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dcorboydcorboy
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Extension of movement functionality
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‎examples/movement/movement.ino‎

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/******************************************************************************************
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File Name : movement.ino
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Author : Dave Corboy
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Version : V1.0
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Date : 24 Feb, 2016
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Modified Date : 28 Feb, 2016
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Description : uArm Metal Movement Type Demo
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*******************************************************************************************/
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#include <Wire.h>
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#include <uarm_library.h>
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// states
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#define MOVEMENT 0
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#define SERVO_CACHE 1
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#define PATHING 2
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#define EASING 3
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#define HAND_REL 4
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byte state;
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void setup() {
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Wire.begin(); // join i2c bus (address optional for master)
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Serial.begin(9600); // start serial port at 9600 bps
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// uArm init
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pinMode(STOPPER, INPUT_PULLUP); digitalWrite(STOPPER, HIGH);
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pinMode(BTN_D4, INPUT_PULLUP); digitalWrite(BTN_D4, HIGH);
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pinMode(BTN_D7, INPUT_PULLUP); digitalWrite(BTN_D7, HIGH);
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pinMode(BUZZER, OUTPUT); digitalWrite(BUZZER, LOW);
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pinMode(PUMP_EN, OUTPUT); digitalWrite(PUMP_EN, LOW);
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pinMode(VALVE_EN, OUTPUT); digitalWrite(VALVE_EN, LOW);
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// uArm init
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alert(2);
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change_state(MOVEMENT);
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}
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void loop() {
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if (Serial.available() > 0) {
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byte input = Serial.read();
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switch (state) {
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case MOVEMENT :
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if (input == 's') {
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change_state(SERVO_CACHE);
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} else if (input == 'p') {
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change_state(PATHING);
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} else if (input == 'e') {
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change_state(EASING);
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} else if (input == 'h') {
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change_state(HAND_REL);
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}
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break;
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case SERVO_CACHE :
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if (input == 'q') {
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change_state(MOVEMENT);
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} else if (input == 'b') {
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// detaching the servos after each move forces the cache to be recalculated, generating the errors
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many_xyz_start_points(true);
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move_home_position(.5);
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} else if (input == 'a') {
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// without detaching, the servo angle cache remains in place and initial movement has less jitter
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many_xyz_start_points(false);
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move_home_position(.5);
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}
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break;
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case PATHING :
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if (input == 'q') {
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change_state(MOVEMENT);
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} else if (input == 'l') {
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path_moves(PATH_LINEAR); // PATH_LINEAR creates a linear path between the start end and point
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} else if (input == 'a') {
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path_moves(PATH_ANGLES); // PATH_ANGLES instead interpolates the start and ending servos positions
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}
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break;
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case EASING :
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if (input == 'q') {
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change_state(MOVEMENT);
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} else if (input == 'c') {
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ease_moves(INTERP_EASE_INOUT_CUBIC);
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} else if (input == 'e') {
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ease_moves(INTERP_EASE_INOUT);
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} else if (input == 'i') {
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ease_moves(INTERP_EASE_IN);
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} else if (input == 'o') {
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ease_moves(INTERP_EASE_OUT);
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} else if (input == 'l') {
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ease_moves(INTERP_LINEAR);
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}
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break;
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case HAND_REL :
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if (input == 'q') {
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change_state(MOVEMENT);
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} else if (input == 'n') {
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hand_moves(F_ABSOLUTE);
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} else if (input == 'r') {
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hand_moves(F_HAND_ROT_REL);
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}
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break;
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}
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}
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}
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void change_state(byte new_state) {
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switch (new_state) {
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case MOVEMENT :
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Serial.println(F("This sketch demonstrates the changes added to uArm movement functions."));
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Serial.println(F("Select an item for demonstration:"));
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Serial.println(F("(s) Servo caching"));
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Serial.println(F("(p) Path options"));
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Serial.println(F("(e) Easing of movement"));
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Serial.println(F("(h) Hand-relative orientation"));
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move_home_position(1);
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break;
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case SERVO_CACHE :
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Serial.println(F("Servo values are now cached to remove readAngle error introduced at the beginning of a move."));
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Serial.println(F("(b) Before servo caching"));
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Serial.println(F("(a) After servo caching"));
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Serial.println(F("(q) Quit to top menu"));
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break;
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case PATHING :
