From b6ae0d229f16f67b7183afea0c1c279de3a15198 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Mon, 22 Aug 2022 08:05:37 +0200 Subject: [PATCH 01/41] Add .vscode to .gitignore: (#83) Prevent accidentially committing of .vscode folder. --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index b1babc9..9fa72d9 100644 --- a/.gitignore +++ b/.gitignore @@ -1 +1,2 @@ extras/build +.vscode From f109c2fb0db77837a850dd60ab0ab7f3beb1aa31 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Mon, 22 Aug 2022 08:15:15 +0200 Subject: [PATCH 02/41] Bugfix: No need to increment the ID when setting the max torque, this is a leftover error from earlier code. --- src/lib/motors/SmartServo.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 397e960..dcd656a 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -283,7 +283,7 @@ void SmartServoClass::setMaxTorque(uint16_t const torque) void SmartServoClass::setMaxTorque(uint8_t const id, uint16_t const torque) { mbed::ScopedLock lock(_mtx); - writeWordCmd(id+1, REG(SmartServoRegister::MAX_TORQUE_H), torque); + writeWordCmd(id, REG(SmartServoRegister::MAX_TORQUE_H), torque); } void SmartServoClass::setID(uint8_t const id) From f9969af39a79a1dd21a7aab28eb1542e9eb1f7b8 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Mon, 22 Aug 2022 08:30:00 +0200 Subject: [PATCH 03/41] Provide API to set the max allowed torque on a per-servo basis. --- src/Braccio++.cpp | 8 ++++++++ src/Braccio++.h | 3 +++ src/lib/motors/SmartServo.h | 3 +++ 3 files changed, 14 insertions(+) diff --git a/src/Braccio++.cpp b/src/Braccio++.cpp index a0ddbfc..1091dfb 100644 --- a/src/Braccio++.cpp +++ b/src/Braccio++.cpp @@ -215,6 +215,14 @@ void BraccioClass::positions(float & a1, float & a2, float & a3, float & a4, flo a6 = _servos.getPosition(6); } +void BraccioClass::setMaxTorque(int const id, uint16_t const max_torque) +{ + if (max_torque > SmartServoClass::TORQUE_MAX) + _servos.setMaxTorque(SmartServoClass::TORQUE_MAX); + else + _servos.setMaxTorque(max_torque); +} + int BraccioClass::getKey() { if (isJoystickPressed_LEFT()) { return 1; diff --git a/src/Braccio++.h b/src/Braccio++.h index 5ba6db9..37620aa 100644 --- a/src/Braccio++.h +++ b/src/Braccio++.h @@ -80,6 +80,9 @@ class BraccioClass void positions(float * buffer); void positions(float & a1, float & a2, float & a3, float & a4, float & a5, float & a6); + void setMaxTorque(int const id, uint16_t const max_torque); + inline void setMaxTorque(uint16_t const max_torque) { setMaxTorque(SmartServoClass::BROADCAST, max_torque); } + inline void speed(speed_grade_t const speed_grade) { _servos.setTime(speed_grade); } inline void speed(int const id, speed_grade_t const speed_grade) { _servos.setTime(id, speed_grade); } diff --git a/src/lib/motors/SmartServo.h b/src/lib/motors/SmartServo.h index 46d6927..266ecd8 100644 --- a/src/lib/motors/SmartServo.h +++ b/src/lib/motors/SmartServo.h @@ -98,6 +98,9 @@ class SmartServoClass static int constexpr NUM_MOTORS = 6; static float constexpr MAX_ANGLE = 315.0f; + static uint16_t constexpr TORQUE_MIN = 0; + static uint16_t constexpr TORQUE_MAX = 1000; + static size_t idToArrayIndex(size_t const id) { return (id - 1); } private: From 6188939cd00f2639622816f7f5afcbdbc0b73473 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Mon, 22 Aug 2022 08:32:22 +0200 Subject: [PATCH 04/41] Also make the setMaxTorque API available from the Servo abstraction. --- src/Braccio++.h | 1 + 1 file changed, 1 insertion(+) diff --git a/src/Braccio++.h b/src/Braccio++.h index 37620aa..f288270 100644 --- a/src/Braccio++.h +++ b/src/Braccio++.h @@ -187,6 +187,7 @@ class Servo inline void disengage() { _servos.disengage(_id); } inline void engage() { _servos.engage(_id); } inline bool engaged() { return _servos.isEngaged(_id); } + inline void setMaxTorque(uint16_t const max_torque) { _servos.setMaxTorque(_id, max_torque); } inline Servo & move() { return *this; } inline Servo & to (float const angle) { _servos.setPosition(_id, angle); return *this; } From 135893f164a018ba4ff780835b47ff29093f198c Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Mon, 22 Aug 2022 08:39:42 +0200 Subject: [PATCH 05/41] Move check of torque limits inside of SmartServoClass. --- src/Braccio++.cpp | 8 -------- src/Braccio++.h | 4 ++-- src/lib/motors/SmartServo.cpp | 12 +++++------- src/lib/motors/SmartServo.h | 5 ++--- 4 files changed, 9 insertions(+), 20 deletions(-) diff --git a/src/Braccio++.cpp b/src/Braccio++.cpp index 1091dfb..a0ddbfc 100644 --- a/src/Braccio++.cpp +++ b/src/Braccio++.cpp @@ -215,14 +215,6 @@ void BraccioClass::positions(float & a1, float & a2, float & a3, float & a4, flo a6 = _servos.getPosition(6); } -void BraccioClass::setMaxTorque(int const id, uint16_t const max_torque) -{ - if (max_torque > SmartServoClass::TORQUE_MAX) - _servos.setMaxTorque(SmartServoClass::TORQUE_MAX); - else - _servos.setMaxTorque(max_torque); -} - int BraccioClass::getKey() { if (isJoystickPressed_LEFT()) { return 1; diff --git a/src/Braccio++.h b/src/Braccio++.h index f288270..ad0b014 100644 --- a/src/Braccio++.h +++ b/src/Braccio++.h @@ -80,8 +80,8 @@ class BraccioClass void positions(float * buffer); void positions(float & a1, float & a2, float & a3, float & a4, float & a5, float & a6); - void setMaxTorque(int const id, uint16_t const max_torque); - inline void setMaxTorque(uint16_t const max_torque) { setMaxTorque(SmartServoClass::BROADCAST, max_torque); } + inline void setMaxTorque(uint16_t const max_torque) { _servos.setMaxTorque(max_torque); } + inline void setMaxTorque(int const id, uint16_t const max_torque) { _servos.setMaxTorque(id, max_torque); } inline void speed(speed_grade_t const speed_grade) { _servos.setTime(speed_grade); } inline void speed(int const id, speed_grade_t const speed_grade) { _servos.setTime(id, speed_grade); } diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index dcd656a..8f8e1f7 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -274,16 +274,14 @@ void SmartServoClass::setTime(uint8_t const id, uint16_t const time) writeWordCmd(id, REG(SmartServoRegister::RUN_TIME_H), time); } -void SmartServoClass::setMaxTorque(uint16_t const torque) +void SmartServoClass::setMaxTorque(uint8_t const id, uint16_t const max_torque) { mbed::ScopedLock lock(_mtx); - writeWordCmd(BROADCAST, REG(SmartServoRegister::MAX_TORQUE_H), torque); -} -void SmartServoClass::setMaxTorque(uint8_t const id, uint16_t const torque) -{ - mbed::ScopedLock lock(_mtx); - writeWordCmd(id, REG(SmartServoRegister::MAX_TORQUE_H), torque); + if (max_torque > TORQUE_MAX) + writeWordCmd(id, REG(SmartServoRegister::MAX_TORQUE_H), TORQUE_MAX); + else + writeWordCmd(id, REG(SmartServoRegister::MAX_TORQUE_H), max_torque); } void SmartServoClass::setID(uint8_t const id) diff --git a/src/lib/motors/SmartServo.h b/src/lib/motors/SmartServo.h index 266ecd8..43d38bb 100644 --- a/src/lib/motors/SmartServo.h +++ b/src/lib/motors/SmartServo.h @@ -56,9 +56,8 @@ class SmartServoClass void setTorque(uint8_t const id, bool const torque); - void setMaxTorque(uint16_t const torque); - - void setMaxTorque(uint8_t const id, uint16_t const torque); + void setMaxTorque(uint8_t const id, uint16_t const max_torque); + inline void setMaxTorque(uint16_t const max_torque) { setMaxTorque(BROADCAST, max_torque); } void setID(uint8_t const id); From 6388c9ac54f2d1c53382c8f95fae19a119b0faa7 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Tue, 23 Aug 2022 09:43:21 +0200 Subject: [PATCH 06/41] Remove Tools/Braccio_LearnByDoing. (#85) It is an outdated version of Braccio_Record_and_Replay. --- .../Braccio_LearnByDoing.ino | 158 ------------------ 1 file changed, 158 deletions(-) delete mode 100644 examples/Tools/Braccio_LearnByDoing/Braccio_LearnByDoing.ino diff --git a/examples/Tools/Braccio_LearnByDoing/Braccio_LearnByDoing.ino b/examples/Tools/Braccio_LearnByDoing/Braccio_LearnByDoing.ino deleted file mode 100644 index 3cc189d..0000000 --- a/examples/Tools/Braccio_LearnByDoing/Braccio_LearnByDoing.ino +++ /dev/null @@ -1,158 +0,0 @@ -/* - * @brief Learn the arm an movement and replay it. - */ - -/************************************************************************************** - * INCLUDE - **************************************************************************************/ - -#include -#include "FlashIAPBlockDevice.h" -#include "FATFileSystem.h" - -/************************************************************************************** - * VARIABLES - **************************************************************************************/ - -enum states { - LEARN, - REPEAT, - IDLE -}; - -int state = IDLE; - -float values[10000]; -float* idx = values; -float* final_idx = 0; - -/************************************************************************************** - * FUNCTIONS - **************************************************************************************/ - -static void event_handler(lv_event_t * e) { - lv_event_code_t code = lv_event_get_code(e); - lv_obj_t * obj = lv_event_get_target(e); - - if (code == LV_EVENT_KEY && lv_indev_get_key(lv_indev_get_act()) == LV_KEY_HOME) { - state = IDLE; - return; - } - - if (code == LV_EVENT_CLICKED) { - uint32_t id = lv_btnmatrix_get_selected_btn(obj); - const char * txt = lv_btnmatrix_get_btn_text(obj, id); - - if (state == LEARN) { - final_idx = idx; - } - - idx = values; - - FILE* f; - switch (id) { - case 0: - state = LEARN; - Braccio.disengage(); - Serial.println("LEARN"); - break; - case 1: - state = REPEAT; - Braccio.engage(); - Serial.println("REPEAT"); - break; - case 2: - state = IDLE; - f = fopen("/fs/movements", "wb"); - fwrite(values, 1, (final_idx - values) * sizeof(float), f); - fflush(f); - fclose(f); - Serial.print("SAVED "); - Serial.print((final_idx - values) * sizeof(float)); - Serial.println(" bytes"); - break; - case 3: - state = IDLE; - f = fopen("/fs/movements", "rb"); - final_idx = values + fread(values, 1, sizeof(values), f) / sizeof(float); - fclose(f); - Serial.print("LOADED "); - Serial.print((final_idx - values) * sizeof(float)); - Serial.println(" bytes"); - break; - default: - state = IDLE; - Serial.println("IDLE"); - break; - } - } -} - -static lv_obj_t *counter; - -static const char * btnm_map[] = { "Learn", "\n", "Replay", "\n", "Save in flash", "\n", "Load from flash", "\n", "Idle", "\n", "\0" }; - -void customMenu() { - lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act()); - lv_btnmatrix_set_map(btnm1, btnm_map); - lv_btnmatrix_set_btn_ctrl(btnm1, 0, LV_BTNMATRIX_CTRL_CHECKABLE); - lv_btnmatrix_set_btn_ctrl(btnm1, 1, LV_BTNMATRIX_CTRL_CHECKABLE); - lv_btnmatrix_set_btn_ctrl(btnm1, 2, LV_BTNMATRIX_CTRL_CHECKABLE); - lv_btnmatrix_set_btn_ctrl(btnm1, 3, LV_BTNMATRIX_CTRL_CHECKABLE); - lv_btnmatrix_set_btn_ctrl(btnm1, 4, LV_BTNMATRIX_CTRL_CHECKABLE); - lv_obj_align(btnm1, LV_ALIGN_CENTER, 0, 0); - counter = lv_label_create(btnm1); - lv_label_set_text_fmt(counter, "%d" , 0); - lv_obj_align(counter, LV_ALIGN_CENTER, 0, 50); - lv_obj_add_event_cb(btnm1, event_handler, LV_EVENT_ALL, NULL); - Braccio.connectJoystickTo(btnm1); -} - -static FlashIAPBlockDevice bd(XIP_BASE + 0x100000, 0x100000); -static mbed::FATFileSystem fs("fs"); - -/************************************************************************************** - * SETUP/LOOP - **************************************************************************************/ - -void setup() -{ - Serial.begin(115200); - for (auto const start = millis(); !Serial && ((millis() - start) < 5000); delay(10)) { } - - // Mount file system for load/store movements - int err = fs.mount(&bd); - if (err) { - err = fs.reformat(&bd); - } - - if (!Braccio.begin(customMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } - Serial.println("Replicate a movement"); -} - -void loop() -{ - if (state == LEARN) { - Braccio.positions(idx); - idx += 6; - } - if (state == REPEAT) { - Braccio.moveTo(idx[0], idx[1], idx[2], idx[3], idx[4], idx[5]); - idx += 6; - if (idx >= final_idx) { - Serial.println("Repeat done"); - state = IDLE; - } - } - if (idx - values >= sizeof(values)) { - Serial.println("IDLE"); - state = IDLE; - } - delay(100); - if (state != IDLE) { - lv_label_set_text_fmt(counter, "%d" , idx - values); - } -} From 570b8f73d94eb3ca79d47a67e88e528d80dd9b82 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Tue, 23 Aug 2022 12:29:14 +0200 Subject: [PATCH 07/41] Fix: Usage of 'delay()' causes unacceptable large delay between two consecutive RS485 write commands. (#86) This change allows for a much faster cadence of write commands. --- src/lib/motors/SmartServo.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 8f8e1f7..4e29d75 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -62,7 +62,7 @@ void SmartServoClass::sendPacket() _RS485.endTransmission(); // should now receive an echo of what we just sent while (_RS485.available() < len) { - delay(100); + delayMicroseconds(10); } // discard the echo int i = len; From 5353987e147888b5c53f6d54116156d67f44780b Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Tue, 23 Aug 2022 12:52:05 +0200 Subject: [PATCH 08/41] Provide public API to configure servo runtime. (#87) --- src/Braccio++.h | 2 ++ src/lib/motors/SmartServo.cpp | 6 ++++++ src/lib/motors/SmartServo.h | 5 +++-- 3 files changed, 11 insertions(+), 2 deletions(-) diff --git a/src/Braccio++.h b/src/Braccio++.h index ad0b014..6d3d1e6 100644 --- a/src/Braccio++.h +++ b/src/Braccio++.h @@ -196,6 +196,8 @@ class Servo inline float position() { return _servos.getPosition(_id); } inline bool connected() { return Braccio.connected(_id); } inline void info(Stream & stream) { _servos.getInfo(stream, _id); } + inline uint16_t runtime() { return _servos.getTime(_id); } + inline void setRuntime(uint16_t const time) { _servos.setTime(_id, time); } operator bool() { return connected(); } diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 4e29d75..0e6d311 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -274,6 +274,12 @@ void SmartServoClass::setTime(uint8_t const id, uint16_t const time) writeWordCmd(id, REG(SmartServoRegister::RUN_TIME_H), time); } +uint16_t SmartServoClass::getTime(uint8_t const id) +{ + mbed::ScopedLock lock(_mtx); + return readWordCmd(id, REG(SmartServoRegister::RUN_TIME_H)); +} + void SmartServoClass::setMaxTorque(uint8_t const id, uint16_t const max_torque) { mbed::ScopedLock lock(_mtx); diff --git a/src/lib/motors/SmartServo.h b/src/lib/motors/SmartServo.h index 43d38bb..d42d487 100644 --- a/src/lib/motors/SmartServo.h +++ b/src/lib/motors/SmartServo.h @@ -74,8 +74,9 @@ class SmartServoClass void setMaxAngle(uint16_t const max_angle); void setMaxAngle(uint8_t const id, uint16_t const max_angle); - void setTime(uint16_t const time); - void setTime(uint8_t const id, uint16_t const time); + void setTime(uint16_t const time); + void setTime(uint8_t const id, uint16_t const time); + uint16_t getTime(uint8_t const id); void center(uint8_t const id, uint16_t const position); From 279a155e671f07c4155413b08575fd1706d724c4 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 07:47:58 +0200 Subject: [PATCH 09/41] Rewrite setPosition in a better structured way (exit early, lock only where necessary). --- src/lib/motors/SmartServo.cpp | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 0e6d311..6c81d96 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -203,14 +203,16 @@ void SmartServoClass::setPosition(uint8_t const id, float const angle) if (!isValidAngle(angle)) return; - mbed::ScopedLock lock(_mtx); - if (isValidId(id)) + if (!isValidId(id)) + return; + + _targetPosition[idToArrayIndex(id)] = angleToPosition(angle); + + if (_positionMode == PositionMode::IMMEDIATE) { - _targetPosition[idToArrayIndex(id)] = angleToPosition(angle); - if (_positionMode==PositionMode::IMMEDIATE) { - writeWordCmd(id, REG(SmartServoRegister::TARGET_POSITION_H), angleToPosition(angle)); - } - } + mbed::ScopedLock lock(_mtx); + writeWordCmd(id, REG(SmartServoRegister::TARGET_POSITION_H), angleToPosition(angle)); + } } float SmartServoClass::getPosition(uint8_t const id) From 7bb9bcbab26349a182615679898593ff18896588 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 07:53:58 +0200 Subject: [PATCH 10/41] Rewrite getPosition in a better structure (exit early, always a valid return code). --- src/lib/motors/SmartServo.