robot arm demo team / Mbed 2 deprecated RobotArmDemo Featured

demo project

Dependencies:   AX-12A Dynamixel mbed iothub_client EthernetInterface NTPClient ConfigFile SDFileSystem iothub_amqp_transport mbed-rtos proton-c-mbed wolfSSL

RobotArm.h@33:8b9dcbf6d8ec, 2016-02-04 (annotated)

Committer:
henryrawas
Date:
Thu Feb 04 20:10:33 2016 +0000
Revision:
33:8b9dcbf6d8ec
Parent:
19:2f0ec9ac1238 
update libs

Who changed what in which revision?

UserRevisionLine numberNew contents of line
henryrawas 19:2f0ec9ac1238 1 // Copyright (c) Microsoft. All rights reserved.
henryrawas 19:2f0ec9ac1238 2 // Licensed under the MIT license. See LICENSE file in the project root for full license information.
henryrawas 4:36a4eceb1b7f 3
henryrawas 4:36a4eceb1b7f 4 #ifndef __ROBOT_ARM_H__
henryrawas 4:36a4eceb1b7f 5 #define __ROBOT_ARM_H__
henryrawas 4:36a4eceb1b7f 6
henryrawas 4:36a4eceb1b7f 7 #include "mbed.h"
henryrawas 4:36a4eceb1b7f 8 #include "rtos.h"
henryrawas 4:36a4eceb1b7f 9
henryrawas 4:36a4eceb1b7f 10 #include "DynamixelBus.h"
henryrawas 12:ac6c9d7f8c40 11 #include "NodeAX12.h"
henryrawas 18:224289104fc0 12 #include "RobotArmCfg.h"
henryrawas 4:36a4eceb1b7f 13
henryrawas 7:6723f6887d00 14
henryrawas 4:36a4eceb1b7f 15 class RobotArm
henryrawas 4:36a4eceb1b7f 16 {
henryrawas 4:36a4eceb1b7f 17 public:
henryrawas 4:36a4eceb1b7f 18
henryrawas 4:36a4eceb1b7f 19 RobotArm();
henryrawas 4:36a4eceb1b7f 20
henryrawas 13:ffeff9b5e513 21 // move all parts to specified postions in ms time - start
henryrawas 13:ffeff9b5e513 22 bool MoveArmPositionsStart(float positions[], int ms);
henryrawas 13:ffeff9b5e513 23
henryrawas 13:ffeff9b5e513 24 // move all parts to specified postions - resume after pause
henryrawas 13:ffeff9b5e513 25 bool MoveArmPositionsResume();
henryrawas 4:36a4eceb1b7f 26
henryrawas 13:ffeff9b5e513 27 // move all parts to specified postions - test if done
henryrawas 4:36a4eceb1b7f 28 bool MoveArmPositionsHasNext();
henryrawas 4:36a4eceb1b7f 29
henryrawas 13:ffeff9b5e513 30 // move all parts to specified postions - next step
henryrawas 7:6723f6887d00 31 bool MoveArmPositionsNext();
henryrawas 7:6723f6887d00 32
henryrawas 13:ffeff9b5e513 33 // move all parts to specified postions - next step delay
henryrawas 7:6723f6887d00 34 bool MoveArmPositionsDelay(int& nextdelay);
henryrawas 4:36a4eceb1b7f 35
henryrawas 13:ffeff9b5e513 36 // move all parts to specified postions - finish
henryrawas 4:36a4eceb1b7f 37 bool MoveArmPositionsEnd();
henryrawas 5:36916b1c5a06 38
henryrawas 13:ffeff9b5e513 39 // reset goal to the current position ie. stop trying to move
henryrawas 13:ffeff9b5e513 40 void MoveArmPositionsStop();
henryrawas 4:36a4eceb1b7f 41
henryrawas 11:3a2e6eb9fbb8 42 // clear part error state
henryrawas 11:3a2e6eb9fbb8 43 void ClearErrorState();
henryrawas 11:3a2e6eb9fbb8 44
henryrawas 4:36a4eceb1b7f 45 // get all parts positions
henryrawas 13:ffeff9b5e513 46 bool GetArmPositions(float outVals[]);
henryrawas 4:36a4eceb1b7f 47
henryrawas 4:36a4eceb1b7f 48 // get all parts last positions
henryrawas 13:ffeff9b5e513 49 bool GetArmLastPositions(float outVals[]);
henryrawas 13:ffeff9b5e513 50
henryrawas 15:4bd10f531cdc 51 // prepare to test arm state
