Lino/RoboterArm
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added button

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LinoSchmidt
2022-01-10 07:17:03 +01:00
parent a83f0417db
commit aa3c5ad6b3
1 changed files with 58 additions and 6 deletions
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64
Firmware 2.0/src/main.cpp
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@@ -2,8 +2,6 @@
#include <Servo.h> #include <Servo.h>
#define Debug true //----------------------------------Ausschalten Wichtig! (Nur für testzwecke)---------------------------------------
//------------------------------------------------------------------ //------------------------------------------------------------------
//--------------------------> Einstellungen <----------------------- //--------------------------> Einstellungen <-----------------------
//------------------------------------------------------------------ //------------------------------------------------------------------
@@ -30,11 +28,11 @@
#define Oberarm_Start 111 #define Oberarm_Start 111
#define Hand_Start 0 #define Hand_Start 0
#define joystick_LX_Pin 0 #define joystick_LX_Pin 0
#define joystick_LY_Pin 1 #define joystick_LY_Pin 1
#define joystick_RX_Pin 2 #define joystick_RX_Pin 2
#define joystick_RY_Pin 3 #define joystick_RY_Pin 3
#define joystick_button_Pin 8
#define joystick_LX_middle 511 #define joystick_LX_middle 511
#define joystick_LY_middle 511 #define joystick_LY_middle 511
@@ -49,7 +47,6 @@
#define joystick_MinSpeed 1 #define joystick_MinSpeed 1
#define LoopTime 25 #define LoopTime 25
#define TimeToAutoplay 500 #define TimeToAutoplay 500
#define TimeToDetach 80 #define TimeToDetach 80
@@ -57,6 +54,7 @@
//------------------------------------------------------------------ //------------------------------------------------------------------
//------------------------------------------------------------------ //------------------------------------------------------------------
Servo Drehung, Arm, Oberarm, Hand; Servo Drehung, Arm, Oberarm, Hand;
int joystick_LX, joystick_LY, joystick_RX, joystick_RY; int joystick_LX, joystick_LY, joystick_RX, joystick_RY;
@@ -65,8 +63,60 @@ int DrehungPos = Drehung_Start, ArmPos = Arm_Start, OberarmPos = Oberarm_Start,
int offtime = 0; int offtime = 0;
bool detached = true; bool detached = true;
void setup(){ void setup(){
if(Debug)Serial.begin(9600); Serial.begin(9600);
pinMode(joystick_button_Pin, INPUT_PULLUP);
}
void joystickButtonPress(){
int Code[5] = {0 ,0 ,0 ,0 ,0}; //0 = short, 1 = long
int CodeLenght = 0;
bool Finished = false;
bool abort = false;
while(!Finished && !abort){
if(CodeLenght > 5)abort = true;
int buttonTime = 0;
while(digitalRead(joystick_button_Pin) == HIGH){
buttonTime+= 10;
delay(10);
}
if(buttonTime < 250){
Code[CodeLenght] = 0;
Serial.println("short press");
}
else if(buttonTime < 1000){
Code[CodeLenght] = 1;
Serial.println("long press");
}
else{
abort = true;
Serial.println("Code aborted!");
}
CodeLenght++;
buttonTime = 0;
while(digitalRead(joystick_button_Pin) == LOW && !Finished && !abort){
buttonTime+= 10;
delay(10);
if(buttonTime >= 1000){
Finished = true;
Serial.println("Code fineshed!");
}
}
}
if(!abort){
if(Code == && CodeLenght == 1){
}
}
} }
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){
@@ -134,7 +184,9 @@ void loop(){
detached = true; detached = true;
} }
if(Debug)Serial.println(String(offtime) + "," + String(DrehungPos) + "," + String(ArmPos) + "," + String(OberarmPos) + "," + String(HandPos)); if(digitalRead(joystick_button_Pin) == HIGH)joystickButtonPress();
Serial.println(String(offtime) + "," + String(DrehungPos) + "," + String(ArmPos) + "," + String(OberarmPos) + "," + String(HandPos));
delay(LoopTime); delay(LoopTime);
} }