Lino/RoboterArm
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rewrite defaults and solve problems

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LinoSchmidt
2021-11-04 22:18:39 +01:00
parent 1366ec60ff
commit 2dbdfd1d96
1 changed files with 27 additions and 24 deletions
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41
src/main.cpp
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@@ -1,14 +1,14 @@
#include <Arduino.h>
#include <Servo.h>
#define servoDrehungPin 10
#define servoArmPin 7
#define servoOberarmPin 8
#define servoHandPin 9
#define servoDrehungPin 9
#define servoArmPin 10
#define servoOberarmPin 11
#define servoHandPin 12
#define poti1Pin 0
#define poti2Pin 5
#define poti3Pin 2
#define poti1Pin 2
#define poti2Pin 1
#define poti3Pin 0
#define poti4Pin 3
#define DrehungMax 180
@@ -24,19 +24,23 @@
#define HandMin 45
#define loopTime 25
#define PotiFehlerBereich 100
#define AusschaltDelay 80
#define timeToAutoplay 4800 //2min
#define PotiFehlerBereich 2
#define AusschaltDelay 40
#define timeToAutoplay 4800
Servo servoDrehung, servoArm, servoOberarm, servoHand;
int Poti1, Poti2, Poti3, Poti4;
int servoDrehungPos, servoArmPos, servoOberarmPos, servoHandPos;
int servoDrehungPosOLD, servoArmPosOLD, servoOberarmPosOLD, servoHandPosOLD;
int offtime;
int servoDrehungPosOLD = 0, servoArmPosOLD = 0, servoOberarmPosOLD = 0, servoHandPosOLD = 0;
int offtime = 0;
bool disabled = false;
void autoplay(){
//code für forstellung hier...
}
void setup()
{
servoDrehung.attach(servoDrehungPin);
@@ -61,7 +65,7 @@ void loop()
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)
{
if (timeToAutoplay < offtime)
if (timeToAutoplay > offtime)
offtime++;
}
else
@@ -76,6 +80,9 @@ void loop()
if (offtime >= AusschaltDelay)
{
if(offtime >= timeToAutoplay)
autoplay();
else{
servoDrehung.detach();
servoArm.detach();
servoOberarm.detach();
@@ -83,6 +90,7 @@ void loop()
disabled = true;
}
}
else
{
if (disabled)
@@ -101,12 +109,7 @@ void loop()
servoHand.write(servoHandPos);
}
if (offtime >= timeToAutoplay)
{
//code für forstellung hier...
}
Serial.println(String(offtime) + "," + String(servoDrehungPos) + "," + String(servoArmPos) + "," + String(servoOberarmPos) + "," + String(servoHandPos));
Serial.println(String(offtime / 10) + "," + String(servoDrehungPos) + "," + String(servoArmPos) + "," + String(servoOberarmPos) + "," + String(servoHandPos));
delay(loopTime);
}