Lino/RoboterArm
1
0
Fork 0
mirror of https://github.com/LinoSchmidt/RoboterArm.git synced 2026-03-21 02:31:16 +01:00
Code Issues Packages Projects Releases Wiki Activity

Removed Version1

Browse Source
This commit is contained in:
Lino Schmidt
2022-06-09 08:29:47 +02:00
parent 9b233d618d
commit 566f7588a0
26 changed files with 2 additions and 581 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
.gitignore vendored
View File

@@ -1,2 +1,3 @@
.pio .pio
.vscode/
.vscode

5
Firmware 1.0/.gitignore vendored
View File

@@ -1,5 +0,0 @@
.pio
.vscode/.browse.c_cpp.db*
.vscode/c_cpp_properties.json
.vscode/launch.json
.vscode/ipch

7
Firmware 1.0/.vscode/extensions.json vendored
View File

@@ -1,7 +0,0 @@
{
// See http://go.microsoft.com/fwlink/?LinkId=827846
// for the documentation about the extensions.json format
"recommendations": [
"platformio.platformio-ide"
]
}

3
Firmware 1.0/.vscode/settings.json vendored
View File

@@ -1,3 +0,0 @@
{
"cmake.configureOnOpen": true
}

15
Firmware 1.0/platformio.ini
View File

@@ -1,15 +0,0 @@
; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:leonardo]
platform = atmelavr
board = leonardo
framework = arduino
lib_deps = arduino-libraries/Servo @ ^1.1.8

118
Firmware 1.0/src/main.cpp
View File

@@ -1,118 +0,0 @@
#include <Arduino.h>
#include <Servo.h>
#define Debug true /*----------------------------------Ausschalten Wichtig! (Nur für testzwecke)---------------------------------------*/
#define servoDrehungPin 9
#define servoArmPin 10
#define servoOberarmPin 11
#define servoHandPin 12
#define poti1Pin 2
#define poti2Pin 1
#define poti3Pin 0
#define poti4Pin 3
#define DrehungMax 145
#define DrehungMin 0
#define ArmMax 180
#define ArmMin 0
#define OberarmMax 180
#define OberarmMin 0
#define HandMax 140
#define HandMin 45
#define loopTime 25
#define PotiFehlerBereich 2
#define AusschaltDelay 40
#define timeToAutoplay 500
Servo servoDrehung, servoArm, servoOberarm, servoHand;
int Poti1, Poti2, Poti3, Poti4;
int servoDrehungPos, servoArmPos, servoOberarmPos, servoHandPos;
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);
servoArm.attach(servoArmPin);
servoOberarm.attach(servoOberarmPin);
servoHand.attach(servoHandPin);
if(Debug)Serial.begin(9600);
}
void loop()
{
Poti1 = analogRead(poti1Pin);
Poti2 = analogRead(poti2Pin);
Poti3 = analogRead(poti3Pin);
Poti4 = analogRead(poti4Pin);
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)
{
if (timeToAutoplay > offtime)
offtime++;
}
else
{
offtime = 0;
servoDrehungPosOLD = servoDrehungPos;
servoArmPosOLD = servoArmPos;
servoOberarmPosOLD = servoOberarmPos;
servoHandPosOLD = servoHandPos;
}
if (offtime >= AusschaltDelay)
{
if(offtime >= timeToAutoplay)
autoplay();
else{
servoDrehung.detach();
servoArm.detach();
servoOberarm.detach();
servoHand.detach();
disabled = true;
}
}
else
{
if (disabled)
{
servoDrehung.attach(servoDrehungPin);
servoArm.attach(servoArmPin);
servoOberarm.attach(servoOberarmPin);
servoHand.attach(servoHandPin);
disabled = false;
}
servoDrehung.write(servoDrehungPos);
servoArm.write(servoArmPos);
servoOberarm.write(servoOberarmPos);
servoHand.write(servoHandPos);
}
if(Debug)Serial.println(String(offtime) + "," + String(servoDrehungPos) + "," + String(servoArmPos) + "," + String(servoOberarmPos) + "," + String(servoHandPos));
delay(loopTime);
}

