V2.0.4

- fixed pins in examples for Chestnut board
- added ability to enable/disable timer interrupt
- added MS timer and delay

Author: OllyMcBrideOB

README.md

@@ -1,26 +1,25 @@
 # Open Bionics - FingerLib.h
 
-## Description
+##Description
 This library can be used to control up to 6 fingers, which allows control for an Open Bionics robotic hand (Ada, Brunel). Each finger is actuated using a Firgelli
 linear actuator, where the position is determined by using the embedded linear potentiometer. 
 
 FingerLib.h has been designed to closely resemble the Servo.h library, to allow ease of implementation for hobbyists and researchers. 
 
 
-## Supported Boards
-- Almond board
+##Supported Boards
+- [Almond board](https://www.openbionics.com/shop/pcb)
 - Chestnut board
-- Arduino UNO (Timer 1)
-- Atmega2560 (Timer 5)
-- Arduino Zero (TC4)
+- Atmega2560
+- Arduino Zero
 
-## License
+##License
 
-### Creative Commons
+###Creative Commons
 This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License.
 To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/
 
-### Beer-ware
+###Beer-ware
 "THE BEER-WARE LICENSE" (Revision 42):
 <ollymcbride@openbionics.com> wrote this file. As long as you retain this notice you
 can do whatever you want with this stuff. If we meet some day, and you think

examples/HandDemo/Pins.ino

@@ -1,27 +1,3 @@
-
-
-// throw up an error if boards are included incorrectly
-
-/* If an error is thrown by one of the statements below, make sure that you have selected the correct board
- *  within 'Tools -> Board' and also make sure that you have uncommented the correct board in MotorTest.ino
- *  
- *  ALMOND_BOARD -> Arduino/Genuino Mega or Mega 2560
- *  CHESTNUT_BOARD -> Chestnut (Open Bionics Boards)
- */
-#if defined(ARDUINO_AVR_MEGA2560) && !defined(ALMOND_BOARD)
-#error Incorrect board selected, Atmega 2560 is selected in 'Tools -> Board', but ALMOND_BOARD is not selected 
-#elif !defined(ARDUINO_AVR_MEGA2560) && defined(ALMOND_BOARD)
-#error Incorrect board selected, ALMOND_BOARD is selected, but 'Mega 2560' is not selected in 'Tools -> Board'
-#elif defined(ARDUINO_SAMD_CHESTNUT) && !defined(CHESTNUT_BOARD)
-#error Incorrect board selected, Chestnut is selected in 'Tools -> Board', but CHESTNUT_BOARD is not selected 
-#elif defined(ARDUINO_SAMD_CHESTNUT) && !defined(CHESTNUT_BOARD)
-#error Incorrect board selected, CHESTNUT_BOARD is selected, but 'Chestnut' is not selected in 'Tools -> Board'
-#endif
-
-
-
-
-
 // attach the pins to the finger instances
 void pinAssignment(void)
 {
@@ -34,7 +10,7 @@ void pinAssignment(void)
     finger[3].attach(10, 9, A3);
     finger[4].attach(11, 12, A4);
 #elif defined(CHESTNUT_BOARD)
-    finger[0].attach(4, 8, A2, A8, false);  // attach the thumb
+    finger[0].attach(4, 8, A2, A8, false);    // attach the thumb
     finger[1].attach(1, 2, A0, A6, true);   // attach the index (finger is inverted)
     finger[2].attach(7, 5, A1, A9, true);   // attach the middle (finger is inverted)
     finger[3].attach(0, 9, A3, A7, true);   // attach the ring & pinky (fingers are inverted)
@@ -51,10 +27,10 @@ void pinAssignment(void)
     finger[3].attach(7, 8, A2);
     finger[4].attach(3, 6, A1);
 #elif defined(CHESTNUT_BOARD)
-    finger[0].attach(7, 5, A1, A9, false);  // attach the thumb 
-    finger[1].attach(0, 9, A3, A7, true);   // attach the index (finger is inverted) 
+    finger[0].attach(7, 5, A1, A9, false);    // attach the thumb
+    finger[1].attach(0, 9, A3, A7, true);   // attach the index (finger is inverted)
     finger[2].attach(4, 8, A2, A8, true);   // attach the middle (finger is inverted)
-    finger[3].attach(1, 2, A0, A6, true);   // attach the ring & pinky (fingers are inverted)  
+    finger[3].attach(1, 2, A0, A6, true);   // attach the ring & pinky (fingers are inverted)
 #else
 #error 'No board selected'
 #endif