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 6c81d96..9258082 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -217,10 +217,11 @@ void SmartServoClass::setPosition(uint8_t const id, float const angle) float SmartServoClass::getPosition(uint8_t const id) { + if (!isValidId(id)) + return -1.0f; + mbed::ScopedLock lock(_mtx); - float ret = -1; - if (isValidId(id)) - return positionToAngle(readWordCmd(id, REG(SmartServoRegister::POSITION_H))); + return positionToAngle(readWordCmd(id, REG(SmartServoRegister::POSITION_H))); } void SmartServoClass::center(uint8_t const id, uint16_t const position) From 6e15737315316c449785042100ee8fb16f6cb935 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 08:13:52 +0200 Subject: [PATCH 11/41] =?UTF-8?q?Limit=20angular=20velocity=20to=2010?= =?UTF-8?q?=C2=B0/s.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/lib/motors/SmartServo.cpp | 34 ++++++++++++++++++++++++++++++++-- 1 file changed, 32 insertions(+), 2 deletions(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 9258082..3a475bd 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -206,12 +206,42 @@ void SmartServoClass::setPosition(uint8_t const id, float const angle) if (!isValidId(id)) return; - _targetPosition[idToArrayIndex(id)] = angleToPosition(angle); + float const MAX_ANGULAR_VELOCITY_deg_per_sec = 10.0f; + + float const target_position_deg = angleToPosition(angle); + float const actual_position_deg = getPosition(id); + if (actual_position_deg < 0.0f) + { + char msg[64] = {0}; + snprintf(msg, sizeof(msg), "error obtaining position for servo %d", (int)id); + Serial.println(msg); + return; + } + + float const abs_position_diff_deg = fabs(target_position_deg - actual_position_deg); + float const runtime_sec = static_cast(getTime(id)) / 1000.0f; + float const angular_velocity_deg_per_sec = abs_position_diff_deg / runtime_sec; + + /* Check whether or not the maximum allowed angular velocity is exceeded, + * if it is indeed exceeded increase the runtime accordingly. + */ + if (angular_velocity_deg_per_sec > MAX_ANGULAR_VELOCITY_deg_per_sec) + { + float const limited_runtime_sec = abs_position_diff_deg / MAX_ANGULAR_VELOCITY_deg_per_sec; + setTime(id, static_cast(limited_runtime_sec)); + + char msg[64] = {0}; + snprintf(msg, sizeof(msg), "targed = %0.2f, actual = %0.2f, diff = %0.2f, omega_vel = %0.2f", + target_position_deg, actual_position_deg, abs_position_diff_deg, angular_velocity_deg_per_sec); + Serial.println(msg); + } + + _targetPosition[idToArrayIndex(id)] = target_position_deg; if (_positionMode == PositionMode::IMMEDIATE) { mbed::ScopedLock lock(_mtx); - writeWordCmd(id, REG(SmartServoRegister::TARGET_POSITION_H), angleToPosition(angle)); + writeWordCmd(id, REG(SmartServoRegister::TARGET_POSITION_H), target_position_deg); } } From 99242d9d1be0c873e2c494c8ba462ea142fac88e Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 08:16:57 +0200 Subject: [PATCH 12/41] Only lock actual writing to the servos. --- src/lib/motors/SmartServo.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 3a475bd..6cfe01c 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -294,16 +294,24 @@ void SmartServoClass::setTorque(uint8_t const id, bool const torque) void SmartServoClass::setTime(uint16_t const time) { - mbed::ScopedLock lock(_mtx); for (int i = MIN_MOTOR_ID; i <= MAX_MOTOR_ID; i++) _targetSpeed[idToArrayIndex(i)] = time; + + mbed::ScopedLock lock(_mtx); writeWordCmd(BROADCAST, REG(SmartServoRegister::RUN_TIME_H), time); } void SmartServoClass::setTime(uint8_t const id, uint16_t const time) { + if (!isValidId(id)) + return; + + if (id == BROADCAST) + return; + + _targetSpeed[idToArrayIndex(id)] = time; + mbed::ScopedLock lock(_mtx); - if ((id >= MIN_MOTOR_ID) && (id <= MAX_MOTOR_ID)) _targetSpeed[idToArrayIndex(id)] = time; writeWordCmd(id, REG(SmartServoRegister::RUN_TIME_H), time); } From 7acbf71a049960c36a7e28364637bc5731fec498 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 08:22:34 +0200 Subject: [PATCH 13/41] Only update position array when we are in synched mode (otherwise this variable is not needed). --- src/lib/motors/SmartServo.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 6cfe01c..d716d34 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -236,13 +236,15 @@ void SmartServoClass::setPosition(uint8_t const id, float const angle) Serial.println(msg); } - _targetPosition[idToArrayIndex(id)] = target_position_deg; - if (_positionMode == PositionMode::IMMEDIATE) { mbed::ScopedLock lock(_mtx); writeWordCmd(id, REG(SmartServoRegister::TARGET_POSITION_H), target_position_deg); } + else if (_positionMode == PositionMode::SYNC) + { + _targetPosition[idToArrayIndex(id)] = target_position_deg; + } } float SmartServoClass::getPosition(uint8_t const id) From cb87a59128f5136743cb0d98af02ce7bb1bc7cb3 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 09:13:00 +0200 Subject: [PATCH 14/41] Bugfix: Runtime is in milliseconds, not seconds. --- src/lib/motors/SmartServo.cpp | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index d716d34..41294a0 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -227,8 +227,19 @@ void SmartServoClass::setPosition(uint8_t const id, float const angle) */ if (angular_velocity_deg_per_sec > MAX_ANGULAR_VELOCITY_deg_per_sec) { - float const limited_runtime_sec = abs_position_diff_deg / MAX_ANGULAR_VELOCITY_deg_per_sec; - setTime(id, static_cast(limited_runtime_sec)); + float const limited_runtime_sec = abs_position_diff_deg / MAX_ANGULAR_VELOCITY_deg_per_sec; + float const limited_runtime_ms = limited_runtime_sec * 1000.f; + uint16_t const limited_runtime_ms_param = max(5000, static_cast(limited_runtime_ms)); + + if (_positionMode == PositionMode::IMMEDIATE) + { + mbed::ScopedLock lock(_mtx); + writeWordCmd(id, REG(SmartServoRegister::RUN_TIME_H), limited_runtime_ms_param); + } + else if (_positionMode == PositionMode::SYNC) + { + _targetSpeed[idToArrayIndex(id)] = limited_runtime_ms; + } char msg[64] = {0}; snprintf(msg, sizeof(msg), "targed = %0.2f, actual = %0.2f, diff = %0.2f, omega_vel = %0.2f", From e49c5d04e6f65974182ad4ef38c51ee5ca9aa2ec Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 09:23:03 +0200 Subject: [PATCH 15/41] From a pre-defined max angular velocity calculate the individual runtime. --- src/lib/motors/SmartServo.cpp | 50 ++++++++--------------------------- src/lib/motors/SmartServo.h | 2 +- 2 files changed, 12 insertions(+), 40 deletions(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 41294a0..931b44d 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -198,63 +198,35 @@ void SmartServoClass::begin() _targetSpeed[idToArrayIndex(i)] = 1000; } -void SmartServoClass::setPosition(uint8_t const id, float const angle) +void SmartServoClass::setPosition(uint8_t const id, float const angle_deg) { - if (!isValidAngle(angle)) + if (!isValidAngle(angle_deg)) return; if (!isValidId(id)) return; - float const MAX_ANGULAR_VELOCITY_deg_per_sec = 10.0f; + float const ANGULAR_VELOCITY_deg_per_sec = 10.0f; - float const target_position_deg = angleToPosition(angle); + float const target_position_deg = angle_deg; float const actual_position_deg = getPosition(id); if (actual_position_deg < 0.0f) - { - char msg[64] = {0}; - snprintf(msg, sizeof(msg), "error obtaining position for servo %d", (int)id); - Serial.println(msg); return; - } - - float const abs_position_diff_deg = fabs(target_position_deg - actual_position_deg); - float const runtime_sec = static_cast(getTime(id)) / 1000.0f; - float