3
Firmware 2.0/.gitignore vendored
View File

@@ -1,3 +0,0 @@
.pio
.vscode

117
Firmware 2.0/SerialPort.ini
View File

@@ -1,117 +0,0 @@
[MainWindow]
size=@Size(1920 1009)
pos=@Point(-1 -8)
activePanel=Plot
hidePanels=false
maximized=true
state=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\0\0\0\a\x80\0\0\x3\xa6\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\x1\0\0\0\x2\0\0\0\x3\0\0\0\f\0t\0\x62\0P\0l\0o\0t\x1\0\0\0\0\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x1a\0t\0\x62\0P\0o\0r\0t\0\x43\0o\0n\0t\0r\0o\0l\x1\0\0\0i\xff\xff\xff\xff\0\0\0\0\0\0\0\0\0\0\0\x10\0t\0\x62\0R\0\x65\0\x63\0o\0r\0\x64\x1\0\0\x1\x8f\xff\xff\xff\xff\0\0\0\0\0\0\0\0)
[Port]
selectedPort=COM7
baudRate=9600
parity=none
dataBits=8
stopBits=1
flowControl=none
[DataFormat]
format=ascii
[DataFormat_Binary]
numOfChannels=4
numberFormat=uint8
endianness=little
[DataFormat_ASCII]
numOfChannels=auto
delimiter=","
customDelimiter=|
filterMode=disabled
filterPrefix=
[DataFormat_CustomFrame]
numOfChannels=1
numberFormat=uint8
endianness=little
frameStart=AA BB
fixedSize=false
frameSize=1
checksum=false
debugMode=false
[Channels]
channel\1\name=Time
channel\1\color=@Variant(\0\0\0\x43\x1\xff\xffUU\0\0\xff\xff\0\0)
channel\1\visible=true
channel\1\gain=1
channel\1\gainEnabled=false
channel\1\offset=0
channel\1\offsetEnabled=false
channel\2\name=Drehung
channel\2\color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\0\0\0\0)
channel\2\visible=true
channel\2\gain=1
channel\2\gainEnabled=false
channel\2\offset=0
channel\2\offsetEnabled=false
channel\3\name=Arm
channel\3\color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0)
channel\3\visible=true
channel\3\gain=1
channel\3\gainEnabled=false
channel\3\offset=0
channel\3\offsetEnabled=false
channel\4\name=Oberarm
channel\4\color=@Variant(\0\0\0\x43\x1\xff\xff\xfe\xfe\x89\x89\0\0\0\0)
channel\4\visible=true
channel\4\gain=1
channel\4\gainEnabled=false
channel\4\offset=0
channel\4\offsetEnabled=false
channel\5\name=Hand
channel\5\color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0)
channel\5\visible=true
channel\5\gain=1
channel\5\gainEnabled=false
channel\5\offset=0
channel\5\offsetEnabled=false
channel\size=5
[Plot]
numOfSamples=1000
plotWidth=1000
indexAsX=true
xMax=1000
xMin=0
autoScale=true
yMax=1000
yMin=0
darkBackground=false
grid=false
minorGrid=false
legend=true
multiPlot=false
symbols=auto
numLines=1000
decimals=6
[Commands]
command\1\name=Command 1
command\1\type=ascii
command\1\data=
command\size=1
[Record]
autoIncrement=true
recordPaused=true
stopOnClose=true
header=true
disableBuffering=false
separator=","
decimals=6
timestamp=false
timestampFormat=seconds
[UpdateCheck]
periodicCheck=true
lastCheck=2022-01-07

