-
Notifications
You must be signed in to change notification settings - Fork 1
/
simpleMovements4.ino
89 lines (68 loc) · 2.76 KB
/
simpleMovements4.ino
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
/*
simpleMovements.ino
This sketch simpleMovements shows how they move each servo motor of Braccio
Created on 18 Nov 2015
by Andrea Martino
This example is in the public domain.
*/
#include <Braccio.h>
#include <Servo.h>
Servo base;
Servo shoulder;
Servo elbow;
Servo wrist_rot;
Servo wrist_ver;
Servo gripper;
void setup() {
//Initialization functions and set up the initial position for Braccio
//All the servo motors will be positioned in the "safety" position:
//Base (M1):90 degrees
//Shoulder (M2): 45 degrees
//Elbow (M3): 180 degrees
//Wrist vertical (M4): 180 degrees
//Wrist rotation (M5): 90 degrees
//gripper (M6): 10 degrees
Braccio.begin();
Braccio.ServoMovement(20, 0, 100, 90, 90, 105, 73); // Vertically align
delay(1000);
}
void loop() {
/*
Step Delay: a milliseconds delay between the movement of each servo. Allowed values from 10 to 30 msec.
M1=base degrees. Allowed values from 0 to 180 degrees
M2=shoulder degrees. Allowed values from 15 to 165 degrees
M3=elbow degrees. Allowed values from 0 to 180 degrees
M4=wrist vertical degrees. Allowed values from 0 to 180 degrees
M5=wrist rotation degrees. Allowed values from 0 to 180 degrees
M6=gripper degrees. Allowed values from 10 to 73 degrees. 10: the toungue is open, 73: the gripper is closed.
*/
//(step delay, M1, M2, M3, M4, M5, M6);
Braccio.ServoMovement(20, 0, 150, 180, 20, 105, 20); //M3 drop down
delay(1000);
Braccio.ServoMovement(20, 0, 150, 180, 20,105 , 73); //grip close
delay(1000);
Braccio.ServoMovement(20, 0, 100, 150, 180,105 , 73); //M2 tilts up
delay(1000);
Braccio.ServoMovement(20, 0, 100, 150, 180,105 , 73); //M3 tilts up
delay(1000);
Braccio.ServoMovement(20, 180, 100, 150, 180, 105, 73); // 180deg move
delay(1000);
Braccio.ServoMovement(20, 180, 100, 150, 180, 105, 10); // Grip opens next side
delay(1000);
//Braccio.ServoMovement(20, 0, 100, 150, 180, 105, 10); //M drop down
//delay(1000);
Braccio.ServoMovement(20, 0, 100, 120, 140, 105, 10); //M4 drop down
delay(1000);
//Braccio.ServoMovement(20, 0, 160, 180, 0, 105, 73);
// Braccio.ServoMovement(20, 180, 100, 30, 30, 105, 73); //M3 aligns horizontally + grip move(close)
//delay(1000);
/* Braccio.ServoMovement(20, 180, 100, 0, 30, 105, 73); //Grip closes
delay(1000);
//Braccio.ServoMovement(20, 60, 100, 0, 30, 105, 73);
delay(1000);
Braccio.ServoMovement(20, 180, 100, 0, 30, 105, 73); // 180deg move
//delay(1000);
//Braccio.ServoMovement(20, 180, 100, 0, 30, 105, 10); //Grip opens opp side
//delay(1000);*/
//delay(1000);
}