examples/MotorTest/MotorTest.ino

@@ -37,6 +37,7 @@
 //int handFlag = LEFT;
 int handFlag = RIGHT;
 
+
 // MACROS
 #define IS_BETWEEN(x,a,b) ((((x)>=(a))&&((x)<=(b)))?(1):(0))        // check if value x is between values a and b
 

examples/MotorTest/Pins.ino

@@ -1,27 +1,3 @@
-
-
-// throw up an error if boards are included incorrectly
-
-/* If an error is thrown by one of the statements below, make sure that you have selected the correct board
- *  within 'Tools -> Board' and also make sure that you have uncommented the correct board in MotorTest.ino
- *  
- *  ALMOND_BOARD -> Arduino/Genuino Mega or Mega 2560
- *  CHESTNUT_BOARD -> Chestnut (Open Bionics Boards)
- */
-#if defined(ARDUINO_AVR_MEGA2560) && !defined(ALMOND_BOARD)
-#error Incorrect board selected, Atmega 2560 is selected in 'Tools -> Board', but ALMOND_BOARD is not selected 
-#elif !defined(ARDUINO_AVR_MEGA2560) && defined(ALMOND_BOARD)
-#error Incorrect board selected, ALMOND_BOARD is selected, but 'Mega 2560' is not selected in 'Tools -> Board'
-#elif defined(ARDUINO_SAMD_CHESTNUT) && !defined(CHESTNUT_BOARD)
-#error Incorrect board selected, Chestnut is selected in 'Tools -> Board', but CHESTNUT_BOARD is not selected 
-#elif defined(ARDUINO_SAMD_CHESTNUT) && !defined(CHESTNUT_BOARD)
-#error Incorrect board selected, CHESTNUT_BOARD is selected, but 'Chestnut' is not selected in 'Tools -> Board'
-#endif
-
-
-
-
-
 // attach the pins to the finger instances
 void pinAssignment(void)
 {
@@ -34,7 +10,7 @@ void pinAssignment(void)
     finger[3].attach(10, 9, A3);
     finger[4].attach(11, 12, A4);
 #elif defined(CHESTNUT_BOARD)
-    finger[0].attach(4, 8, A2, A8, false);  // attach the thumb
+    finger[0].attach(4, 8, A2, A8, false);    // attach the thumb
     finger[1].attach(1, 2, A0, A6, true);   // attach the index (finger is inverted)
     finger[2].attach(7, 5, A1, A9, true);   // attach the middle (finger is inverted)
     finger[3].attach(0, 9, A3, A7, true);   // attach the ring & pinky (fingers are inverted)
@@ -51,10 +27,10 @@ void pinAssignment(void)
     finger[3].attach(7, 8, A2);
     finger[4].attach(3, 6, A1);
 #elif defined(CHESTNUT_BOARD)
-    finger[0].attach(7, 5, A1, A9, false);  // attach the thumb 
-    finger[1].attach(0, 9, A3, A7, true);   // attach the index (finger is inverted) 
+    finger[0].attach(7, 5, A1, A9, false);    // attach the thumb
+    finger[1].attach(0, 9, A3, A7, true);   // attach the index (finger is inverted)
     finger[2].attach(4, 8, A2, A8, true);   // attach the middle (finger is inverted)
-    finger[3].attach(1, 2, A0, A6, true);   // attach the ring & pinky (fingers are inverted)  
+    finger[3].attach(1, 2, A0, A6, true);   // attach the ring & pinky (fingers are inverted)
 #else
 #error 'No board selected'
 #endif

