remove uArm Action Control

Author: Alex

examples/.DS_Store

@@ -8,18 +8,39 @@
 * Copyright(C) 2015 uArm Team. All right reserved.
 *******************************************************************************************/
 
-#include <Servo.h>
-#include <Wire.h>
+/*
+ * Table of Content
+
+ * Function 1 - 4 :    move to a certain point (f)
+ * Fucntion 5 - 6 :    move a Rectangle or a curve (function 5-6)
+ * Function 7 - 8 :    attach or detach all servos (function 7-8)
+ * Function 9     :    uArm calibration
+ * Function 10    :    read current coordinate x,y,z
+ * Function 11    :    recording mode 
+
+*/
+
+// headers should must include these four headers
+
 #include <EEPROM.h>
+#include <Wire.h>
+#include "uArm_library.h"
 #include "uArm_calibration.h"
-#include "uArm_Library.h"
+#include <Servo.h>
+
+// define a uArm 
+//uArmLibrary uArm;  
+int value;        // value is the data recevied 
 
 void setup() {
 
       Wire.begin();        // join i2c bus (address optional for master)
-      Serial.begin(9600);  // start serial port at 9600 bps      
+      Serial.begin(9600);  // start serial port at 9600 bps
+      // uArm.init();
+      
 }
 
+
 void loop() {
 
   if(Serial.available()>0)
@@ -28,13 +49,11 @@ void loop() {
       char readSerial = Serial.read();
       Serial.println(readSerial);
 
+         
       if (readSerial == 'c') {
         calib.calibrations();
       }
-      if (readSerial == 'r') {
-        Serial.println(uarm.readServoOffset(SERVO_ROT_NUM));
-        Serial.println(uarm.readServoOffset(SERVO_LEFT_NUM));
-        Serial.println(uarm.readServoOffset(SERVO_RIGHT_NUM));
-      }
+      
+  
   } // close read available
 }

examples/Calibration/Calibration.ino

@@ -15,8 +15,9 @@
 
 // Firmata-UCP
 #include <EEPROM.h>
+#include "uarm_library.h"
 #include "ucp.h"
-#include "uarm_action_control.h"
+
 
 
 void setup()
@@ -51,7 +52,7 @@ void sysexCallback(byte command, byte argc, byte *argv)
             short y = ucp.convertNumToCM(ucp.getValuesAsTwobitBytes(argv[3],argv[4]));
             short z = ucp.convertNumToCM(ucp.getValuesAsTwobitBytes(argv[5],argv[6]));
             short t = ucp.convertDMSToSec(ucp.getValuesAsTwobitBytes(argv[7],argv[8]));
-            actionControl.moveTo(x,y,z,RELATIVE,t);
+            uarm.moveTo(x,y,z,RELATIVE,t);
            if(ucp.debugMode)
             {
               // Serial.print("X is: ");
@@ -72,7 +73,7 @@ void sysexCallback(byte command, byte argc, byte *argv)
             short y = ucp.convertNumToCM(ucp.getValuesAsTwobitBytes(argv[3],argv[4]));
             short z = ucp.convertNumToCM(ucp.getValuesAsTwobitBytes(argv[5],argv[6]));
             short t = ucp.convertDMSToSec(ucp.getValuesAsTwobitBytes(argv[7],argv[8]));
-            actionControl.moveTo(x,y,z,ABSOLUTE,t); //   
+            uarm.moveTo(x,y,z,ABSOLUTE,t); //   
             if(ucp.debugMode)
             {
                // ucp.sendString("Debug Mode Test");
@@ -104,9 +105,9 @@ void sysexCallback(byte command, byte argc, byte *argv)
           case AC_PUMP:
           {
             if (argv[1] == UCP_SWITCH_ON)
-              actionControl.gripperCatch();
+              uarm.gripperCatch();
             else
-              actionControl.gripperRelease();
+              uarm.gripperRelease();
             break;
           }
         }

examples/StandardUCP/StandardUCP.ino

@@ -26,7 +26,6 @@
 #include <Wire.h>
 #include "uArm_library.h"
 #include "uArm_calibration.h"
-#include "uArm_action_control.h"
 #include <Servo.h>
 
 // define a uArm 
@@ -55,7 +54,7 @@ void loop() {
       // x = 13, y = -13, z = 3 
 
       if (readSerial == '1') {
-        actionControl.moveTo(13,-13,3);
+        uarm.moveTo(13,-13,3);
         // uArm.moveTo(13.0,13.0,3.0);
         delay(1000);
        }
@@ -65,7 +64,7 @@ void loop() {
       // x = -13, y = -13, z = 3 
 
       if (readSerial == '2') {
-        actionControl.moveTo(-13,-13,3);
+        uarm.moveTo(-13,-13,3);
         delay(1000);
        }
 
@@ -74,7 +73,7 @@ void loop() {
       // (dot) dx = 4, dy = -3, dz = 2 in 5 seconds 
 
       if (readSerial == '3') {
-        actionControl.moveTo(1,1,1,RELATIVE,2);
+        uarm.moveTo(1,1,1,RELATIVE,2);
         delay(1000);
        }
 
