add Hit Points example

Author: Alex

examples/.DS_Store

@@ -0,0 +1,179 @@
+#include <EEPROM.h>
+#include <Wire.h>
+#include <uArm_library.h>
+#include <Servo.h>
+
+ // define uarm class
+
+void hitPoint(int pointNumber);     // predefine a hitPoint function
+
+void setup() {
+      Wire.begin();        // join i2c bus (address optional for master)
+      Serial.begin(9600);  // start serial port at 9600 bps
+}
+
+
+int pointNumber = 7;                // there are 7 points in total need to be hit
+int theta4Offset = 90;              // the angle between the 4th servo and 1st servo
+double h1 = 10;                     // the height of the point
+double h2 = 5;                      // the height of the point above the hitting point (get ready to hit)
+double y1 = -22;                    // the distance along the y axis
+
+int timeDelay1 = 100;               // time delay
+int timeDelayBetweenPoints = 500;   // time delay between hitting two points
+int point1Delay = 1000;             // before hitting the first point, uarm will move above it in advance
+
+double points[7][3] = {             // define 7 points, each point has an unique location (x,y,z)
+  { 7.1,   y1,   h1} ,              // point 1
+  { 4.5,   y1,   h1} ,              // point 2
+  { 2.2,   y1,   h1} ,              // point 3
+  { -0.3,  y1,   h1} ,              // point 4
+  { -3.6,  y1,   h1} ,              // point 5
+  { -6.3,  y1,   h1} ,              // point 6
+  { -9,    y1,   h1} ,              // point 7
+};
+
+
+void loop() {
+  
+    if(Serial.available()>0)
+    {
+      char readSerial = Serial.read();      // read serial input
+      Serial.println(readSerial);
+  
+      switch (readSerial)
+      {
+        // case 1 : execute hitting process
+        case '1':                           // input number 1 to strart hitting
+        {
+          hitPoints();                      // hitPoints function shows below
+          break;
+        }
+  
+        // case 2: move to a home position (x,y,z) = (0,-20,10)
+        case '2':
+        {
+          uarm.moveTo(0,-20,10);
+          break;
+        }
+  
+         // case 3: detach all servos that you can manually move uArm
+         case '3':
+        {
+          uarm.detachAll();
+          break;
+        }
+
+         // case 4: play a piece of music if you have a toy piano
+         case '4':
+        {
+          playMusic();
+          break;
+        }
+        
+  
+        // ignore other inputs
+        default:
+          break;
+        }
+      delay(50);
+    }
+}
+
+
+// the whole hitting process
+void hitPoints()
+{
+    moveToPoint(1,true);          // move to the point above the first point and get ready to hit
+    delay(point1Delay);           
+    
+    for (int i = 1; i<pointNumber; i ++)    // execute hitting process from the first point to the last point
+    {
+      hitPoint(i);                          // each hit process
+      delay(timeDelayBetweenPoints);
+     }
+   
+}
+
+
+// each hitting procedure
+void hitPoint(int pointNumber)
+{
+    moveToPoint(pointNumber,true);      // move to the point above the point, 
+    
+    delay(timeDelay1);
+    moveToPoint(pointNumber,false);     // move downwards
+    
+    delay(timeDelay1);
+    moveToPoint(pointNumber,true);      // quick move upwards ( back )
+  
+}
+
+// move uarm to the point
+void moveToPoint(int pointNumber, boolean highPosition)
+{
+  if  (highPosition == true){           // "true" means the end-effector will move to the point above hitting point. The height of this point is h2 above the real hitting point
+      uarm.calAngles(points[pointNumber-1][0],points[pointNumber-1][1],points[pointNumber-1][2]+h2);      // calculate the angle need to be executed by implement inverse kinematics
+    }
+  else{ 
+      uarm.calAngles(points[pointNumber-1][0],points[pointNumber-1][1],points[pointNumber-1][2]);
+    }
+    
+    delay(10);
+    uarm.writeAngle(uarm.getTheta1(),uarm.getTheta2(),uarm.getTheta3(),uarm.getTheta1()+theta4Offset);    // execute calculated angles by getting each angle
+}
+
+
+// play a piece of music
+void playMusic()
+{
+  // the music is called 
+   int shortDelay = 200;
+   int longDelay = 700;
+
+    moveToPoint(1,true);
+    delay(longDelay*2);
+    
+    hitPoint(1);
+    delay(shortDelay);
+    hitPoint(2);
+    delay(longDelay);
+    hitPoint(1);
+    delay(shortDelay);
+    hitPoint(2);
+    delay(longDelay);
+    hitPoint(1);
+    delay(shortDelay);
+    hitPoint(2); 
+    delay(shortDelay);
+    hitPoint(3);
+    delay(shortDelay);
+    hitPoint(4);
+    delay(shortDelay);
+    hitPoint(5);
+    delay(shortDelay*4); 
+   
+    hitPoint(5);
+    delay(shortDelay);
+    hitPoint(3);
+    delay(longDelay);
+
+    hitPoint(5);
+    delay(shortDelay);
+    hitPoint(3);
+    delay(longDelay);
+
+
+    hitPoint(5);
+    delay(shortDelay);
+    hitPoint(4);
+    delay(shortDelay);
+    hitPoint(3);
+    delay(shortDelay);
+    hitPoint(2); 
+    delay(shortDelay);
+    hitPoint(1);
+    delay(shortDelay*8);
+
+}
+

examples/hitPoint/hitPoint.ino

@@ -73,7 +73,7 @@ class uArmClass
 	const byte kServoRightReadPin    	= 1;
 	const byte kServoHandRotReadPin     = 3;
 
-// Action control
+// Action control start
 
 	    void moveTo(double x, double y,double z);
 	    void moveTo(double x, double y,double z,int relative, double time);
@@ -132,7 +132,7 @@ class uArmClass
 
 
 		boolean g_gripper_reset;
-
+// action control end
 private:
 	/*****************  Define variables  *****************/
     unsigned int addr;