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Serial.println(F("In addition to the original linear path, a new option to interpolate"));
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Serial.println(F("servo angles can sometimes offer smoother, non-linear movement."));
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Serial.println(F("(l) Linear path demo"));
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Serial.println(F("(a) Angular path demo"));
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Serial.println(F("(q) Quit to top menu"));
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break;
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break;
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case EASING :
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Serial.println(F("Several new movement easing function have also been added."));
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Serial.println(F("(c) Original cubic easing"));
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Serial.println(F("(e) Quadratic ease-in/ease-out"));
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Serial.println(F("(i) Quadratic ease-in only"));
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Serial.println(F("(o) Quadratic ease-out only"));
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Serial.println(F("(l) Linear (no easing)"));
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Serial.println(F("(q) Quit to top menu"));
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break;
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break;
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case HAND_REL :
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Serial.println(F("Hand rotation can automatically maintain orientation through base rotation."));
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Serial.println(F("(n) No hand orientation"));
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Serial.println(F("(r) Rotation-relative hand"));
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Serial.println(F("(q) Quit to top menu"));
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break;
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}
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Serial.println();
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state = new_state;
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}
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void alert(byte beeps) {
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uarm.alert(beeps, 50, 50);
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}
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void move_home_position(float time) {
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uarm.moveToOpts(0, -21, 20, 90, F_ABSOLUTE, time, PATH_ANGLES, INTERP_EASE_INOUT);
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}
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void many_xyz_start_points(bool recalc_servos) {
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// detaching the servos after each move forces the cache to be recalculated, generating the errors
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// this mimics the previous behavior where positions were always recalculated between moves
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if (recalc_servos) {
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uarm.detachAll();
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}
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uarm.moveToOpts(-14, -19, 20, 90, F_ABSOLUTE, .5, PATH_ANGLES, INTERP_EASE_INOUT);
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if (recalc_servos) {
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uarm.detachAll();
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}
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delay(500);
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uarm.moveToOpts(-7, -26, 14, 90, F_ABSOLUTE, .5, PATH_ANGLES, INTERP_EASE_INOUT);
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if (recalc_servos) {
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uarm.detachAll();
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}
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delay(500);
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uarm.moveToOpts(0, -19, 20, 90, F_ABSOLUTE, .5, PATH_ANGLES, INTERP_EASE_INOUT);
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if (recalc_servos) {
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uarm.detachAll();
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}
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delay(500);
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uarm.moveToOpts(7, -26, 14, 90, F_ABSOLUTE, .5, PATH_ANGLES, INTERP_EASE_INOUT);
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if (recalc_servos) {
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uarm.detachAll();
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}
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delay(500);
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uarm.moveToOpts(14, -19, 20, 90, F_ABSOLUTE, .5, PATH_ANGLES, INTERP_EASE_INOUT);
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if (recalc_servos) {
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uarm.detachAll();
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}
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delay(500);
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}
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void path_moves(byte path_type) {
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// PATH_LINEAR creates a linear path between the start end and point
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// PATH_ANGLES instead interpolates the start and ending servos positions
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uarm.moveToOpts(-7, -14, 10, 90, F_ABSOLUTE, 1, path_type, INTERP_EASE_INOUT);
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delay(500);
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uarm.moveToOpts(15, -26, 20, 90, F_ABSOLUTE, 1, path_type, INTERP_EASE_INOUT);
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delay(500);
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uarm.moveToOpts(-15, -26, 20, 90, F_ABSOLUTE, 1, path_type, INTERP_EASE_INOUT);
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delay(500);
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uarm.moveToOpts(7, -14, 10, 90, F_ABSOLUTE, 1, path_type, INTERP_EASE_INOUT);
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delay(500);
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uarm.moveToOpts(0, -21, 20, 90, F_ABSOLUTE, 1, path_type, INTERP_EASE_INOUT);
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}
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void ease_moves(byte ease_type) {
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uarm.moveToOpts(-10, -26, 15, 90, F_ABSOLUTE, 1, PATH_ANGLES, INTERP_EASE_INOUT);
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delay(750);
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uarm.moveToOpts(10, -26, 15, 90, F_ABSOLUTE, .75, PATH_ANGLES, ease_type);
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delay(500);
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uarm.moveToOpts(10, -14, 15, 90, F_ABSOLUTE, .75, PATH_ANGLES, ease_type);
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delay(500);
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uarm.moveToOpts(-10, -14, 15, 90, F_ABSOLUTE, .75, PATH_ANGLES, ease_type);
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delay(500);
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uarm.moveToOpts(-10, -26, 15, 90, F_ABSOLUTE, .75, PATH_ANGLES, ease_type);
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delay(750);
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uarm.moveToOpts(0, -21, 20, 90, F_ABSOLUTE, 1, PATH_ANGLES, INTERP_EASE_INOUT);
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}
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void hand_moves(byte relative) {
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// F_HAND_ROT_REL will keep the hand orientation contstant through a move
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uarm.moveToOpts(-15, -15, 12, relative ? 0 : 90, relative, 1, PATH_ANGLES, INTERP_EASE_INOUT);
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delay(500);
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uarm.moveToOpts(-15, -15, 8, relative ? 0 : 90, relative, .5, PATH_ANGLES, INTERP_EASE_INOUT);
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delay(500);
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uarm.moveToOpts(-15, -15, 17, relative ? 0 : 90, relative, .5, PATH_ANGLES, INTERP_EASE_INOUT);
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delay(500);
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uarm.moveToOpts(15, -15, 17, relative ? 0 : 90, relative, 2, PATH_ANGLES, INTERP_EASE_INOUT);
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delay(500);
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uarm.moveToOpts(15, -15, 8, relative ? 0 : 90, relative, .5, PATH_ANGLES, INTERP_EASE_INOUT);
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delay(500);
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uarm.moveToOpts(0, -21, 20, 90, F_ABSOLUTE, 1, PATH_ANGLES, INTERP_EASE_INOUT);
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}
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