Lino/RoboterArm
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Edited configurable Variables

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Lino Schmidt
2022-02-21 12:25:39 +01:00
parent 05f640a94b
commit 6db77b5935
2 changed files with 47 additions and 33 deletions
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29
Firmware 2.0/src/config.h
View File

@@ -13,34 +13,45 @@
#define OberarmMax 180
#define OberarmMin 0
#define HandMax 130
#define HandMin 45
#define HandMax 180
#define HandMin 95
#define HandOffPosition 180
#define InvertDrehung false
#define InvertArm false
#define InvertOberarm true
#define InvertArm true
#define InvertOberarm false
#define InvertHand false
#define Drehung_Start 135
#define Arm_Start 180
#define Oberarm_Start 111
#define Hand_Start 130
#define Hand_Start 180
//Joysticks
#define joystick_LX_Pin 0
#define joystick_LX_MaxSpeed 5
#define joystick_LX_MinSpeed 1
#define joystick_LY_Pin 1
#define joystick_LY_MaxSpeed 5
#define joystick_LY_MinSpeed 1
#define joystick_RX_Pin 2
#define joystick_RX_MaxSpeed 10
#define joystick_RX_MinSpeed 1
#define joystick_RY_Pin 3
#define joystick_RY_MaxSpeed 5
#define joystick_RY_MinSpeed 1
#define joystick_button_Pin 8
#define joystick_Empfindlichkeit 4
#define joystick_MaxSpeed 5
#define joystick_MinSpeed 1
//Timing
#define LoopTime 40
#define LoopTime 50
#define TimeToAutoplay 1000
#define TimeToDetach 80
#define TimeToDetach 70
#define Calibration_TimeToMiddle 3000
#define Calibration_messureTime 5
#define Calibration_messureCount 10

51
Firmware 2.0/src/main.cpp
View File

@@ -211,11 +211,30 @@ void joystickButtonPress(){
}
}
void detachAttach(bool detach){
if(detach){
Drehung.detach();
Arm.detach();
Oberarm.detach();
Hand.detach();
detached = true;
}
else{
Drehung.attach(DrehungPin);
Arm.attach(ArmPin);
Oberarm.attach(OberarmPin);
Hand.attach(HandPin);
detached = false;
}
}
void Autoplay(){
}
int joystick_position(int joystick, int joystick_middle, int joystick_min, int joystick_max){
int joystick_position(int joystick, int joystick_middle, int joystick_min, int joystick_max, int joystick_MinSpeed, int joystick_MaxSpeed){
if(joystick <= joystick_middle - joystick_Empfindlichkeit)
return(-map(joystick, joystick_middle - joystick_Empfindlichkeit, joystick_min, joystick_MinSpeed, joystick_MaxSpeed));
else if(joystick >= joystick_middle + joystick_Empfindlichkeit)
@@ -225,10 +244,10 @@ int joystick_position(int joystick, int joystick_middle, int joystick_min, int j
}
void loop(){
joystick_LX = joystick_position(analogRead(joystick_LX_Pin), joystick_LX_middle, joystick_LX_min, joystick_LX_max);
joystick_LY = joystick_position(analogRead(joystick_LY_Pin), joystick_LY_middle, joystick_LY_min, joystick_LY_max);
joystick_RX = joystick_position(analogRead(joystick_RX_Pin), joystick_RX_middle, joystick_RX_min, joystick_RX_max);
joystick_RY = joystick_position(analogRead(joystick_RY_Pin), joystick_RY_middle, joystick_RY_min, joystick_RY_max);
joystick_LX = joystick_position(analogRead(joystick_LX_Pin), joystick_LX_middle, joystick_LX_min, joystick_LX_max, joystick_LX_MinSpeed, joystick_LX_MaxSpeed);
joystick_LY = joystick_position(analogRead(joystick_LY_Pin), joystick_LY_middle, joystick_LY_min, joystick_LY_max, joystick_LY_MinSpeed, joystick_LY_MaxSpeed);
joystick_RX = joystick_position(analogRead(joystick_RX_Pin), joystick_RX_middle, joystick_RX_min, joystick_RX_max, joystick_RX_MinSpeed, joystick_RX_MaxSpeed);
joystick_RY = joystick_position(analogRead(joystick_RY_Pin), joystick_RY_middle, joystick_RY_min, joystick_RY_max, joystick_RY_MinSpeed, joystick_RY_MaxSpeed);
if(joystick_LX == 0 && joystick_LY == 0 && joystick_RX == 0 && joystick_RY == 0){
if (TimeToAutoplay > offtime)
@@ -237,12 +256,7 @@ void loop(){
else{
offtime = 0;
if(detached){
Drehung.attach(DrehungPin);
Arm.attach(ArmPin);
Oberarm.attach(OberarmPin);
Hand.attach(HandPin);
detached = false;
detachAttach(false);
}
if(joystick_LX != 0){
@@ -283,22 +297,11 @@ void loop(){
Autoplay();
}
else if(offtime >= TimeToDetach){
Drehung.detach();
Arm.detach();
Oberarm.detach();
Hand.detach();
detached = true;
detachAttach(true);
}
if(digitalRead(joystick_button_Pin) == LOW){
Drehung.detach();
Arm.detach();
Oberarm.detach();
Hand.detach();
detached = true;
detachAttach(true);
joystickButtonPress();
}