v2.2.1 Gcode

Author: altjz

examples/Metal/Metal.ino

@@ -1,19 +1,12 @@
-// test by John Feng
-
-//#define LATEST_HARDWARE
 #include "uArm.h"
 
 void setup() {
-  Serial.begin(115200);
-
+  Serial.begin(115200);  // start serial port at 115200 bps
   uArm.setup();
-  Serial.println("[READY]");
-  uArm.moveTo(0, 150, 150, 10);
 
 
 }
 
 void loop() {
   uArm.run();
-
-}
+}

protocol.pdf

@@ -259,14 +259,18 @@ uint8_t Servo::attach(int pin)
   return this->attach(pin, MIN_PULSE_WIDTH, MAX_PULSE_WIDTH);
 }
 
+void Servo::setPulseWidthRange(int min, int max)
+{
+    this->min  = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
+    this->max  = (MAX_PULSE_WIDTH - max)/4;
+}
+
 uint8_t Servo::attach(int pin, int min, int max)
 {
   if(this->servoIndex < MAX_SERVOS ) {
     pinMode( pin, OUTPUT) ;                                   // set servo pin to output
     servos[this->servoIndex].Pin.nbr = pin;
-    // todo min/max check: abs(min - MIN_PULSE_WIDTH) /4 < 128
-    this->min  = (MIN_PULSE_WIDTH - min)/4; //resolution of min/max is 4 uS
-    this->max  = (MAX_PULSE_WIDTH - max)/4;
+    
     // initialize the timer if it has not already been initialized
     timer16_Sequence_t timer = SERVO_INDEX_TO_TIMER(servoIndex);
     if(isTimerActive(timer) == false)

src/UFServo.cpp

@@ -106,6 +106,7 @@ class Servo
   int read();                        // returns current pulse width as an angle between 0 and 180 degrees
   int readMicroseconds();            // returns current pulse width in microseconds for this servo (was read_us() in first release)
   bool attached();                   // return true if this servo is attached, otherwise false 
+  void setPulseWidthRange(int min, int max);
 private:
    uint8_t servoIndex;               // index into the channel data for this servo
    int8_t min;                       // minimum is this value times 4 added to MIN_PULSE_WIDTH