Dammenisvoorcasuals / Mbed 2 deprecated chessRobot

control for robotic arm that can play chess using a granular gripper

Dependencies:   Encoder mbed HIDScope Servo MODSERIAL

Fork of chessRobot by a steenbeek

Files at this revision

API Documentation at this revision

Revision 97:0f67952051e5, committed 2015-10-21

Comitter:
annesteenbeek
Date:
Wed Oct 21 13:50:38 2015 +0200
Parent:
93:a8898eb80edc
Commit message:
working calibration

Changed in this revision

actuators.cpp Show annotated file Show diff for this revision Revisions of this file
actuators.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/actuators.cpp	Wed Oct 21 13:16:24 2015 +0200
+++ b/actuators.cpp	Wed Oct 21 13:50:38 2015 +0200
@@ -47,13 +47,12 @@
     double timechange;
     bool pidOut = 0;
 
-    // for Calibration:
+    // calibration
     bool calibrating1 = true;
     bool calibrating2 = false;
     double motorCalSpeed = 10; // deg/sec
     double returnSpeed = -10;
     bool springHit = false;
-    float lastCall = 0;
 
 
     // Create object instances
@@ -211,12 +210,9 @@
                }
            }
        }
-       now = t.read(); // call motor using timer instead of wait
-       if(now - lastCall > motorCall){
-           writeMotors();
-           lastCall = now;
-       }
-
+       writeMotors();
+       wait(motorCall);
+       
    }
     safetyOn = true; // turn safety on after callibration
 }

--- a/actuators.h	Wed Oct 21 13:16:24 2015 +0200
+++ b/actuators.h	Wed Oct 21 13:50:38 2015 +0200
@@ -5,7 +5,11 @@
 #include "mbed.h"
 #include "config.h"
 #include "encoder.h"
+#include "buttons.h"
 
+extern DigitalOut  redLed;
+extern DigitalOut  greenLed;
+extern DigitalOut  blueLed;
 
 extern bool motorsEnable;
 extern bool safetyOn;

--- a/main.cpp	Wed Oct 21 13:16:24 2015 +0200
+++ b/main.cpp	Wed Oct 21 13:50:38 2015 +0200
@@ -27,6 +27,7 @@
 int main(){
 motorInit();    
 calibrateMotors(); // start calibration procedure
+calibrateEMG();
 
 switchesTick.attach(&switches_activate, 0.02f);
 debugTick.attach(&debug_activate, 0.03f);