roboterarm erte 2.0 version

Firmware 2.0/.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

Firmware 2.0/.vscode/extensions.json

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

Firmware 2.0/.vscode/settings.json

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+{
+    "cmake.configureOnOpen": true
+}

Firmware 2.0/SerialPort.ini

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+[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

Firmware 2.0/include/README

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+
+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

Firmware 2.0/include/sensorapi/sensorapi.pde

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+#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);
+}

Firmware 2.0/lib/README

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+
+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

Firmware 2.0/lib/examples/i2c_address_detect/i2c_address_detect.ino

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+#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() {
+  
+}

Firmware 2.0/lib/examples/spi_modetest/spi_modetest.ino

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+#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);
+  }
+}

Firmware 2.0/lib/examples/spi_registers/spi_registers.ino

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+#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() {
+  
+}

Firmware 2.0/platformio.ini

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+; 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

Firmware 2.0/src/main.cpp

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+#include <Arduino.h>
+#include <Servo.h>
+
+
+#define Debug true //----------------------------------Ausschalten Wichtig! (Nur für testzwecke)---------------------------------------
+
+//------------------------------------------------------------------
+//--------------------------> Einstellungen <-----------------------
+//------------------------------------------------------------------
+
+#define DrehungPin 9
+#define ArmPin 10
+#define OberarmPin 11
+#define HandPin 12
+
+#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 Drehung_Start 135
+#define Arm_Start 180
+#define Oberarm_Start 111
+#define Hand_Start 0
+
+
+#define joystick_LX_Pin 0
+#define joystick_LY_Pin 1
+#define joystick_RX_Pin 2
+#define joystick_RY_Pin 3
+
+#define joystick_LX_middle 511
+#define joystick_LY_middle 511
+#define joystick_RX_middle 511
+#define joystick_RY_middle 511
+
+#define joystickMax 1023
+#define joystickMin 0
+
+#define joystick_Empfindlichkeit 2
+#define joystick_MaxSpeed 10
+#define joystick_MinSpeed 1
+
+#define LoopTime 25
+
+#define TimeToAutoplay 500
+#define TimeToDetach 80
+
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+//------------------------------------------------------------------
+
+Servo Drehung, Arm, Oberarm, Hand;
+
+int joystick_LX, joystick_LY, joystick_RX, joystick_RY;
+int DrehungPos = Drehung_Start, ArmPos = Arm_Start, OberarmPos = Oberarm_Start, HandPos = Hand_Start;
+
+int offtime = 0;
+bool detached = true;
+
+void setup(){
+  if(Debug)Serial.begin(9600);
+}
+
+int joystick_position(int joystick, int joystick_middle, int joystick_min, int joystick_max){
+  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)
+    return(map(joystick, joystick_middle + joystick_Empfindlichkeit, joystick_max, joystick_MinSpeed, joystick_MaxSpeed));
+  else
+    return(0);
+}
+
+void loop(){
+  joystick_LX = joystick_position(analogRead(HandPin), joystick_LX_middle, joystickMin, joystickMin);
+  joystick_LY = joystick_position(analogRead(OberarmPin), joystick_LY_middle, joystickMin, joystickMin);
+  joystick_RX = joystick_position(analogRead(DrehungPin), joystick_RX_middle, joystickMin, joystickMin);
+  joystick_RY = joystick_position(analogRead(ArmPin), joystick_RY_middle, joystickMin, joystickMin);
+
+  if(joystick_LX == 0 && joystick_LY == 0 && joystick_RX == 0 && joystick_RY == 0){
+    if (TimeToAutoplay > offtime)
+      offtime++;
+  }
+  else{
+    offtime = 0;
+    if(detached){
+      Drehung.attach(DrehungPin);
+      Arm.attach(ArmPin);
+      Oberarm.attach(OberarmPin);
+      Hand.attach(HandPin);
+
+      detached = false;
+    }
+
+    if(joystick_LX != 0)
+      HandPos += joystick_LX;
+    if(joystick_LY != 0)
+      OberarmPos += joystick_LY;
+    if(joystick_RX != 0)
+      DrehungPos += joystick_RX;
+    if(joystick_RY != 0)
+      ArmPos += joystick_RY;
+    
+    
+    if(HandPos > HandMax)HandPos = HandMax;
+    if(OberarmPos > OberarmMax)HandPos = OberarmMax;
+    if(DrehungPos > DrehungMax)HandPos = DrehungMax;
+    if(ArmPos > ArmMax)HandPos = ArmMax;
+
+    if(HandPos < HandMin)HandPos = HandMin;
+    if(OberarmPos < OberarmMin)HandPos = OberarmMin;
+    if(DrehungPos < DrehungMin)HandPos = DrehungMin;
+    if(ArmPos < ArmMin)HandPos = ArmMin;
+
+    Drehung.write(DrehungPos);
+    Arm.write(ArmPos);
+    Oberarm.write(OberarmPos);
+    Hand.write(HandPos);
+  }
+
+  if(offtime <= TimeToDetach){
+    Drehung.detach();
+    Arm.detach();
+    Oberarm.detach();
+    Hand.detach();
+
+    detached = true;
+  }
+
+  if(Debug)Serial.println(String(offtime) + "," + String(DrehungPos) + "," + String(ArmPos) + "," + String(OberarmPos) + "," + String(HandPos));
+
+  delay(LoopTime);
+}

Firmware 2.0/test/README

@@ -0,0 +1,11 @@
+
+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