v1.7.4

Author: altjz

HISTORY.md

@@ -1,5 +1,10 @@
 # uArm Arduino Library Release Note
 
+## [1.7.4] - 2016-09-08
+
+### Fix
+- Fix uArm, if connect USB before plug DC adapter.
+
 ## [1.7.3] - 2016-07-07
 
 ### Fix

examples/UArmProtocol/UArmProtocol.ino

@@ -20,7 +20,7 @@
 
 #define UARM_FIRMWARE_MAJOR_VERSION 1
 #define UARM_FIRMWARE_MINOR_VERSION 7
-#define UARM_FIRMWARE_BUGFIX        3
+#define UARM_FIRMWARE_BUGFIX        4
 
 #define START_SYSEX             0xF0 // start a MIDI Sysex message
 #define END_SYSEX               0xF7 // end a MIDI Sysex message

library.properties

@@ -1,5 +1,5 @@
 name=uArmLibrary
-version=1.7.3
+version=1.7.4
 author=UFactory <developer@ufactory.cc>
 maintainer=Joey Song <joey@ufactory.cc>, Alex Tan<alex@ufactory.cc>, Dave Corboy<dave@corboy.com>
 sentence=uArm Library for Arduino

src/uarm_library.cpp

@@ -154,7 +154,7 @@ boolean uArmClass::set_servo_status(boolean setAttached, byte servoNum){
         double angleBefore = 90;
         if(servoNum == SERVO_ROT_NUM) {
                 if(setAttached) {
-                        if (is_linear_calibrated == true) {
+                        if (is_linear_calibrated == true && analogRead(SERVO_ROT_ANALOG_PIN) > 50) {
                                 angleBefore = read_servo_angle(SERVO_ROT_NUM);
                                 // Serial.println("New angle" + String(angleBefore));
                                 uarm.g_servo_rot.attach(SERVO_ROT_PIN);
@@ -170,7 +170,7 @@ boolean uArmClass::set_servo_status(boolean setAttached, byte servoNum){
                 }
         }else if(servoNum == SERVO_LEFT_NUM) {
                 if(setAttached) {
-                        if (is_linear_calibrated == true) {
+                        if (is_linear_calibrated == true && analogRead(SERVO_LEFT_ANALOG_PIN) > 50) {
                                 angleBefore = uarm.read_servo_angle(SERVO_LEFT_NUM);
                                 uarm.g_servo_left.attach(SERVO_LEFT_PIN);
                                 uarm.g_servo_left.write(angleBefore);
@@ -185,7 +185,7 @@ boolean uArmClass::set_servo_status(boolean setAttached, byte servoNum){
                 }
         }else if(servoNum == SERVO_RIGHT_NUM) {
                 if(setAttached) {
-                        if (is_linear_calibrated == true) {
+                        if (is_linear_calibrated == true && analogRead(SERVO_RIGHT_ANALOG_PIN) > 50) {
                                 angleBefore = uarm.read_servo_angle(SERVO_RIGHT_NUM);
                                 uarm.g_servo_right.attach(SERVO_RIGHT_PIN);
                                 uarm.g_servo_right.write(angleBefore);
@@ -200,7 +200,7 @@ boolean uArmClass::set_servo_status(boolean setAttached, byte servoNum){
                 }
         }else if(servoNum == SERVO_HAND_ROT_NUM) {
                 if(setAttached) {
-                        if (is_linear_calibrated == true) {
+                        if (is_linear_calibrated == true && analogRead(SERVO_HAND_ROT_ANALOG_PIN) >100 ) {
                                 angleBefore = uarm.read_servo_angle(SERVO_HAND_ROT_NUM);
                                 uarm.g_servo_hand_rot.attach(SERVO_HAND_PIN);
                                 uarm.g_servo_hand_rot.write(angleBefore);

version

@@ -1,2 +1,2 @@
 [firmware]
-version=1.7.3
+version=1.7.4