examples/MultipleFingers/Pins.ino

@@ -1,27 +1,3 @@
-
-
-// throw up an error if boards are included incorrectly
-
-/* If an error is thrown by one of the statements below, make sure that you have selected the correct board
- *  within 'Tools -> Board' and also make sure that you have uncommented the correct board in MotorTest.ino
- *  
- *  ALMOND_BOARD -> Arduino/Genuino Mega or Mega 2560
- *  CHESTNUT_BOARD -> Chestnut (Open Bionics Boards)
- */
-#if defined(ARDUINO_AVR_MEGA2560) && !defined(ALMOND_BOARD)
-#error Incorrect board selected, Atmega 2560 is selected in 'Tools -> Board', but ALMOND_BOARD is not selected 
-#elif !defined(ARDUINO_AVR_MEGA2560) && defined(ALMOND_BOARD)
-#error Incorrect board selected, ALMOND_BOARD is selected, but 'Mega 2560' is not selected in 'Tools -> Board'
-#elif defined(ARDUINO_SAMD_CHESTNUT) && !defined(CHESTNUT_BOARD)
-#error Incorrect board selected, Chestnut is selected in 'Tools -> Board', but CHESTNUT_BOARD is not selected 
-#elif defined(ARDUINO_SAMD_CHESTNUT) && !defined(CHESTNUT_BOARD)
-#error Incorrect board selected, CHESTNUT_BOARD is selected, but 'Chestnut' is not selected in 'Tools -> Board'
-#endif
-
-
-
-
-
 // attach the pins to the finger instances
 void pinAssignment(void)
 {
@@ -34,7 +10,7 @@ void pinAssignment(void)
     finger[3].attach(10, 9, A3);
     finger[4].attach(11, 12, A4);
 #elif defined(CHESTNUT_BOARD)
-    finger[0].attach(4, 8, A2, A8, false);  // attach the thumb
+    finger[0].attach(4, 8, A2, A8, false);    // attach the thumb
     finger[1].attach(1, 2, A0, A6, true);   // attach the index (finger is inverted)
     finger[2].attach(7, 5, A1, A9, true);   // attach the middle (finger is inverted)
     finger[3].attach(0, 9, A3, A7, true);   // attach the ring & pinky (fingers are inverted)
@@ -51,10 +27,10 @@ void pinAssignment(void)
     finger[3].attach(7, 8, A2);
     finger[4].attach(3, 6, A1);
 #elif defined(CHESTNUT_BOARD)
-    finger[0].attach(7, 5, A1, A9, false);  // attach the thumb 
-    finger[1].attach(0, 9, A3, A7, true);   // attach the index (finger is inverted) 
+    finger[0].attach(7, 5, A1, A9, false);    // attach the thumb
+    finger[1].attach(0, 9, A3, A7, true);   // attach the index (finger is inverted)
     finger[2].attach(4, 8, A2, A8, true);   // attach the middle (finger is inverted)
-    finger[3].attach(1, 2, A0, A6, true);   // attach the ring & pinky (fingers are inverted)  
+    finger[3].attach(1, 2, A0, A6, true);   // attach the ring & pinky (fingers are inverted)
 #else
 #error 'No board selected'
 #endif

examples/SingleFinger/SingleFinger.ino

@@ -1,45 +1,34 @@
 /*  Open Bionics - FingerLib Example - SingleFinger
-  Author - Olly McBride
-  Date - October 2015
-
-  This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License.
-  To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/.
-
-  Website - http://www.openbionics.com/
-  GitHub - https://github.com/Open-Bionics
+* Author - Olly McBride
+* Date - October 2015
+*
+* This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License.
+* To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/.
+* 
+* Website - http://www.openbionics.com/
+* GitHub - https://github.com/Open-Bionics
 */
 