const angular_velocity_deg_per_sec = abs_position_diff_deg / runtime_sec; - - /* Check whether or not the maximum allowed angular velocity is exceeded, - * if it is indeed exceeded increase the runtime accordingly. - */ - if (angular_velocity_deg_per_sec > MAX_ANGULAR_VELOCITY_deg_per_sec) - { - float const limited_runtime_sec = abs_position_diff_deg / MAX_ANGULAR_VELOCITY_deg_per_sec; - float const limited_runtime_ms = limited_runtime_sec * 1000.f; - uint16_t const limited_runtime_ms_param = max(5000, static_cast(limited_runtime_ms)); - - if (_positionMode == PositionMode::IMMEDIATE) - { - mbed::ScopedLock lock(_mtx); - writeWordCmd(id, REG(SmartServoRegister::RUN_TIME_H), limited_runtime_ms_param); - } - else if (_positionMode == PositionMode::SYNC) - { - _targetSpeed[idToArrayIndex(id)] = limited_runtime_ms; - } - char msg[64] = {0}; - snprintf(msg, sizeof(msg), "targed = %0.2f, actual = %0.2f, diff = %0.2f, omega_vel = %0.2f", - target_position_deg, actual_position_deg, abs_position_diff_deg, angular_velocity_deg_per_sec); - Serial.println(msg); - } + float const abs_position_diff_deg = fabs(target_position_deg - actual_position_deg); + float const limited_runtime_sec = abs_position_diff_deg / ANGULAR_VELOCITY_deg_per_sec; + uint16_t const limited_runtime_ms = static_cast(limited_runtime_sec * 1000.f); if (_positionMode == PositionMode::IMMEDIATE) { mbed::ScopedLock lock(_mtx); - writeWordCmd(id, REG(SmartServoRegister::TARGET_POSITION_H), target_position_deg); + writeWordCmd(id, REG(SmartServoRegister::RUN_TIME_H), limited_runtime_ms); + writeWordCmd(id, REG(SmartServoRegister::TARGET_POSITION_H), angleToPosition(target_position_deg)); } else if (_positionMode == PositionMode::SYNC) { - _targetPosition[idToArrayIndex(id)] = target_position_deg; + _targetSpeed[idToArrayIndex(id)] = limited_runtime_ms; + _targetPosition[idToArrayIndex(id)] = angleToPosition(target_position_deg); } } diff --git a/src/lib/motors/SmartServo.h b/src/lib/motors/SmartServo.h index d42d487..ab516f3 100644 --- a/src/lib/motors/SmartServo.h +++ b/src/lib/motors/SmartServo.h @@ -46,7 +46,7 @@ class SmartServoClass inline void setPositionMode(PositionMode const mode) { _positionMode = mode; } - void setPosition(uint8_t const id, float const angle); + void setPosition(uint8_t const id, float const angle_deg); float getPosition(uint8_t const id); From 672628a9f9b98801f6bd9ec389de4911590425de Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 09:29:33 +0200 Subject: [PATCH 16/41] Turn compile time constant into member variable. --- src/lib/motors/SmartServo.cpp | 5 ++--- src/lib/motors/SmartServo.h | 2 ++ 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 931b44d..84efd23 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -31,6 +31,7 @@ SmartServoClass::SmartServoClass(RS485Class & RS485) : _RS485{RS485} , _errors{0} +, _angular_velocity_deg_per_sec{DEFAULT_ANGULAR_VELOCITY_deg_per_sec} , _onError{} , _mtx{} { @@ -206,15 +207,13 @@ void SmartServoClass::setPosition(uint8_t const id, float const angle_deg) if (!isValidId(id)) return; - float const ANGULAR_VELOCITY_deg_per_sec = 10.0f; - float const target_position_deg = angle_deg; float const actual_position_deg = getPosition(id); if (actual_position_deg < 0.0f) return; float const abs_position_diff_deg = fabs(target_position_deg - actual_position_deg); - float const limited_runtime_sec = abs_position_diff_deg / ANGULAR_VELOCITY_deg_per_sec; + float const limited_runtime_sec = abs_position_diff_deg / _angular_velocity_deg_per_sec; uint16_t const limited_runtime_ms = static_cast(limited_runtime_sec * 1000.f); if (_positionMode == PositionMode::IMMEDIATE) diff --git a/src/lib/motors/SmartServo.h b/src/lib/motors/SmartServo.h index ab516f3..7b87885 100644 --- a/src/lib/motors/SmartServo.h +++ b/src/lib/motors/SmartServo.h @@ -97,6 +97,7 @@ class SmartServoClass static int constexpr MAX_MOTOR_ID = 6; static int constexpr NUM_MOTORS = 6; static float constexpr MAX_ANGLE = 315.0f; + static float constexpr DEFAULT_ANGULAR_VELOCITY_deg_per_sec = 10.0f; static uint16_t constexpr TORQUE_MIN = 0; static uint16_t constexpr TORQUE_MAX = 1000; @@ -129,6 +130,7 @@ class SmartServoClass RS485Class& _RS485; int _errors; + float _angular_velocity_deg_per_sec; mbed::Callback _onError; rtos::Mutex _mtx; From 14c3c7a3cfb8f771f3b0e17abefded7d8b50db42 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 09:33:19 +0200 Subject: [PATCH 17/41] Provide getter/setters for angular velocity. --- src/Braccio++.h | 3 +++ src/lib/motors/SmartServo.h | 7 ++++--- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/src/Braccio++.h b/src/Braccio++.h index 6d3d1e6..c895b56 100644 --- a/src/Braccio++.h +++ b/src/Braccio++.h @@ -83,6 +83,9 @@ class BraccioClass inline void setMaxTorque(uint16_t const max_torque) { _servos.setMaxTorque(max_torque); } inline void setMaxTorque(int const id, uint16_t const max_torque) { _servos.setMaxTorque(id, max_torque); } + inline void setAngularVelocity(float const angular_velocity_deg_per_sec) { _servos.setAngularVelocity(angular_velocity_deg_per_sec); } + inline float getAngularVelocity() const { return _servos.getAngularVelocity(); } + inline void speed(speed_grade_t const speed_grade) { _servos.setTime(speed_grade); } inline void speed(int const id, speed_grade_t const speed_grade) { _servos.setTime(id, speed_grade); } diff --git a/src/lib/motors/SmartServo.h b/src/lib/motors/SmartServo.h index 7b87885..4c634da 100644 --- a/src/lib/motors/SmartServo.h +++ b/src/lib/motors/SmartServo.h @@ -46,14 +46,15 @@ class SmartServoClass inline void setPositionMode(PositionMode const mode) { _positionMode = mode; } - void setPosition(uint8_t const id, float const angle_deg); - + void setPosition(uint8_t const id, float const angle_deg); float getPosition(uint8_t const id); + inline void setAngularVelocity(float const angular_velocity_deg_per_sec) { _angular_velocity_deg_per_sec = angular_velocity_deg_per_sec; } + inline float getAngularVelocity() const { return _angular_velocity_deg_per_sec; } + void synchronize(); void setTorque(bool const torque); - void setTorque(uint8_t const id, bool const torque); void setMaxTorque(uint8_t const id, uint16_t const max_torque); From bc001ef75a2ae341420050e9b1ffd57710b388cf Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 09:34:32 +0200 Subject: [PATCH 18/41] Drop runtime/getRuntime API. --- src/Braccio++.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/Braccio++.h b/src/Braccio++.h index c895b56..c3a3f2b 100644 --- a/src/Braccio++.h +++ b/src/Braccio++.h @@ -199,8 +199,6 @@ class Servo inline float position() { return _servos.getPosition(_id); } inline bool connected() { return Braccio.connected(_id); } inline void info(Stream & stream) { _servos.getInfo(stream, _id); } - inline uint16_t runtime() { return _servos.getTime(_id); } - inline void setRuntime(uint16_t const time) { _servos.setTime(_id, time); } operator bool() { return connected(); } From 517570821a3308670ef516504932d3918c788675 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 09:47:53 +0200 Subject: [PATCH 19/41] Eliminate speed API alltogether. --- .../Braccio_Record_and_Replay/Braccio_Record_and_Replay.ino | 5 ++++- .../Controlling_Manually_Braccio.ino | 2 -- .../01_aligning_braccio/01_aligning_braccio.ino | 3 --- .../02_waving_with_Braccio/02_waving_with_Braccio.ino | 3 --- .../03_moving_challenge/03_moving_challenge.ino | 3 --- .../01_Controlling_Manually_Braccio.ino | 2 -- .../02_Manual_Control_Challenge.ino | 2 -- .../01_Braccio_Record_and_Replay.ino | 2 ++ src/Braccio++.cpp | 2 +- src/Braccio++.h | 3 --- 10 files changed, 7 insertions(+), 20 deletions(-) diff --git a/examples/Braccio_Record_and_Replay/Braccio_Record_and_Replay.ino b/examples/Braccio_Record_and_Replay/Braccio_Record_and_Replay.ino index 8e0439d..88e6b06 100644 --- a/examples/Braccio_Record_and_Replay/Braccio_Record_and_Replay.ino +++ b/examples/Braccio_Record_and_Replay/Braccio_Record_and_Replay.ino @@ -18,8 +18,11 @@ RecordAndReplayApp app; void setup() { - if (Braccio.begin(custom_main_menu)) { + if (Braccio.begin(custom_main_menu)) + { app.enableButtons(); + /* Allow greater angular velocity than the default one. */ + Braccio.setAngularVelocity(45.0f); } } diff --git a/examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino b/examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino index 4d2f5ea..679fd73 100644 --- a/examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino +++ b/examples/Controlling_Manually_Braccio/Controlling_Manually_Braccio.ino @@ -54,8 +54,6 @@ void setup() if (Braccio.begin(directionScreen)) { - /* Configure Braccio. */ - Braccio.speed(speed_grade_t(120)/*MEDIUM*/); /* Move to home position. */ Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]); delay(500); diff --git a/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino b/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino index bd0c162..b06b096 100644 --- a/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino +++ b/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino @@ -18,9 +18,6 @@ void setup() { Braccio.begin(); delay(500); // Waits for the Braccio initialization - // You can choose the speed beforehand with - Braccio.speed(SLOW); // could be FAST or MEDIUM or SLOW - // Send motors initial angle gripper.move().to(initialGripper); delay(100); diff --git a/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino b/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino index 2bda3b1..f837495 100644 --- a/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino +++ b/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino @@ -21,9 +21,6 @@ void setup() { Braccio.begin(); delay(500); // Waits for the Braccio initialization - // You can choose the speed beforehand with - Braccio.speed(SLOW); // could be FAST or MEDIUM or SLOW - // Set motors initial angle // Should move all the motors at once Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]); diff --git a/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino b/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino index 2999342..138d7d7 100644 --- a/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino +++ b/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino @@ -20,9 +20,6 @@ void setup() { Braccio.begin(); delay(500); // Waits for the Braccio initialization - // You can choose the speed beforehand with - Braccio.speed(SLOW); // could be FAST or MEDIUM or SLOW - // Set motors initial angle // Should move all the motors at once Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]); diff --git a/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_Controlling_Manually_Braccio/01_Controlling_Manually_Braccio.ino b/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_Controlling_Manually_Braccio/01_Controlling_Manually_Braccio.ino index 4d2f5ea..679fd73 100644 --- a/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_Controlling_Manually_Braccio/01_Controlling_Manually_Braccio.ino +++ b/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/01_Controlling_Manually_Braccio/01_Controlling_Manually_Braccio.ino @@ -54,8 +54,6 @@ void setup() if (Braccio.begin(directionScreen)) { - /* Configure Braccio. */ - Braccio.speed(speed_grade_t(120)/*MEDIUM*/); /* Move to home position. */ Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]); delay(500); diff --git a/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_Manual_Control_Challenge/02_Manual_Control_Challenge.ino b/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_Manual_Control_Challenge/02_Manual_Control_Challenge.ino index 4d2f5ea..679fd73 100644 --- a/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_Manual_Control_Challenge/02_Manual_Control_Challenge.ino +++ b/examples/Platform_Tutorials/projects/p02-controlling-braccio-manually/02_Manual_Control_Challenge/02_Manual_Control_Challenge.ino @@ -54,8 +54,6 @@ void setup() if (Braccio.begin(directionScreen)) { - /* Configure Braccio. */ - Braccio.speed(speed_grade_t(120)/*MEDIUM*/); /* Move to home position. */ Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]); delay(500); diff --git a/examples/Platform_Tutorials/projects/p03-record-replay-mode/01_Braccio_Record_and_Replay/01_Braccio_Record_and_Replay.ino b/examples/Platform_Tutorials/projects/p03-record-replay-mode/01_Braccio_Record_and_Replay/01_Braccio_Record_and_Replay.ino index c5180cf..5456ea5 100644 --- a/examples/Platform_Tutorials/projects/p03-record-replay-mode/01_Braccio_Record_and_Replay/01_Braccio_Record_and_Replay.ino +++ b/examples/Platform_Tutorials/projects/p03-record-replay-mode/01_Braccio_Record_and_Replay/01_Braccio_Record_and_Replay.ino @@ -20,6 +20,8 @@ void setup() { if (Braccio.begin(custom_main_menu)) { app.enableButtons(); + /* Allow greater angular velocity than the default one. */ + Braccio.setAngularVelocity(45.0f); } } diff --git a/src/Braccio++.cpp b/src/Braccio++.cpp index a0ddbfc..d5d7d9c 100644 --- a/src/Braccio++.cpp +++ b/src/Braccio++.cpp @@ -136,7 +136,7 @@ bool BraccioClass::begin(voidFuncPtr custom_menu, bool const wait_for_all_motor_ lvgl_defaultMenu(); _servos.begin(); - _servos.setTime(SLOW); + _servos.setAngularVelocity(SmartServoClass::DEFAULT_ANGULAR_VELOCITY_deg_per_sec); _servos.setPositionMode(PositionMode::IMMEDIATE); _motors_connected_thd.start(mbed::callback(this, &BraccioClass::motorConnectedThreadFunc)); diff --git a/src/Braccio++.h b/src/Braccio++.h index c3a3f2b..9fe3145 100644 --- a/src/Braccio++.h +++ b/src/Braccio++.h @@ -86,9 +86,6 @@ class BraccioClass inline void setAngularVelocity(float const angular_velocity_deg_per_sec) { _servos.setAngularVelocity(angular_velocity_deg_per_sec); } inline float getAngularVelocity() const { return _servos.getAngularVelocity(); } - inline void speed(speed_grade_t const speed_grade) { _servos.setTime(speed_grade); } - inline void speed(int const id, speed_grade_t const speed_grade) { _servos.setTime(id, speed_grade); } - inline void disengage(int const id = SmartServoClass::BROADCAST) { _servos.disengage(id); } inline void engage (int const id = SmartServoClass::BROADCAST) { _servos.engage(id); } From 81e83b0ff1273c97632e453b5d4d119a2b2b35ac Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 10:00:11 +0200 Subject: [PATCH 20/41] =?UTF-8?q?Increase=20default=20angular=20velocity?= =?UTF-8?q?=20to=2020.0=20=C2=B0/s.=20This=20seems=20save=20enough.?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/lib/motors/SmartServo.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/motors/SmartServo.h b/src/lib/motors/SmartServo.h index 4c634da..d7186b6 100644 --- a/src/lib/motors/SmartServo.h +++ b/src/lib/motors/SmartServo.h @@ -98,7 +98,7 @@ class SmartServoClass static int constexpr MAX_MOTOR_ID = 6; static int constexpr NUM_MOTORS = 6; static float constexpr MAX_ANGLE = 315.0f; - static float constexpr DEFAULT_ANGULAR_VELOCITY_deg_per_sec = 10.0f; + static float constexpr DEFAULT_ANGULAR_VELOCITY_deg_per_sec = 20.0f; static uint16_t constexpr TORQUE_MIN = 0; static uint16_t constexpr TORQUE_MAX = 1000; From e5a0e6adfac9e17264cd3b4ad0c020a85f3b4240 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 10:04:58 +0200 Subject: [PATCH 21/41] Eliminate 'in' API. --- examples/Tools/Braccio_Basic/Braccio_Basic.ino | 4 ++-- .../Factory_Set_Initial_Servo_Position.ino | 2 +- .../Test_Motor_Angular_Control.ino | 4 ++-- src/Braccio++.h | 5 ++--- 4 files changed, 7 insertions(+), 8 deletions(-) diff --git a/examples/Tools/Braccio_Basic/Braccio_Basic.ino b/examples/Tools/Braccio_Basic/Braccio_Basic.ino index ebc00c7..547c1c0 100644 --- a/examples/Tools/Braccio_Basic/Braccio_Basic.ino +++ b/examples/Tools/Braccio_Basic/Braccio_Basic.ino @@ -85,9 +85,9 @@ void loop() { if (move_joint) { - Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) - 45.0f).in(1s); + Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) - 