and 7 deletions
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14
Firmware 2.0/src/main.cpp
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@@ -35,10 +35,10 @@ void servoEase(int DrehungP, int ArmP, int OberarmP, int HandP, float easeTime,
Oberarm.setEasingType(easeType); Oberarm.setEasingType(easeType);
Hand.setEasingType(easeType); Hand.setEasingType(easeType);
Drehung.easeTo(DrehungP, easeTime); Drehung.startEaseTo(DrehungP, easeTime);
Arm.easeTo(ArmP, easeTime); Arm.startEaseTo(ArmP, easeTime);
Oberarm.easeTo(OberarmP, easeTime); Oberarm.startEaseTo(OberarmP, easeTime);
Hand.easeTo(HandP, easeTime); Hand.startEaseTo(HandP, easeTime);
} }
void calibrateMiddle(){ void calibrateMiddle(){
@@ -258,13 +258,15 @@ void detachAttach(bool detach){
void Autoplay(){ void Autoplay(){
if(autoplayLoop == sizeof(autoplayPos)) autoplayLoop = 0; if(autoplayLoop == sizeof(autoplayPos)) autoplayLoop = 0;
if(DrehungPos == autoplayPos[autoplayLoop][0] && ArmPos == autoplayPos[autoplayLoop][1] && OberarmPos == autoplayPos[autoplayLoop][2] && HandPos == autoplayPos[autoplayLoop][3]) {
servoEase(autoplayPos[autoplayLoop][0], autoplayPos[autoplayLoop][1], autoplayPos[autoplayLoop][2], autoplayPos[autoplayLoop][3], 50); servoEase(autoplayPos[autoplayLoop][0], autoplayPos[autoplayLoop][1], autoplayPos[autoplayLoop][2], autoplayPos[autoplayLoop][3], 50);
autoplayLoop++;
}
DrehungPos = Drehung.getCurrentAngle(); DrehungPos = Drehung.getCurrentAngle();
ArmPos = Arm.getCurrentAngle(); ArmPos = Arm.getCurrentAngle();
OberarmPos = Oberarm.getCurrentAngle(); OberarmPos = Oberarm.getCurrentAngle();
HandPos = Hand.getCurrentAngle(); HandPos = Hand.getCurrentAngle();
autoplayLoop++;
} }
int joystick_position(int joystick, int joystick_middle, int joystick_min, int joystick_max, int joystick_MinSpeed, int joystick_MaxSpeed){ int joystick_position(int joystick, int joystick_middle, int joystick_min, int joystick_max, int joystick_MinSpeed, int joystick_MaxSpeed){