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Diffstat (limited to 'USB_Host_Shield/examples/arm_mouse.pde')
| -rw-r--r-- | USB_Host_Shield/examples/arm_mouse.pde | 284 |
1 files changed, 284 insertions, 0 deletions
diff --git a/USB_Host_Shield/examples/arm_mouse.pde b/USB_Host_Shield/examples/arm_mouse.pde new file mode 100644 index 0000000..e934354 --- /dev/null +++ b/USB_Host_Shield/examples/arm_mouse.pde @@ -0,0 +1,284 @@ +/* AL5D robotic arm manual control using USB mouse. Servo controller by Renbotics with some pins swapped, USB Host Shield by Circuits At Home */ +#include <ServoShield.h> +#include <Spi.h> +#include <Max3421e.h> +#include <Usb.h> + +#define DEVADDR 1 +#define CONFVALUE 1 + + + + +/* Arm dimensions( mm ) */ +#define BASE_HGT 67.31 //base hight 2.65" +#define HUMERUS 146.05 //shoulder-to-elbow "bone" 5.75" +#define ULNA 187.325 //elbow-to-wrist "bone" 7.375" +#define GRIPPER 100.00 //gripper (incl.heavy duty wrist rotate mechanism) length 3.94" + +#define ftl(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) //float to long conversion + +/* Servo names/numbers */ +/* Base servo HS-485HB */ +#define BAS_SERVO 0 +/* Shoulder Servo HS-5745-MG */ +#define SHL_SERVO 1 +/* Elbow Servo HS-5745-MG */ +#define ELB_SERVO 2 +/* Wrist servo HS-645MG */ +#define WRI_SERVO 3 +/* Wrist rotate servo HS-485HB */ +#define WRO_SERVO 4 +/* Gripper servo HS-422 */ +#define GRI_SERVO 5 + +//#define ARM_PARK set_arm( -50, 140, 100, 0 ) //arm parking position + +/* pre-calculations */ +float hum_sq = HUMERUS*HUMERUS; +float uln_sq = ULNA*ULNA; + +void setup(); +void loop(); + +ServoShield servos; //ServoShield object +MAX3421E Max; +USB Usb; +//ServoShield servos; //ServoShield object + +/* Arm data structure */ +struct { + float x_coord; // X coordinate of the gripper tip + float y_coord; // Y coordinate of the gripper tip + float z_coord; //Z coordinate of the gripper tip + float gripper_angle; //gripper angle + int16_t gripper_servo; //gripper servo pulse duration + int16_t wrist_rotate; //wrist rotate servo pulse duration +} armdata; + +void setup() +{ + /* set servo end points */ + servos.setbounds( BAS_SERVO, 900, 2100 ); + servos.setbounds( SHL_SERVO, 1000, 2100 ); + servos.setbounds( ELB_SERVO, 900, 2100 ); + servos.setbounds( WRI_SERVO, 600, 2400 ); + servos.setbounds( WRO_SERVO, 600, 2400 ); + servos.setbounds( GRI_SERVO, 890, 2100 ); + /**/ +// servo_park(); + arm_park(); + + servos.start(); //Start the servo shield + Max.powerOn(); + Serial.begin( 115200 ); + Serial.println("Start"); + delay( 500 ); + //ARM_PARK; +} + +void loop() +{ +byte rcode; + //delay( 10 ); + set_arm( armdata.x_coord, armdata.y_coord, armdata.z_coord, armdata.gripper_angle ); + servos.setposition( WRO_SERVO, armdata.wrist_rotate ); + servos.setposition( GRI_SERVO, armdata.gripper_servo ); + //ARM_PARK; + // circle(); + Max.Task(); + Usb.Task(); + if( Usb.getUsbTaskState() == USB_STATE_CONFIGURING ) { + mouse_init(); + }//if( Usb.getUsbTaskState() == USB_STATE_CONFIGURING... + if( Usb.getUsbTaskState() == USB_STATE_RUNNING ) { //poll the keyboard + rcode = mouse_poll(); + if( rcode ) { + Serial.print("Mouse Poll Error: "); + Serial.println( rcode, HEX ); + }//if( rcode... + }//if( Usb.getUsbTaskState() == USB_STATE_RUNNING... + //Serial.println( armdata.gripper_servo, DEC ); +} + +/* Initialize mouse */ +void mouse_init( void ) +{ + byte rcode = 0; //return code + /**/ + Usb.setDevTableEntry( 1, Usb.getDevTableEntry( 0,0 ) ); //copy device 0 endpoint information to device 1 + /* Configure device */ + rcode = Usb.setConf( DEVADDR, 0, CONFVALUE ); + if( rcode ) { + Serial.print("Error configuring mouse. Return code : "); + Serial.println( rcode, HEX ); + while(1); //stop + }//if( rcode... + Usb.setUsbTaskState( USB_STATE_RUNNING ); + return; +} + +/* Poll mouse using Get Report and fill arm data structure */ +byte mouse_poll( void ) +{ + byte rcode; + char buf[ 4 ]; //mouse buffer + static uint16_t delay = 500; //delay before park + + /* poll mouse */ + rcode = Usb.getReport( DEVADDR, 0, 4, 0, 1, 0, buf ); + if( rcode ) { //error + return( rcode ); + } + // todo: add arm limit check + armdata.x_coord += ( buf[ 1 ] * -0.1 ); + armdata.y_coord += ( buf[ 2 ] * -0.1 ); + switch( buf[ 0 ] ) { //read buttons + case 0x00: //no buttons pressed + armdata.z_coord += ( buf[ 3 ] * -2 ) ; + break; + case 0x01: //button 1 pressed. Wheel sets gripper angle + armdata.gripper_servo += ( buf[ 3 ] * -20 ); + /* check gripper boundaries */ + if( armdata.gripper_servo < 1000 ) { + armdata.gripper_servo = 1000; + } + if( armdata.gripper_servo > 2100 ) { + armdata.gripper_servo = 2100; + } + break; + case 0x02: //button 2 pressed. Wheel sets wrist rotate + armdata.wrist_rotate += ( buf[ 3 ] * -10 ); + /* check wrist rotate boundaries */ + if( armdata.wrist_rotate < 600 ) { + armdata.wrist_rotate = 600; + } + if( armdata.wrist_rotate > 2400 ) { + armdata.wrist_rotate = 2400; + } + break; + case 0x04: //wheel button pressed. Wheel controls gripper + armdata.gripper_angle += ( buf[ 3 ] * -1 ); + /* check gripper angle boundaries */ + if( armdata.gripper_angle < -90 ) { + armdata.gripper_angle = -90; + } + if( armdata.gripper_angle > 90 ) { + armdata.gripper_angle = 90; + } + break; + case 0x07: //all 3 buttons pressed. Park the arm + arm_park(); + break; + }//switch( buf[ 0 ... + Serial.println( armdata.wrist_rotate, DEC ); +} + + +/* arm positioning routine utilizing inverse kinematics */ +/* z is height, y is distance from base center out, x is side to side. y,z can only be positive */ +//void set_arm( uint16_t x, uint16_t y, uint16_t z, uint16_t grip_angle ) +void set_arm( float x, float y, float z, float grip_angle_d ) +{ + float grip_angle_r = radians( grip_angle_d ); //grip angle in radians for use in calculations + /* Base angle and radial distance from x,y coordinates */ + float bas_angle_r = atan2( x, y ); + float rdist = sqrt(( x * x ) + ( y * y )); + /* rdist is y coordinate for the arm */ + y = rdist; + /* Grip offsets calculated based