henryrawas 15:4bd10f531cdc 52 void ArmMeasuresTestStart();
henryrawas 15:4bd10f531cdc 53
henryrawas 13:ffeff9b5e513 54 // test if measurements are in expected range
henryrawas 13:ffeff9b5e513 55 int ArmMeasuresTest(int measureId);
henryrawas 4:36a4eceb1b7f 56
henryrawas 4:36a4eceb1b7f 57 // get all parts for a measurement
henryrawas 13:ffeff9b5e513 58 bool GetArmMeasure(int measureId, float outVals[]);
henryrawas 4:36a4eceb1b7f 59
henryrawas 4:36a4eceb1b7f 60 // get all parts last measurement
henryrawas 13:ffeff9b5e513 61 bool GetArmLastMeasure(int measureId, float outVals[]);
henryrawas 4:36a4eceb1b7f 62
henryrawas 4:36a4eceb1b7f 63 int GetNumParts();
henryrawas 4:36a4eceb1b7f 64
henryrawas 4:36a4eceb1b7f 65 // set arm speed as ms between steps
henryrawas 4:36a4eceb1b7f 66 void SetStepMs(int stepms);
henryrawas 4:36a4eceb1b7f 67
henryrawas 4:36a4eceb1b7f 68 // set ThreadId for signals
henryrawas 4:36a4eceb1b7f 69 void SetThreadId(osThreadId tid);
henryrawas 4:36a4eceb1b7f 70
henryrawas 4:36a4eceb1b7f 71 // get the part object
henryrawas 4:36a4eceb1b7f 72 RobotNode* GetArmPart(int partIx);
henryrawas 4:36a4eceb1b7f 73
henryrawas 4:36a4eceb1b7f 74 // get last error code from action
henryrawas 7:6723f6887d00 75 int GetLastError();
henryrawas 4:36a4eceb1b7f 76
henryrawas 4:36a4eceb1b7f 77 // get index of part with error
henryrawas 4:36a4eceb1b7f 78 int GetLastErrorPart();
henryrawas 4:36a4eceb1b7f 79
henryrawas 7:6723f6887d00 80 // get size of position diff (valid if error)
henryrawas 7:6723f6887d00 81 float GetLastPosDiff();
henryrawas 7:6723f6887d00 82
henryrawas 4:36a4eceb1b7f 83 private:
henryrawas 4:36a4eceb1b7f 84 // sensors and actuators
henryrawas 13:ffeff9b5e513 85 RobotNode* _armParts[NUMJOINTS];
henryrawas 4:36a4eceb1b7f 86
henryrawas 4:36a4eceb1b7f 87 int _numParts;
henryrawas 4:36a4eceb1b7f 88
henryrawas 4:36a4eceb1b7f 89 // #ms between steps
henryrawas 4:36a4eceb1b7f 90 int _stepms;
henryrawas 4:36a4eceb1b7f 91
henryrawas 4:36a4eceb1b7f 92 // thread id
henryrawas 4:36a4eceb1b7f 93 osThreadId _tid;
henryrawas 4:36a4eceb1b7f 94
henryrawas 4:36a4eceb1b7f 95 // part ix for last error
henryrawas 4:36a4eceb1b7f 96 int _lastErrorPart;
henryrawas 7:6723f6887d00 97 // last HW error
henryrawas 7:6723f6887d00 98 int _lastError;
henryrawas 7:6723f6887d00 99 // last position error
henryrawas 7:6723f6887d00 100 float _lastPosDiff;
henryrawas 4:36a4eceb1b7f 101
henryrawas 8:d98e2dec0f40 102 // step-wise position moves
henryrawas 18:224289104fc0 103 float _endgoals[NUMJOINTS];
henryrawas 18:224289104fc0 104 float _differentials[NUMJOINTS];
henryrawas 18:224289104fc0 105 float _lastpos[NUMJOINTS];
henryrawas 18:224289104fc0 106 float _lastgoals[NUMJOINTS];
henryrawas 5:36916b1c5a06 107
henryrawas 7:6723f6887d00 108 // keep track of time period when position is off
henryrawas 18:224289104fc0 109 int _failms[NUMJOINTS];
henryrawas 5:36916b1c5a06 110
henryrawas 18:224289104fc0 111 int _numsteps;
henryrawas 18:224289104fc0 112 int _curstep;
henryrawas 18:224289104fc0 113 int _delayms;
henryrawas 18:224289104fc0 114 int _expDelay;
henryrawas 18:224289104fc0 115 Timer _elapseTimer;
henryrawas 4:36a4eceb1b7f 116 };
henryrawas 4:36a4eceb1b7f 117
henryrawas 4:36a4eceb1b7f 118 #endif