 #include <FingerLib.h>
 
 /*
-   WHAT IT DOES
-   Uses the FingerLib.h library to open and close a single finger every 2 seconds
-
-*/
-
-// uncomment one of the following to select the board
-//#define ALMOND_BOARD
-#define CHESTNUT_BOARD
+ * WHAT IT DOES
+ * Uses the FingerLib.h library to open and close a single finger every 2 seconds
+ * 
+ */
 
 // initialise Finger class to array, and assigns pins
 Finger finger;
 
 void setup()
-{
-  // MYSERIAL.print is used to allow compatability between both the Mega (Serial.print)
-  //and the Zero Native Port (SerialUSB.print), and is defined in FingerLib.h
+{ 
+  // MYSERIAL.print is used to allow compatability between both the Mega (Serial.print) 
+  // and the Zero Native Port (SerialUSB.print), and is defined in FingerLib.h
   MYSERIAL.begin(38400);
   MYSERIAL.println("Started");
 
   // configure finger pins
-#if defined(ALMOND_BOARD)
-  finger.attach(3, 6, A1);
-#elif defined(CHESTNUT_BOARD)
-  finger.attach(1, 2, A0, A6, true);   // attach the index (finger is inverted)
-#else
-#error No finger pins configured
-#endif
-
+  finger.attach(1, 2, A0);
   MYSERIAL.println("Pins configured");
 }
 

extras/CHANGELOG.md

@@ -7,6 +7,15 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/) 
 and this project adheres to [Semantic Versioning](http://semver.org/).
 
+## [2.0.4] - Aug 10th, 2017
+
+### Added 
+- The ability to prevent the motor control from being called via an interrupt (Servo.h compatible)
+
+### Changed
+- The hardware timers now check the validity of the function pointers before calling them
+- Pins in library examples are now correct
+
 ## [2.0.3] - June 6th, 2017
 
 ### Added 
@@ -41,7 +50,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 ## [2.0.0] - Jan 12th, 2017
 
 ### Added
-- Comments to pretty much everything
+- Commented to pretty much everything
 - Optional PID controller (enabled by default)
 - Optional force controller (only available on the Chestnut PCB)
 

extras/library_reference.md

@@ -290,7 +290,6 @@ Toggle the finger between open and closed
 
 ####Syntax
 Finger.open_close()
-
 Finger.open_close(dir)
 
 ####Parameters
@@ -509,6 +508,36 @@ val: boolean. true will enable the motor. false will disable the motor
 none
 
 
+####enableInterrupt
+
+####Description
+Enable the motor control to be called via an interrupt (enabled by default)
+
+####Syntax
+Finger.enableInterrupt()
+
+####Parameters
+none
+
+####Returns
+none
+
+
+####disableInterrupt
+
+####Description
+Disable the motor control being called via an interrupt. The motor control function '_fingerControlCallback()' must be called manually in the main loop in order for the motors to move.
+
+####Syntax
+Finger.disableInterrupt()
+
+####Parameters
+none
+
+####Returns
+none
+
+
 ####enableForceSense
 
 ####Description

library.properties

@@ -1,8 +1,8 @@
 name=FingerLib
-version=2.0.3
+version=2.0.4
 author=Olly McBride
 maintainer=Olly McBride <ollymcbride@openbionics.com>
-sentence=Allows for servo-like functionality for finger control. For Almond board, Chestnut board, Arduino UNO, Atmega 2560 & Arduino Zero.
+sentence=Allows for servo-like functionality for finger control. For Atmega 2560 (Almond PCB) and Arduino Zero (Chestnut) only.
 paragraph=This library is created and maintained by Olly McBride on behalf of Open Bionics.
 category=Device Control
 url=http://www.openbionics.com