on grip angle */ + float grip_off_z = ( sin( grip_angle_r )) * GRIPPER; + float grip_off_y = ( cos( grip_angle_r )) * GRIPPER; + /* Wrist position */ + float wrist_z = ( z - grip_off_z ) - BASE_HGT; + float wrist_y = y - grip_off_y; + /* Shoulder to wrist distance ( AKA sw ) */ + float s_w = ( wrist_z * wrist_z ) + ( wrist_y * wrist_y ); + float s_w_sqrt = sqrt( s_w ); + /* s_w angle to ground */ + //float a1 = atan2( wrist_y, wrist_z ); + float a1 = atan2( wrist_z, wrist_y ); + /* s_w angle to humerus */ + float a2 = acos((( hum_sq - uln_sq ) + s_w ) / ( 2 * HUMERUS * s_w_sqrt )); + /* shoulder angle */ + float shl_angle_r = a1 + a2; + float shl_angle_d = degrees( shl_angle_r ); + /* elbow angle */ + float elb_angle_r = acos(( hum_sq + uln_sq - s_w ) / ( 2 * HUMERUS * ULNA )); + float elb_angle_d = degrees( elb_angle_r ); + float elb_angle_dn = -( 180.0 - elb_angle_d ); + /* wrist angle */ + float wri_angle_d = ( grip_angle_d - elb_angle_dn ) - shl_angle_d; + + /* Servo pulses */ + float bas_servopulse = 1500.0 - (( degrees( bas_angle_r )) * 11.11 ); + float shl_servopulse = 1500.0 + (( shl_angle_d - 90.0 ) * 6.6 ); + float elb_servopulse = 1500.0 - (( elb_angle_d - 90.0 ) * 6.6 ); + float wri_servopulse = 1500 + ( wri_angle_d * 11.1 ); + + /* Set servos */ + servos.setposition( BAS_SERVO, ftl( bas_servopulse )); + servos.setposition( WRI_SERVO, ftl( wri_servopulse )); + servos.setposition( SHL_SERVO, ftl( shl_servopulse )); + servos.setposition( ELB_SERVO, ftl( elb_servopulse )); + +} + +/* moves the arm to parking position */ +void arm_park() +{ + set_arm( armdata.x_coord = -50, armdata.y_coord = 140, armdata.z_coord = 100, armdata.gripper_angle = 0 ); + servos.setposition( WRO_SERVO, armdata.wrist_rotate = 600 ); + servos.setposition( GRI_SERVO, armdata.gripper_servo = 900 ); +} + +/* move servos to parking position */ +void servo_park() +{ + servos.setposition( BAS_SERVO, 1715 ); + servos.setposition( SHL_SERVO, 2100 ); + servos.setposition( ELB_SERVO, 2100 ); + servos.setposition( WRI_SERVO, 1800 ); + servos.setposition( WRO_SERVO, 600 ); + servos.setposition( GRI_SERVO, 900 ); + return; +} + +void zero_x() +{ + for( double yaxis = 150.0; yaxis < 356.0; yaxis += 1 ) { + set_arm( 0, yaxis, 127.0, 0 ); + delay( 10 ); + } + for( double yaxis = 356.0; yaxis > 150.0; yaxis -= 1 ) { + set_arm( 0, yaxis, 127.0, 0 ); + delay( 10 ); + } +} + +/* moves arm in a straight line */ +void line() +{ + for( double xaxis = -100.0; xaxis < 100.0; xaxis += 0.5 ) { + set_arm( xaxis, 250, 100, 0 ); + delay( 10 ); + } + for( float xaxis = 100.0; xaxis > -100.0; xaxis -= 0.5 ) { + set_arm( xaxis, 250, 100, 0 ); + delay( 10 ); + } +} + +void circle() +{ + #define RADIUS 80.0 + //float angle = 0; + float zaxis,yaxis; + for( float angle = 0.0; angle < 360.0; angle += 1.0 ) { + yaxis = RADIUS * sin( radians( angle )) + 200; + zaxis = RADIUS * cos( radians( angle )) + 200; + set_arm( 0, yaxis, zaxis, 0 ); + delay( 1 ); + } +} +
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