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Diffstat (limited to 'USB_Host_Shield/examples/arm_mouse.pde')
-rw-r--r-- | USB_Host_Shield/examples/arm_mouse.pde | 284 |
1 files changed, 0 insertions, 284 deletions
diff --git a/USB_Host_Shield/examples/arm_mouse.pde b/USB_Host_Shield/examples/arm_mouse.pde deleted file mode 100644 index e934354..0000000 --- a/USB_Host_Shield/examples/arm_mouse.pde +++ /dev/null @@ -1,284 +0,0 @@ -/* AL5D robotic arm manual control using USB mouse. Servo controller by Renbotics with some pins swapped, USB Host Shield by Circuits At Home */ -#include <ServoShield.h> -#include <Spi.h> -#include <Max3421e.h> -#include <Usb.h> - -#define DEVADDR 1 -#define CONFVALUE 1 - - - - -/* Arm dimensions( mm ) */ -#define BASE_HGT 67.31 //base hight 2.65" -#define HUMERUS 146.05 //shoulder-to-elbow "bone" 5.75" -#define ULNA 187.325 //elbow-to-wrist "bone" 7.375" -#define GRIPPER 100.00 //gripper (incl.heavy duty wrist rotate mechanism) length 3.94" - -#define ftl(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) //float to long conversion - -/* Servo names/numbers */ -/* Base servo HS-485HB */ -#define BAS_SERVO 0 -/* Shoulder Servo HS-5745-MG */ -#define SHL_SERVO 1 -/* Elbow Servo HS-5745-MG */ -#define ELB_SERVO 2 -/* Wrist servo HS-645MG */ -#define WRI_SERVO 3 -/* Wrist rotate servo HS-485HB */ -#define WRO_SERVO 4 -/* Gripper servo HS-422 */ -#define GRI_SERVO 5 - -//#define ARM_PARK set_arm( -50, 140, 100, 0 ) //arm parking position - -/* pre-calculations */ -float hum_sq = HUMERUS*HUMERUS; -float uln_sq = ULNA*ULNA; - -void setup(); -void loop(); - -ServoShield servos; //ServoShield object -MAX3421E Max; -USB Usb; -//ServoShield servos; //ServoShield object - -/* Arm data structure */ -struct { - float x_coord; // X coordinate of the gripper tip - float y_coord; // Y coordinate of the gripper tip - float z_coord; //Z coordinate of the gripper tip - float gripper_angle; //gripper angle - int16_t gripper_servo; //gripper servo pulse duration - int16_t wrist_rotate; //wrist rotate servo pulse duration -} armdata; - -void setup() -{ - /* set servo end points */ - servos.setbounds( BAS_SERVO, 900, 2100 ); - servos.setbounds( SHL_SERVO, 1000, 2100 ); - servos.setbounds( ELB_SERVO, 900, 2100 ); - servos.setbounds( WRI_SERVO, 600, 2400 ); - servos.setbounds( WRO_SERVO, 600, 2400 ); - servos.setbounds( GRI_SERVO, 890, 2100 ); - /**/ -// servo_park(); - arm_park(); - - servos.start(); //Start the servo shield - Max.powerOn(); - Serial.begin( 115200 ); - Serial.println("Start"); - delay( 500 ); - //ARM_PARK; -} - -void loop() -{ -byte rcode; - //delay( 10 ); - set_arm( armdata.x_coord, armdata.y_coord, armdata.z_coord, armdata.gripper_angle ); - servos.setposition( WRO_SERVO, armdata.wrist_rotate ); - servos.setposition( GRI_SERVO, armdata.gripper_servo ); - //ARM_PARK; - // circle(); - Max.Task(); - Usb.Task(); - if( Usb.getUsbTaskState() == USB_STATE_CONFIGURING ) { - mouse_init(); - }//if( Usb.getUsbTaskState() == USB_STATE_CONFIGURING... - if( Usb.getUsbTaskState() == USB_STATE_RUNNING ) { //poll the keyboard - rcode = mouse_poll(); - if( rcode ) { - Serial.print("Mouse Poll Error: "); - Serial.println( rcode, HEX ); - }//if( rcode... - }//if( Usb.getUsbTaskState() == USB_STATE_RUNNING... - //Serial.println( armdata.gripper_servo, DEC ); -} - -/* Initialize mouse */ -void mouse_init( void ) -{ - byte rcode = 0; //return code - /**/ - Usb.setDevTableEntry( 1, Usb.getDevTableEntry( 0,0 ) ); //copy device 0 endpoint information to device 1 - /* Configure device */ - rcode = Usb.setConf( DEVADDR, 0, CONFVALUE ); - if( rcode ) { - Serial.print("Error configuring mouse. Return code : "); - Serial.println( rcode, HEX ); - while(1); //stop - }//if( rcode... - Usb.setUsbTaskState( USB_STATE_RUNNING ); - return; -} - -/* Poll mouse using Get Report and fill arm data structure */ -byte mouse_poll( void ) -{ - byte rcode; - char buf[ 4 ]; //mouse buffer - static uint16_t delay = 500; //delay before park - - /* poll mouse */ - rcode = Usb.getReport( DEVADDR, 0, 4, 0, 1, 0, buf ); - if( rcode ) { //error - return( rcode ); - } - // todo: add arm limit check - armdata.x_coord += ( buf[ 1 ] * -0.1 ); - armdata.y_coord += ( buf[ 2 ] * -0.1 ); - switch( buf[ 0 ] ) { //read buttons - case 0x00: //no buttons pressed - armdata.z_coord += ( buf[ 3 ] * -2 ) ; - break; - case 0x01: //button 1 pressed. Wheel sets gripper angle - armdata.gripper_servo += ( buf[ 3 ] * -20 ); - /* check gripper boundaries */ - if( armdata.gripper_servo < 1000 ) { - armdata.gripper_servo = 1000; - } - if( armdata.gripper_servo > 2100 ) { - armdata.gripper_servo = 2100; - } - break; - case 0x02: //button 2 pressed. Wheel sets wrist rotate - armdata.wrist_rotate += ( buf[ 3 ] * -10 ); - /* check wrist rotate boundaries */ - if( armdata.wrist_rotate < 600 ) { - armdata.wrist_rotate = 600; - } - if( armdata.wrist_rotate > 2400 ) { - armdata.wrist_rotate = 2400; - } - break; - case 0x04: //wheel button pressed. Wheel controls gripper - armdata.gripper_angle += ( buf[ 3 ] * -1 ); - /* check gripper angle boundaries */ - if( armdata.gripper_angle < -90 ) { - armdata.gripper_angle = -90; - } - if( armdata.gripper_angle > 90 ) { - armdata.gripper_angle = 90; - } - break; - case 0x07: //all 3 buttons pressed. Park the arm - arm_park(); - break; - }//switch( buf[ 0 ... - Serial.println( armdata.wrist_rotate, DEC ); -} - - -/* arm positioning routine utilizing inverse kinematics */ -/* z is height, y is distance from base center out, x is side to side. y,z can only be positive */ -//void set_arm( uint16_t x, uint16_t y, uint16_t z, uint16_t grip_angle ) -void set_arm( float x, float y, float z, float grip_angle_d ) -{ - float grip_angle_r = radians( grip_angle_d ); //grip angle in radians for use in calculations - /* Base angle and radial distance from x,y coordinates */ - float bas_angle_r = atan2( x, y ); - float rdist = sqrt(( x * x ) + ( y * y )); - /* rdist is y coordinate for the arm */ - y = rdist; - /* Grip offsets calculated based