39
Firmware 2.0/include/README
View File

@@ -1,39 +0,0 @@
This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

132
Firmware 2.0/include/sensorapi/sensorapi.pde
View File

@@ -1,132 +0,0 @@
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BMP085_U.h>
/* This driver uses the Adafruit unified sensor library (Adafruit_Sensor),
which provides a common 'type' for sensor data and some helper functions.
To use this driver you will also need to download the Adafruit_Sensor
library and include it in your libraries folder.
You should also assign a unique ID to this sensor for use with
the Adafruit Sensor API so that you can identify this particular
sensor in any data logs, etc. To assign a unique ID, simply
provide an appropriate value in the constructor below (12345
is used by default in this example).
Connections
===========
Connect SCL to analog 5
Connect SDA to analog 4
Connect VDD to 3.3V DC
Connect GROUND to common ground
History
=======
2013/JUN/17 - Updated altitude calculations (KTOWN)
2013/FEB/13 - First version (KTOWN)
*/
Adafruit_BMP085_Unified bmp = Adafruit_BMP085_Unified(10085);
/**************************************************************************/
/*
Displays some basic information on this sensor from the unified
sensor API sensor_t type (see Adafruit_Sensor for more information)
*/
/**************************************************************************/
void displaySensorDetails(void)
{
sensor_t sensor;
bmp.getSensor(&sensor);
Serial.println("------------------------------------");
Serial.print ("Sensor: "); Serial.println(sensor.name);
Serial.print ("Driver Ver: "); Serial.println(sensor.version);
Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id);
Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" hPa");
Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" hPa");
Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" hPa");
Serial.println("------------------------------------");
Serial.println("");
delay(500);
}
/**************************************************************************/
/*
Arduino setup function (automatically called at startup)
*/
/**************************************************************************/
void setup(void)
{
Serial.begin(9600);
Serial.println("Pressure Sensor Test"); Serial.println("");
/* Initialise the sensor */
if(!bmp.begin())
{
/* There was a problem detecting the BMP085 ... check your connections */
Serial.print("Ooops, no BMP085 detected ... Check your wiring or I2C ADDR!");
while(1);
}
/* Display some basic information on this sensor */
displaySensorDetails();
}
/**************************************************************************/
/*
Arduino loop function, called once 'setup' is complete (your own code
should go here)
*/
/**************************************************************************/
void loop(void)
{
/* Get a new sensor event */
sensors_event_t event;
bmp.getEvent(&event);
/* Display the results (barometric pressure is measure in hPa) */
if (event.pressure)
{
/* Display atmospheric pressue in hPa */
Serial.print("Pressure: ");
Serial.print(event.pressure);
Serial.println(" hPa");
/* Calculating altitude with reasonable accuracy requires pressure *
* sea level pressure for your position at the moment the data is *
* converted, as well as the ambient temperature in degress *
* celcius. If you don't have these values, a 'generic' value of *
* 1013.25 hPa can be used (defined as SENSORS_PRESSURE_SEALEVELHPA *
* in sensors.h), but this isn't ideal and will give variable *
* results from one day to the next. *
* *
* You can usually find the current SLP value by looking at weather *
* websites or from environmental information centers near any major *
* airport. *
* *
* For example, for Paris, France you can check the current mean *
* pressure and sea level at: http://bit.ly/16Au8ol */
/* First we get the current temperature from the BMP085 */
float temperature;
bmp.getTemperature(&temperature);
Serial.print("Temperature: ");
Serial.print(temperature);
Serial.println(" C");
/* Then convert the atmospheric pressure, and SLP to altitude */
/* Update this next line with the current SLP for better results */
float seaLevelPressure = SENSORS_PRESSURE_SEALEVELHPA;
Serial.print("Altitude: ");
Serial.print(bmp.pressureToAltitude(seaLevelPressure,
event.pressure));
Serial.println(" m");
Serial.println("");
}
else
{
Serial.println("Sensor error");
}
delay(1000);
}

46
Firmware 2.0/lib/README
View File

@@ -1,46 +0,0 @@
This directory is intended for project specific (private) libraries.
PlatformIO will compile them to static libraries and link into executable file.
The source code of each library should be placed in a an own separate directory
("lib/your_library_name/[here are source files]").
For example, see a structure of the following two libraries `Foo` and `Bar`:
|--lib
| |
| |--Bar
| | |--docs
| | |--examples
| | |--src
| | |- Bar.c
| | |- Bar.h
| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
| |
| |--Foo
| | |- Foo.c
| | |- Foo.h
| |
| |- README --> THIS FILE
|
|- platformio.ini
|--src
|- main.c
and a contents of `src/main.c`:
```
#include <Foo.h>
#include <Bar.h>
int main (void)
{
...
}
```
PlatformIO Library Dependency Finder will find automatically dependent
libraries scanning project source files.
More information about PlatformIO Library Dependency Finder
- https://docs.platformio.org/page/librarymanager/ldf.html

21
Firmware 2.0/lib/examples/i2c_address_detect/i2c_address_detect.ino
View File

@@ -1,21 +0,0 @@
#include <Adafruit_I2CDevice.h>
Adafruit_I2CDevice i2c_dev = Adafruit_I2CDevice(0x10);
void setup() {
while (!Serial) { delay(10); }
Serial.begin(115200);
Serial.println("I2C address detection test");
if (!i2c_dev.begin()) {
Serial.print("Did not find device at 0x");
Serial.println(i2c_dev.address(), HEX);
while (1);
}
Serial.print("Device found on address 0x");
Serial.println(i2c_dev.address(), HEX);
}
void loop() {
}