@@ -83,7 +82,7 @@ void loop() {
       // (dot) dx = -4, dy = 3, dz = -2 in 5 seconds 
 
       if (readSerial == '4') {
-        actionControl.moveTo(-4,3,-2,RELATIVE,5);
+        uarm.moveTo(-4,3,-2,RELATIVE,5);
         delay(1000);
        }
 
@@ -92,7 +91,7 @@ void loop() {
       // width in 2 seconds for one arm ( 8s totally) 
 
       if (readSerial == '5') {
-        actionControl.drawRec(10,5,2);
+        uarm.drawRec(10,5,2);
         delay(1000);
        }
 
@@ -101,7 +100,7 @@ void loop() {
       // width (circle) for full 360 degree in 2 seconds 
 
       if (readSerial == '6') {
-        actionControl.drawCur(6,6,360,2);
+        uarm.drawCur(6,6,360,2);
         delay(1000);
        }
 
@@ -131,11 +130,11 @@ void loop() {
 
       if (readSerial == 'g') {
         Serial.print("The current location is ");
-        Serial.print(actionControl.getCalX());
+        Serial.print(uarm.getCalX());
         Serial.print(" , ");
-        Serial.print(actionControl.getCalY());
+        Serial.print(uarm.getCalY());
         Serial.print(" , ");
-        Serial.print(actionControl.getCalZ());
+        Serial.print(uarm.getCalZ());
         Serial.println();
         delay(1000);
       }

examples/Test/Test.ino

@@ -12,7 +12,6 @@
 #include <EEPROM.h>
 #include <Wire.h>
 #include <uArm_library.h>
-#include <uArm_action_control.h>
 #include <Servo.h>
 
 // headers need to be loaded first
@@ -53,7 +52,7 @@ void loop(){
     // first input a to the console to make sure uArm is located above the center of iphone box 
       if(readSerial == 'a')
     {
-       actionControl.moveTo(centerOfBox_x, centerOfBox_y, centerOfBox_z_case);
+       uarm.moveTo(centerOfBox_x, centerOfBox_y, centerOfBox_z_case);
     }
 
     // then you can input b to execute main functions
@@ -95,7 +94,7 @@ void loop(){
         // destination position x = -10, y = -11, z = 18;
         // rotation angle = 45  means the object need to be rotate 45 degree due to the rotation of base servo  
 
-      actionControl.moveTo(centerOfBox_x, centerOfBox_y, centerOfBox_z_case);     // finally, move back to initial position
+      uarm.moveTo(centerOfBox_x, centerOfBox_y, centerOfBox_z_case);     // finally, move back to initial position
       digitalWrite(6,LOW);      // double check to disable the pump
       digitalWrite(5,LOW);
    }
@@ -111,13 +110,13 @@ void mainMove(double iniX, double iniY, double iniZ, double desX, double desY, d
   // desX, desY, desZ are the desitination of uArm
   // rotDeg is the rotation degree of end-effector to rotate the object
 {
-  actionControl.moveTo(iniX,iniY,iniZ);          // move the initial position
+  uarm.moveTo(iniX,iniY,iniZ);          // move the initial position
   absorbFcn(1,0, iniX, iniY , iniZ);    // move end-effector downwards until stopper hit something, 1 means begin to absorb 
-  actionControl.moveTo(0,0,10,1,6);              // move upwards for 10 cm in 6 seconds - slow upwards (relative = 1, means only move in the z axis)
-  actionControl.moveTo(desX,desY,desZ,0,2);      // move the destination position
+  uarm.moveTo(0,0,10,1,6);              // move upwards for 10 cm in 6 seconds - slow upwards (relative = 1, means only move in the z axis)
+  uarm.moveTo(desX,desY,desZ,0,2);      // move the destination position
   absorbFcn(2,rotDeg,desX,desY,desZ);   // move end-effector downwards until stopper hit something, 0 means disable the pump
-  actionControl.moveTo(0,0,5,1,4,rotDeg);        // move the upwards in 4 seconds - slow upwards
-  actionControl.moveTo(desX,desY,desZ);          // move to destination
+  uarm.moveTo(0,0,5,1,4,rotDeg);        // move the upwards in 4 seconds - slow upwards
+  uarm.moveTo(desX,desY,desZ);          // move to destination
 }
 
 
@@ -130,7 +129,7 @@ void absorbFcn(int trigger, int rotDeg, double currentX, double currentY, double
       buttonState = digitalRead(stopperPin);      // if stopper hit anything, the reading would be LOW
       if(buttonState == HIGH)                     // while reading is HIGH, keep move downwards for 2 cm
       {
-        actionControl.moveTo(currentX,currentY,currentZ,0,0.5,rotDeg);
+        uarm.moveTo(currentX,currentY,currentZ,0,0.5,rotDeg);
         currentZ = currentZ - 2;    // every time movedowards for 0.2 cm
         delay(50);
       }