45.0f); delay(1000); - Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) + 45.0f).in(1s); + Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) + 45.0f); delay(1000); } } diff --git a/examples/Tools/Factory_Set_Initial_Servo_Position/Factory_Set_Initial_Servo_Position.ino b/examples/Tools/Factory_Set_Initial_Servo_Position/Factory_Set_Initial_Servo_Position.ino index f833ffd..64ff66b 100644 --- a/examples/Tools/Factory_Set_Initial_Servo_Position/Factory_Set_Initial_Servo_Position.ino +++ b/examples/Tools/Factory_Set_Initial_Servo_Position/Factory_Set_Initial_Servo_Position.ino @@ -85,7 +85,7 @@ bool set_initial_servo_position(int const id, float const target_angle) for ( float current_angle = Braccio.get(id).position(); !isTargetAngleReached(EPSILON) && !isTimeout(start);) { - Braccio.get(id).move().to(target_angle).in(200ms); + Braccio.get(id).move().to(target_angle); delay(250); char msg[64] = {0}; diff --git a/examples/Tools/Test_Motor_Angular_Control/Test_Motor_Angular_Control.ino b/examples/Tools/Test_Motor_Angular_Control/Test_Motor_Angular_Control.ino index bba4fd5..cb97616 100644 --- a/examples/Tools/Test_Motor_Angular_Control/Test_Motor_Angular_Control.ino +++ b/examples/Tools/Test_Motor_Angular_Control/Test_Motor_Angular_Control.ino @@ -31,13 +31,13 @@ void test_motor(int const id) delay(500); Serial.print("Drive to start . "); - Braccio.get(id).move().to(0.0f).in(1s); + Braccio.get(id).move().to(0.0f); Serial.println("OK."); delay(1500); for (float target_angle = 0.0f; target_angle < SmartServoClass::MAX_ANGLE; target_angle += 1.0f) { - Braccio.get(id).move().to(target_angle).in(200ms); + Braccio.get(id).move().to(target_angle); delay(250); char msg[64] = {0}; diff --git a/src/Braccio++.h b/src/Braccio++.h index 9fe3145..07651b5 100644 --- a/src/Braccio++.h +++ b/src/Braccio++.h @@ -189,9 +189,8 @@ class Servo inline bool engaged() { return _servos.isEngaged(_id); } inline void setMaxTorque(uint16_t const max_torque) { _servos.setMaxTorque(_id, max_torque); } - inline Servo & move() { return *this; } - inline Servo & to (float const angle) { _servos.setPosition(_id, angle); return *this; } - inline Servo & in (std::chrono::milliseconds const len) { _servos.setTime(_id, len.count()); return *this; } + inline Servo & move() { return *this; } + inline Servo & to (float const angle) { _servos.setPosition(_id, angle); return *this; } inline float position() { return _servos.getPosition(_id); } inline bool connected() { return Braccio.connected(_id); } From a5820a628ce9ec4e81637b762363111df200370e Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 10:13:25 +0200 Subject: [PATCH 22/41] Fix example after removing in() API. --- examples/Tools/Braccio_Basic/Braccio_Basic.ino | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/examples/Tools/Braccio_Basic/Braccio_Basic.ino b/examples/Tools/Braccio_Basic/Braccio_Basic.ino index 547c1c0..0ea708c 100644 --- a/examples/Tools/Braccio_Basic/Braccio_Basic.ino +++ b/examples/Tools/Braccio_Basic/Braccio_Basic.ino @@ -79,6 +79,7 @@ void setup() Braccio.moveTo(home_position[0], home_position[1], home_position[2], home_position[3], home_position[4], home_position[5]); delay(1000); + Braccio.setAngularVelocity(45.0f); /* 45 deg/sec */ } void loop() @@ -86,8 +87,8 @@ void loop() if (move_joint) { Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) - 45.0f); - delay(1000); + delay(2000); Braccio.move(4).to((SmartServoClass::MAX_ANGLE / 2.0f) + 45.0f); - delay(1000); + delay(2000); } } From 5f81b5396ee5ee1dfc867c19e4f4f283b349bf83 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 10:13:42 +0200 Subject: [PATCH 23/41] Enable max. torque which is save now due to velocity limiting. --- src/Braccio++.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/Braccio++.cpp b/src/Braccio++.cpp index d5d7d9c..82c3776 100644 --- a/src/Braccio++.cpp +++ b/src/Braccio++.cpp @@ -136,6 +136,7 @@ bool BraccioClass::begin(voidFuncPtr custom_menu, bool const wait_for_all_motor_ lvgl_defaultMenu(); _servos.begin(); + _servos.setMaxTorque(SmartServoClass::TORQUE_MAX); _servos.setAngularVelocity(SmartServoClass::DEFAULT_ANGULAR_VELOCITY_deg_per_sec); _servos.setPositionMode(PositionMode::IMMEDIATE); From 8a5cc9472d49eb98c31a4f67a06792070839f646 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 24 Aug 2022 10:15:28 +0200 Subject: [PATCH 24/41] Eliminate no-longer used speed_grade_t constant. --- src/Braccio++.h | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/src/Braccio++.h b/src/Braccio++.h index 07651b5..565b9ab 100644 --- a/src/Braccio++.h +++ b/src/Braccio++.h @@ -38,16 +38,6 @@ #include using namespace std::chrono; -/************************************************************************************** - * TYPEDEF - **************************************************************************************/ - -enum speed_grade_t { - FAST = 10, - MEDIUM = 100, - SLOW = 1000, -}; - /************************************************************************************** * FORWARD DECLARATION **************************************************************************************/ From 0da6211b391358a25e11aa0e220d4ad488a115f1 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Fri, 26 Aug 2022 10:13:32 +0200 Subject: [PATCH 25/41] Fix: Since we use all available pins for RS485 communication there is no reason to check if all pins have been correctly configured. --- src/lib/motors/RS485.cpp | 44 +++++++++++++--------------------------- 1 file changed, 14 insertions(+), 30 deletions(-) diff --git a/src/lib/motors/RS485.cpp b/src/lib/motors/RS485.cpp index efa610f..c5218a2 100644 --- a/src/lib/motors/RS485.cpp +++ b/src/lib/motors/RS485.cpp @@ -51,15 +51,11 @@ void RS485Class::begin(unsigned long baudrate, uint16_t config, int predelay, in _predelay = predelay; _postdelay = postdelay; - if (_dePin > -1) { - pinMode(_dePin, OUTPUT); - digitalWrite(_dePin, LOW); - } + pinMode(_dePin, OUTPUT); + digitalWrite(_dePin, LOW); - if (_rePin > -1) { - pinMode(_rePin, OUTPUT); - digitalWrite(_rePin, HIGH); - } + pinMode(_rePin, OUTPUT); + digitalWrite(_rePin, HIGH); _transmisionBegun = false; @@ -70,15 +66,11 @@ void RS485Class::end() { _serial->end(); - if (_rePin > -1) { - digitalWrite(_rePin, LOW); - pinMode(_dePin, INPUT); - } + digitalWrite(_rePin, LOW); + pinMode(_dePin, INPUT); - if (_dePin > -1) { - digitalWrite(_dePin, LOW); - pinMode(_rePin, INPUT); - } + digitalWrite(_dePin, LOW); + pinMode(_rePin, INPUT); } int RS485Class::available() @@ -118,10 +110,8 @@ RS485Class::operator bool() void RS485Class::beginTransmission() { - if (_dePin > -1) { - digitalWrite(_dePin, HIGH); - if (_predelay) delayMicroseconds(_predelay); - } + digitalWrite(_dePin, HIGH); + if (_predelay) delayMicroseconds(_predelay); _transmisionBegun = true; } @@ -130,26 +120,20 @@ void RS485Class::endTransmission() { _serial->flush(); - if (_dePin > -1) { - if (_postdelay) delayMicroseconds(_postdelay); - digitalWrite(_dePin, LOW); - } + if (_postdelay) delayMicroseconds(_postdelay); + digitalWrite(_dePin, LOW); _transmisionBegun = false; } void RS485Class::receive() { - if (_rePin > -1) { - digitalWrite(_rePin, LOW); - } + digitalWrite(_rePin, LOW); } void RS485Class::noReceive() { - if (_rePin > -1) { - digitalWrite(_rePin, HIGH); - } + digitalWrite(_rePin, HIGH); } void RS485Class::sendBreak(unsigned int duration) From 8159bced69c5ee129e03e11b95fc2aa5ddcbe173 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Fri, 26 Aug 2022 10:14:49 +0200 Subject: [PATCH 26/41] Delete setPins-API. It's not needed. --- src/lib/motors/RS485.cpp | 7 ------- src/lib/motors/RS485.h | 2 -- 2 files changed, 9 deletions(-) diff --git a/src/lib/motors/RS485.cpp b/src/lib/motors/RS485.cpp index c5218a2..484730a 100644 --- a/src/lib/motors/RS485.cpp +++ b/src/lib/motors/RS485.cpp @@ -155,10 +155,3 @@ void RS485Class::sendBreakMicroseconds(unsigned int