/*
Programming a robotic arm
"I told you, put down the screwdriver..." - javidx9
License (OLC-3)
~~~~~~~~~~~~~~~
Copyright 2018-2019 OneLoneCoder.com
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions or derivations of source code must retain the above
copyright notice, this list of conditions and the following disclaimer.
2. Redistributions or derivative works in binary form must reproduce
the above copyright notice. This list of conditions and the following
disclaimer must be reproduced in the documentation and/or other
materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Instructions:
~~~~~~~~~~~~~
Without a robot arm and an mbed there is not much you can do!
Also requires a 3rd Party PGEX UI by ZleapingBear:
https://youtu.be/bfiSjC__MCI
Relevant Video: https://youtu.be/ekdQ-aAB36Y
Links
~~~~~
YouTube: https://www.youtube.com/javidx9
https://www.youtube.com/javidx9extra
Discord: https://discord.gg/WhwHUMV
Twitter: https://www.twitter.com/javidx9
Twitch: https://www.twitch.tv/javidx9
GitHub: https://www.github.com/onelonecoder
Patreon: https://www.patreon.com/javidx9
Homepage: https://www.onelonecoder.com
Author
~~~~~~
David Barr, aka javidx9, �OneLoneCoder 2019
*/
#define OLC_PGE_APPLICATION
#include "olcPixelGameEngine.h"
#include "olcPGEX_UI.h"
class RobotArm1 : public olc::PixelGameEngine
{
public:
RobotArm1()
{
sAppName = "Robot Arm 1";
}
olc::UI_CONTAINER gui;
float fJointAngle[6];
float fAccumulatedTime = 0.0f;
HANDLE hCom = nullptr;
public:
bool OnUserCreate() override
{
gui.addSlider(10, 20, 180);
gui.addSlider(10, 60, 180);
gui.addSlider(10, 100, 180);
gui.addSlider(10, 140, 180);
gui.addSlider(10, 180, 180);
gui.addSlider(10, 220, 180);
gui.setValue(0, 50);
gui.setValue(1, 50);
gui.setValue(2, 50);
gui.setValue(3, 50);
gui.setValue(4, 50);
gui.setValue(5, 50);
// Open COM Port
hCom = CreateFile("COM3", GENERIC_READ | GENERIC_WRITE, 0, nullptr, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, nullptr);
if (hCom == nullptr) return false;
// Configure Protocol: 9600bps, 8N1
DCB dcb = { 0 };
GetCommState(hCom, &dcb);
dcb.BaudRate = CBR_9600;
dcb.ByteSize = 8;
dcb.StopBits = ONESTOPBIT;
dcb.Parity = NOPARITY;
SetCommState(hCom, &dcb);
return true;
}
bool OnUserDestroy() override
{
if (hCom != nullptr) CloseHandle(hCom);
return true;
}
bool OnUserUpdate(float fElapsedTime) override
{
gui.Update(fElapsedTime);
Clear(olc::GREEN);
gui.drawUIObjects();
for (int i = 0; i < 6; i++)
fJointAngle[i] = (gui.getSliderFloat(i) / 100.0f) * 180.0f - 90.0f;
unsigned char command[12];
for (int i = 0; i < 6; i++)
{
command[i * 2 + 0] = i;
command[i * 2 + 1] = (int)(128 + fJointAngle[i]);
}
fAccumulatedTime += fElapsedTime;
if (fAccumulatedTime > 0.05f)
{
fAccumulatedTime -= 0.05f;
DWORD bw = 0;
WriteFile(hCom, command, 12, &bw, 0);
}
return true;
}
};
int main()
{
RobotArm1 demo;
if (demo.Construct(400, 400, 2, 2))
demo.Start();
return 0;
}
// Below here is the source code compiled on MBED LPC1768, using the BufferedSerial Library
/*
#include "mbed.h"
#include "BufferedSerial.h"
PwmOut pin26(p26);
PwmOut pin25(p25);
PwmOut pin24(p24);
PwmOut pin23(p23);
PwmOut pin22(p22);
PwmOut pin21(p21);
BufferedSerial uart(p9, p10);
class Joint
{
private:
static const float fDutyMin = 0.03f; // -90
static const float fDutyMax = 0.11f; // +90
static const float fDutyRange = fDutyMax - fDutyMin;
float fTarget;
float fPosition;
float fJointMax;
float fJointMin;
public:
Joint(float fMin = -90.0f, float fMax = 90.0f, float fDefaultPos = 0.0f)
{
fJointMin = fMin;
fJointMax = fMax;
fPosition = 0.0f;
SetTarget(fDefaultPos);
}
void SetTarget(float fAngle)
{
fTarget = fAngle;
if(fTarget < fJointMin) fTarget = fJointMin;
if(fTarget > fJointMax) fTarget = fJointMax;
}
void UpdatePosition()
{
fPosition = fTarget;
}
float GetTarget()
{
return fTarget;
}
float GetDutyCycle()
{
float fDutyCycle = fPosition / (fJointMax - fJointMin);
fDutyCycle = (fDutyCycle * fDutyRange) + fDutyMin + (fDutyRange * 0.5f);
return fDutyCycle;
}
};
int main()
{
// Servos (MG996R) operate on 20ms period, so set
// PWM period for each pin
pin26.period(0.02f);
pin25.period(0.02f);
pin24.period(0.02f);
pin23.period(0.02f);
pin22.period(0.02f);
pin21.period(0.02f);
Joint joint[6];
joint[0].SetTarget(0.0f);
joint[1].SetTarget(0.0f);
joint[2].SetTarget(0.0f);
joint[3].SetTarget(-25.0f);
joint[4].SetTarget(-20.0f);
joint[5].SetTarget(-15.0f);
int nTargetJoint = 0;
while(1)
{
// Read from UART
if(uart.readable())
{
unsigned char c = (unsigned char)uart.getc();
if(c < 10)
nTargetJoint = c;
else
joint[nTargetJoint].SetTarget((float)c - 128);
}
// Write Duty Cycles
// Update each joints position
for(int i=0; i<6; i++)
joint[i].UpdatePosition();
// Set PWM values for each joint
pin26.write(joint[0].GetDutyCycle());
pin25.write(joint[1].GetDutyCycle());
pin24.write(joint[2].GetDutyCycle());
pin23.write(joint[3].GetDutyCycle());
pin22.write(joint[4].GetDutyCycle());
pin21.write(joint[5].GetDutyCycle());
}
}
*/