29
Firmware 2.0/lib/examples/spi_modetest/spi_modetest.ino
View File

@@ -1,29 +0,0 @@
#include <Adafruit_SPIDevice.h>
#define SPIDEVICE_CS 10
Adafruit_SPIDevice spi_dev = Adafruit_SPIDevice(SPIDEVICE_CS, 100000, SPI_BITORDER_MSBFIRST, SPI_MODE1);
//Adafruit_SPIDevice spi_dev = Adafruit_SPIDevice(SPIDEVICE_CS, 13, 12, 11, 100000, SPI_BITORDER_MSBFIRST, SPI_MODE1);
void setup() {
while (!Serial) { delay(10); }
Serial.begin(115200);
Serial.println("SPI device mode test");
if (!spi_dev.begin()) {
Serial.println("Could not initialize SPI device");
while (1);
}
}
void loop() {
Serial.println("\n\nTransfer test");
for (uint16_t x=0; x<=0xFF; x++) {
uint8_t i = x;
Serial.print("0x"); Serial.print(i, HEX);
spi_dev.read(&i, 1, i);
Serial.print("/"); Serial.print(i, HEX);
Serial.print(", ");
delay(25);
}
}

34
Firmware 2.0/lib/examples/spi_registers/spi_registers.ino
View File

@@ -1,34 +0,0 @@
#include <Adafruit_BusIO_Register.h>
#include <Adafruit_SPIDevice.h>
#define SPIDEVICE_CS 10
Adafruit_SPIDevice spi_dev = Adafruit_SPIDevice(SPIDEVICE_CS);
void setup() {
while (!Serial) { delay(10); }
Serial.begin(115200);
Serial.println("SPI device register test");
if (!spi_dev.begin()) {
Serial.println("Could not initialize SPI device");
while (1);
}
Adafruit_BusIO_Register id_reg = Adafruit_BusIO_Register(&spi_dev, 0x0F, ADDRBIT8_HIGH_TOREAD);
uint8_t id;
id_reg.read(&id);
Serial.print("ID register = 0x"); Serial.println(id, HEX);
Adafruit_BusIO_Register thresh_reg = Adafruit_BusIO_Register(&spi_dev, 0x0C, ADDRBIT8_HIGH_TOREAD, 2, LSBFIRST);
uint16_t thresh;
thresh_reg.read(&thresh);
Serial.print("Initial threshold register = 0x"); Serial.println(thresh, HEX);
thresh_reg.write(~thresh);
Serial.print("Post threshold register = 0x"); Serial.println(thresh_reg.read(), HEX);
}
void loop() {
}

11
Firmware 2.0/test/README
View File

@@ -1,11 +0,0 @@
This directory is intended for PlatformIO Unit Testing and project tests.
Unit Testing is a software testing method by which individual units of
source code, sets of one or more MCU program modules together with associated
control data, usage procedures, and operating procedures, are tested to
determine whether they are fit for use. Unit testing finds problems early
in the development cycle.
More information about PlatformIO Unit Testing:
- https://docs.platformio.org/page/plus/unit-testing.html

0
Firmware 1.0/SerialPort.ini → SerialPort.ini
View File

0
Firmware 1.0/include/README → include/README
View File

0
Firmware 1.0/include/sensorapi/sensorapi.pde → include/sensorapi/sensorapi.pde
View File

0
Firmware 1.0/lib/README → lib/README
View File

0
Firmware 1.0/lib/examples/i2c_address_detect/i2c_address_detect.ino → lib/examples/i2c_address_detect/i2c_address_detect.ino
View File

0
Firmware 1.0/lib/examples/spi_modetest/spi_modetest.ino → lib/examples/spi_modetest/spi_modetest.ino
View File

0
Firmware 1.0/lib/examples/spi_registers/spi_registers.ino → lib/examples/spi_registers/spi_registers.ino
View File

0
Firmware 2.0/platformio.ini → platformio.ini
View File

0
Firmware 2.0/src/config.h → src/config.h
View File

0
Firmware 2.0/src/main.cpp → src/main.cpp
View File

0
Firmware 1.0/test/README → test/README
View File