on grip angle */ - float grip_off_z = ( sin( grip_angle_r )) * GRIPPER; - float grip_off_y = ( cos( grip_angle_r )) * GRIPPER; - /* Wrist position */ - float wrist_z = ( z - grip_off_z ) - BASE_HGT; - float wrist_y = y - grip_off_y; - /* Shoulder to wrist distance ( AKA sw ) */ - float s_w = ( wrist_z * wrist_z ) + ( wrist_y * wrist_y ); - float s_w_sqrt = sqrt( s_w ); - /* s_w angle to ground */ - //float a1 = atan2( wrist_y, wrist_z ); - float a1 = atan2( wrist_z, wrist_y ); - /* s_w angle to humerus */ - float a2 = acos((( hum_sq - uln_sq ) + s_w ) / ( 2 * HUMERUS * s_w_sqrt )); - /* shoulder angle */ - float shl_angle_r = a1 + a2; - float shl_angle_d = degrees( shl_angle_r ); - /* elbow angle */ - float elb_angle_r = acos(( hum_sq + uln_sq - s_w ) / ( 2 * HUMERUS * ULNA )); - float elb_angle_d = degrees( elb_angle_r ); - float elb_angle_dn = -( 180.0 - elb_angle_d ); - /* wrist angle */ - float wri_angle_d = ( grip_angle_d - elb_angle_dn ) - shl_angle_d; - - /* Servo pulses */ - float bas_servopulse = 1500.0 - (( degrees( bas_angle_r )) * 11.11 ); - float shl_servopulse = 1500.0 + (( shl_angle_d - 90.0 ) * 6.6 ); - float elb_servopulse = 1500.0 - (( elb_angle_d - 90.0 ) * 6.6 ); - float wri_servopulse = 1500 + ( wri_angle_d * 11.1 ); - - /* Set servos */ - servos.setposition( BAS_SERVO, ftl( bas_servopulse )); - servos.setposition( WRI_SERVO, ftl( wri_servopulse )); - servos.setposition( SHL_SERVO, ftl( shl_servopulse )); - servos.setposition( ELB_SERVO, ftl( elb_servopulse )); - -} - -/* moves the arm to parking position */ -void arm_park() -{ - set_arm( armdata.x_coord = -50, armdata.y_coord = 140, armdata.z_coord = 100, armdata.gripper_angle = 0 ); - servos.setposition( WRO_SERVO, armdata.wrist_rotate = 600 ); - servos.setposition( GRI_SERVO, armdata.gripper_servo = 900 ); -} - -/* move servos to parking position */ -void servo_park() -{ - servos.setposition( BAS_SERVO, 1715 ); - servos.setposition( SHL_SERVO, 2100 ); - servos.setposition( ELB_SERVO, 2100 ); - servos.setposition( WRI_SERVO, 1800 ); - servos.setposition( WRO_SERVO, 600 ); - servos.setposition( GRI_SERVO, 900 ); - return; -} - -void zero_x() -{ - for( double yaxis = 150.0; yaxis < 356.0; yaxis += 1 ) { - set_arm( 0, yaxis, 127.0, 0 ); - delay( 10 ); - } - for( double yaxis = 356.0; yaxis > 150.0; yaxis -= 1 ) { - set_arm( 0, yaxis, 127.0, 0 ); - delay( 10 ); - } -} - -/* moves arm in a straight line */ -void line() -{ - for( double xaxis = -100.0; xaxis < 100.0; xaxis += 0.5 ) { - set_arm( xaxis, 250, 100, 0 ); - delay( 10 ); - } - for( float xaxis = 100.0; xaxis > -100.0; xaxis -= 0.5 ) { - set_arm( xaxis, 250, 100, 0 ); - delay( 10 ); - } -} - -void circle() -{ - #define RADIUS 80.0 - //float angle = 0; - float zaxis,yaxis; - for( float angle = 0.0; angle < 360.0; angle += 1.0 ) { - yaxis = RADIUS * sin( radians( angle )) + 200; - zaxis = RADIUS * cos( radians( angle )) + 200; - set_arm( 0, yaxis, zaxis, 0 ); - delay( 1 ); - } -} -
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