v1.7.3

Author: altjz

HISTORY.md

@@ -1,5 +1,11 @@
 # uArm Arduino Library Release Note
 
+## [1.7.3] - 2016-07-07
+
+### Fix
+- Fix write serial number CONFIRM_FLAG
+- uArm won't move if no LINEAR Calibration
+
 ## [1.7.2] - 2016-06-30
 
 ### Fix

PROTOCOL.md

@@ -104,6 +104,7 @@ REPORT_LIBRARY_VERSION | 0x23    | 0
 
 ### Request READ_ANGLE Message
 
+
 Sequence | Type         | Command/Data | Bytes | Remark
 -------- | ------------ | ------------ | ----- | ------------------------------------------------------------------
 1        | START_SYSEX  | 0xF0         | 1     |
@@ -116,6 +117,7 @@ Sequence | Type         | Command/Data | Bytes | Remark
 
 ### Request WRITE_ANGLE Message
 
+
 Sequence | Type         | Command/Data               | Bytes | Remark
 -------- | ------------ | -------------------------- | ----- | ------------------------------------------------------------------
 1        | START_SYSEX  | 0xF0                       | 1     |
@@ -127,8 +129,10 @@ Sequence | Type         | Command/Data               | Bytes | Remark
 7        | END_SYSEX    | 0xF7                       | 1     |
 -------- | ------------ | ------------               | 9     | ------------------------------------------------------------------
 
+
 ### Request READ_COORDS Message
 
+
 Sequence | Type         | Command/Data | Bytes | Remark
 -------- | ------------ | ------------ | ----- | ------------------------------------------------------------------
 1        | START_SYSEX  | 0xF0         | 1     |
@@ -139,6 +143,7 @@ Sequence | Type         | Command/Data | Bytes | Remark
 
 ### Request WRITE_COORDS Message
 
+
 Sequence | Type           | Command/Data                    | Bytes | Remark
 -------- | -------------- | ------------------------------- | ----- | ----------------------------------------------------------------------------------------------------
 1        | START_SYSEX    | 0xF0                            | 1     |
@@ -157,6 +162,7 @@ Sequence | Type           | Command/Data                    | Bytes | Remark
 
 ### Request READ_DIGITAL Message
 
+
 Sequence | Type         | Command/Data | Bytes | Remark
 -------- | ------------ | ------------ | ----- | ------------------------------------------------------------------
 1        | START_SYSEX  | 0xF0         | 1     |

docs/doxy.conf

@@ -771,7 +771,7 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = ../README.MD ../HISTORY.MD ../src ../examples
+INPUT                  = ../README.MD ../HISTORY.MD ../PROTOCOL.md ../src ../examples
 #INPUT                  = ../
 
 # This tag can be used to specify the character encoding of the source files

examples/UArmProtocol/UArmProtocol.ino

@@ -320,6 +320,7 @@ boolean handleSysex(byte command, byte argc, byte *argv)
             for(byte i=0; i<14; i++){
                 EEPROM.write(SERIAL_NUMBER_ADDRESS+i+1, argv[i+1]);
             }
+            EEPROM.write(SERIAL_NUMBER_ADDRESS, CONFIRM_FLAG);
             return true;
         }
         //0X21 READ_SERIAL_NUMBER

library.properties

@@ -1,5 +1,5 @@
 name=uArmLibrary
-version=1.7.2
+version=1.7.3
 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

@@ -542,6 +542,11 @@ void uArmClass::interpolate(double start_val, double end_val, double *interp_val
    \return SUCCESS, FAILED
  */
 int uArmClass::move_to(double x, double y, double z, double hand_angle, byte relative_flags, double time, byte path_type, byte ease_type, boolean enable_hand) {
+        if (EEPROM.read(CALIBRATION_LINEAR_FLAG) != CONFIRM_FLAG)
+        {
+            alert(50, 10, 10);
+            return FAILED;
+        }
         float limit = sqrt((x*x + y*y));
         if (limit > 32)
         {

version

@@ -1,2 +1,2 @@
 [firmware]
-version=1.7.2
+version=1.7.3