duration) delayMicroseconds(duration); _serial->begin(_baudrate, _config); } - -void RS485Class::setPins(int txPin, int dePin, int rePin) -{ - _txPin = txPin; - _dePin = dePin; - _rePin = rePin; -} \ No newline at end of file diff --git a/src/lib/motors/RS485.h b/src/lib/motors/RS485.h index d7476c4..38b0a05 100644 --- a/src/lib/motors/RS485.h +++ b/src/lib/motors/RS485.h @@ -66,8 +66,6 @@ class RS485Class : public Stream { void sendBreak(unsigned int duration); void sendBreakMicroseconds(unsigned int duration); - void setPins(int txPin, int dePin, int rePin); - private: HardwareSerial* _serial; int _txPin; From 8434e1d658e022209449fd21bfdb21727a7d7eed Mon Sep 17 00:00:00 2001 From: Esquirio Date: Wed, 31 Aug 2022 10:49:03 +0200 Subject: [PATCH 27/41] feat: new lessons codes --- .../01_creating_a_button/sketch.json | 7 -- .../btn_style.ino.NANO_RP2040_CONNECT.bin | Bin 345140 -> 0 bytes .../02_designing_the_button/sketch.json | 6 - .../Braccio_moving_range_angles.ino | 119 ++++++++++++++++++ .../Navigating_the_display_menu.ino | 81 ++++++++++++ .../01_creating_a_button.ino | 9 +- .../02_styling_the_button.ino} | 85 +++++++------ .../03_designing_a_menu.ino} | 101 ++++++++------- .../04_adding_an_extra_button.ino} | 101 ++++++++------- .../05_display_challenge.ino | 7 +- .../01_playing_with_the_Joystick.ino | 4 +- .../02_handling_events_in_the_menu.ino | 15 ++- .../03_navigate_challenge_I.ino | 11 +- .../04_navigate_challenge_II.ino | 9 +- .../01_playing_with_the_motors.ino | 20 +-- .../02_selecting_each_motor.ino} | 47 +++---- .../03_servo_motors_using_the_joystick.ino} | 5 +- .../04_servo_motors_challenge.ino | 5 +- .../01_designing_a_gauge_interface.ino} | 15 ++- .../02_completing_the_screen_ui.ino} | 21 +++- .../03_learnings_challenge_I.ino | 23 +++- .../04_learnings_challenge_II.ino | 23 +++- 22 files changed, 501 insertions(+), 213 deletions(-) delete mode 100644 examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/sketch.json delete mode 100755 examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/btn_style.ino.NANO_RP2040_CONNECT.bin delete mode 100644 examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/sketch.json create mode 100644 examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino create mode 100644 examples/Platform_Tutorials/lessons/03-important-programming-concepts/Navigating_the_display_menu/Navigating_the_display_menu.ino rename examples/Platform_Tutorials/lessons/{ => Basic_codes}/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino (75%) rename examples/Platform_Tutorials/lessons/{01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino => Basic_codes/01-programming-the-braccio-display/02_styling_the_button/02_styling_the_button.ino} (84%) rename examples/Platform_Tutorials/lessons/{01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino => Basic_codes/01-programming-the-braccio-display/03_designing_a_menu/03_designing_a_menu.ino} (91%) rename examples/Platform_Tutorials/lessons/{01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino => Basic_codes/01-programming-the-braccio-display/04_adding_an_extra_button/04_adding_an_extra_button.ino} (87%) rename examples/Platform_Tutorials/lessons/{ => Basic_codes}/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino (92%) rename examples/Platform_Tutorials/lessons/{ => Basic_codes}/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino (93%) rename examples/Platform_Tutorials/lessons/{ => Basic_codes}/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino (92%) rename examples/Platform_Tutorials/lessons/{ => Basic_codes}/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino (95%) rename examples/Platform_Tutorials/lessons/{ => Basic_codes}/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino (94%) rename examples/Platform_Tutorials/lessons/{ => Basic_codes}/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino (76%) rename examples/Platform_Tutorials/lessons/{03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino => Basic_codes/03-playing-with-the-motors/02_selecting_each_motor/02_selecting_each_motor.ino} (71%) rename examples/Platform_Tutorials/lessons/{03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino => Basic_codes/03-playing-with-the-motors/03_servo_motors_using_the_joystick/03_servo_motors_using_the_joystick.ino} (93%) rename examples/Platform_Tutorials/lessons/{ => Basic_codes}/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino (95%) rename examples/Platform_Tutorials/lessons/{04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino => Basic_codes/04-integration-of-previous-learnings/01_designing_a_gauge_interface/01_designing_a_gauge_interface.ino} (94%) rename examples/Platform_Tutorials/lessons/{04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino => Basic_codes/04-integration-of-previous-learnings/02_completing_the_screen_ui/02_completing_the_screen_ui.ino} (95%) rename examples/Platform_Tutorials/lessons/{ => Basic_codes}/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino (94%) rename examples/Platform_Tutorials/lessons/{ => Basic_codes}/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino (94%) diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/sketch.json b/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/sketch.json deleted file mode 100644 index 45332f0..0000000 --- a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/sketch.json +++ /dev/null @@ -1,7 +0,0 @@ -{ - "cpu": { - "fqbn": "arduino:mbed_nano:nanorp2040connect", - "name": "Arduino Nano RP2040 Connect", - "port": "serial:///dev/ttyACM0" - } -} \ No 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z&a)Z%k{Ryf>V9rjvsM_E8Z@r23MK{ZLYhSFg!f4G?oMwHl4ffysxq>E5LSit;RmJ} z#hVJ%f%2dG@!Of}Ls_;`C13$~67Zf@TXa02tn~iM+6Hvq{ieD_24x@Fn=`oPZ1?Hp z8;*zjtAwnvYj26ya)kmYDG?Sx$r7OwN@79+N;V43P_jkX1|>U$Jy5bwXn~S8p#w?|3&)}4 zl+Xnw-NHpExhCLOJQf)s41tnVVKkJa3pr4dD-=LUiLd}lmI#$l;@lhi)T|_BF8aIA re95QGT^Y*UyjYnhHYl@rqcRU5|Al0~`7wTrv>ET<&VBUy_jLaOU$fT^ diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/sketch.json b/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/sketch.json deleted file mode 100644 index abdab11..0000000 --- a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/sketch.json +++ /dev/null @@ -1,6 +0,0 @@ -{ - "cpu": { - "fqbn": "arduino:mbed_nano:nanorp2040connect", - "port": "" - } -} \ No newline at end of file diff --git a/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino b/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino new file mode 100644 index 0000000..5d22936 --- /dev/null +++ b/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino @@ -0,0 +1,119 @@ +/************************************************************************************** + * INCLUDE + **************************************************************************************/ + +#include + +/************************************************************************************** + * DEFINES + **************************************************************************************/ + +#define BUTTON_SELECT 3 +#define BUTTON_ENTER 6 +#define TIME_DELAY 2000 + +/************************************************************************************** + * CONSTANTS + **************************************************************************************/ + +static float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0}; + +/************************************************************************************** + * GLOBAL VARIABLES + **************************************************************************************/ + +static auto gripper = Braccio.get(1); +static auto wristRoll = Braccio.get(2); +static auto wristPitch = Braccio.get(3); +static auto elbow = Braccio.get(4); +static auto shoulder = Braccio.get(5); +static auto base = Braccio.get(6); + +float angles[6]; + +/************************************************************************************** + * SETUP/LOOP + **************************************************************************************/ + +void setup() { + if (Braccio.begin()) + { + /* Configure Braccio speed. */ + /* Warning: keep a safe distance from the robot and watch out for the robot's + movement. It could be speedy and hit someone. */ + Braccio.speed(speed_grade_t(1000)/*SLOW*/); + /* Move to home position. */ + Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]); + delay(TIME_DELAY); + } +} + +void loop() { + int pressedKey = Braccio.getKey(); + + if (pressedKey == BUTTON_ENTER) + { + // Pinch movement + gripper.move().to(230.0f); delay(TIME_DELAY); + gripper.move().to(HOME_POS[0]); delay(TIME_DELAY); + + // // Wrist Roll movement + wristRoll.move().to(0.0f); delay(TIME_DELAY); + wristRoll.move().to(HOME_POS[1]); delay(TIME_DELAY); + wristRoll.move().to(315.0f); delay(TIME_DELAY); + wristRoll.move().to(HOME_POS[1]); delay(TIME_DELAY); + + // // Wrist Pitch movement + wristPitch.move().to(70.0f); delay(TIME_DELAY); + wristPitch.move().to(HOME_POS[2]); delay(TIME_DELAY); + wristPitch.move().to(260.0f); delay(TIME_DELAY); + wristPitch.move().to(HOME_POS[2]); delay(TIME_DELAY); + + // Elbow movement + for(float i=HOME_POS[3]; i >= 70.0; i-=5) + { elbow.move().to(i); delay(TIME_DELAY/2000); } + elbow.move().to(HOME_POS[3]); delay(TIME_DELAY); + for(float i=HOME_POS[3]; i <= 260.0; i+=5) + { elbow.move().to(i); delay(TIME_DELAY/2000); } + elbow.move().to(HOME_POS[3]); delay(TIME_DELAY); + + // Shoulder movement + shoulder.move().to(120.0f); delay(TIME_DELAY/2); + shoulder.move().to(90.0f); delay(TIME_DELAY/2); + shoulder.move().to(120.0f); delay(TIME_DELAY/2); + shoulder.move().to(HOME_POS[4]); delay(TIME_DELAY); + shoulder.move().to(200.0f); delay(TIME_DELAY/2); + shoulder.move().to(230.0f); delay(TIME_DELAY/2); + shoulder.move().to(200.0f); delay(TIME_DELAY/2); + shoulder.move().to(HOME_POS[4]); delay(TIME_DELAY); + + // Base movement + base.move().to(0.0f); delay(TIME_DELAY); + base.move().to(HOME_POS[5]); delay(TIME_DELAY); + base.move().to(315.0f); delay(TIME_DELAY); + base.move().to(HOME_POS[5]); delay(TIME_DELAY); + + while(pressedKey == BUTTON_ENTER) { pressedKey = Braccio.getKey(); } + } + + if (pressedKey == BUTTON_SELECT) + { + // Fetch the joints positions + Braccio.positions(angles); + + // Print the joint angles + Serial.println("************* Joints Angles *************"); + Serial.println("|\tMotor ID\t|\tAngle\t|"); + Serial.println("----------------------------------------"); + Serial.print("| 1 - Gripper\t\t|\t" + String(angles[0]) + "\t|\n" + + "| 2 - Wrist Rotation\t|\t" + String(angles[1]) + "\t|\n" + + "| 3 - Wrist Vertical\t|\t" + String(angles[2]) + "\t|\n" + + "| 4 - Elbow\t\t|\t" + String(angles[3]) + "\t|\n" + + "| 5 - Shoulder\t\t|\t" + String(angles[4]) + "\t|\n" + + "| 6 - Base\t\t|\t" + String(angles[5]) + "\t|\n" + + "*****************************************\n\n\n\n\n"); + + while(pressedKey == BUTTON_SELECT) { pressedKey = Braccio.getKey(); } + + } +} \ No newline at end of file diff --git a/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Navigating_the_display_menu/Navigating_the_display_menu.ino b/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Navigating_the_display_menu/Navigating_the_display_menu.ino new file mode 100644 index 0000000..a6b107b --- /dev/null +++ b/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Navigating_the_display_menu/Navigating_the_display_menu.ino @@ -0,0 +1,81 @@ +#include + +#define MARGIN_LEFT 0 +#define MARGIN_TOP 0 + +// Arduino Colors +#define COLOR_TEAL 0x00878F +#define COLOR_LIGHT_TEAL 0x62AEB2 +#define COLOR_ORANGE 0xE47128 +#define COLOR_YELLOW 0xE5AD24 +#define COLOR_WHITE 0xFFFFFF + +static const char * btnm_map[] = {"Option 1", "Option 2", "\n", + "Option 3", "Option 4", "\n", + "Option 5", "Option 6", "\0" + }; + +void setup() { + if (!Braccio.begin(customMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } +} + +void loop() { + // Let here empty. +} + +void customMenu(){ + Braccio.lvgl_lock(); + + static lv_style_t style_bg; + lv_style_init(&style_bg); + lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_WHITE)); + + static lv_style_t style_btn; + lv_style_init(&style_btn); + lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_YELLOW)); + lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_LIGHT_TEAL)); + lv_style_set_border_width(&style_btn, 2); + lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL)); + + + lv_obj_t * btnm = lv_btnmatrix_create(lv_scr_act()); + lv_btnmatrix_set_map(btnm, btnm_map); + lv_obj_align(btnm, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP); + + lv_obj_add_style(btnm, &style_bg, 0); + lv_obj_add_style(btnm, &style_btn, LV_PART_ITEMS); + + lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKABLE); + lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_CHECKABLE); + lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKABLE); + lv_btnmatrix_set_btn_ctrl(btnm, 3, LV_BTNMATRIX_CTRL_CHECKABLE); + lv_btnmatrix_set_btn_ctrl(btnm, 4, LV_BTNMATRIX_CTRL_CHECKABLE); + lv_btnmatrix_set_btn_ctrl(btnm, 5, LV_BTNMATRIX_CTRL_CHECKABLE); + + lv_btnmatrix_set_one_checked(btnm, true); + + lv_obj_add_event_cb(btnm, eventHandler, LV_EVENT_ALL, NULL); + + Braccio.lvgl_unlock(); + + Braccio.connectJoystickTo(btnm); +} + +static void eventHandler(lv_event_t * e){ + Braccio.lvgl_lock(); + + lv_event_code_t code = lv_event_get_code(e); + lv_obj_t * obj = lv_event_get_target(e); + if (code == LV_EVENT_CLICKED) { + uint32_t id = lv_btnmatrix_get_selected_btn(obj); + const char * txt = lv_btnmatrix_get_btn_text(obj, id); + + LV_LOG_USER("%s was selected\n", txt); + Serial.println(String(txt) + " was selected."); + } + + Braccio.lvgl_unlock(); +} \ No newline at end of file diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino similarity index 75% rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino index 2ee6ed1..7f3d00e 100644 --- a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino @@ -1,19 +1,24 @@ - #include +#include void customMenu() { Braccio.lvgl_lock(); + lv_obj_t * btn1 = lv_btn_create(lv_scr_act()); lv_obj_set_size(btn1, 120, 75); lv_obj_t * label1 = lv_label_create(btn1); lv_label_set_text(label1, "BTN 1"); lv_obj_align(btn1, LV_ALIGN_CENTER, 0, 0); lv_obj_center(label1); + Braccio.lvgl_unlock(); } void setup() { // put your setup code here, to run once: - Braccio.begin(customMenu); + if (!Braccio.begin(customMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } } void loop() { diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_styling_the_button/02_styling_the_button.ino similarity index 84% rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_styling_the_button/02_styling_the_button.ino index 295e3eb..9347adf 100644 --- a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_styling_the_button/02_styling_the_button.ino @@ -1,41 +1,44 @@ -#include - -// Arduino Colors -#define COLOR_TEAL 0x00878F -#define COLOR_LIGHT_TEAL 0x62AEB2 -#define COLOR_ORANGE 0xE47128 -#define COLOR_YELLOW 0xE5AD24 -#define COLOR_WHITE 0xFFFFFF - - -void customMenu() { - Braccio.lvgl_lock(); - static lv_style_t style; - lv_style_init(&style); - lv_style_set_bg_color(&style, lv_color_hex(COLOR_WHITE)); - lv_style_set_border_color(&style, lv_color_hex(COLOR_TEAL)); - lv_style_set_border_width(&style, 5); - lv_style_set_text_color(&style, lv_color_hex(COLOR_ORANGE)); - - lv_obj_t * btn1 = lv_btn_create(lv_scr_act()); - lv_obj_set_size(btn1, 120, 75); - - lv_obj_t * label1 = lv_label_create(btn1); - lv_label_set_text(label1, "BTN 1"); - - lv_obj_align(btn1, LV_ALIGN_CENTER, 0, 0); - lv_obj_center(label1); - - lv_obj_add_style(btn1, &style, 0); - Braccio.lvgl_unlock(); -} - -void setup() { - // put your setup code here, to run once: - Braccio.begin(customMenu); -} - -void loop() { - // put your main code here, to run repeatedly: - -} +#include + +// Arduino Colors +#define COLOR_TEAL 0x00878F +#define COLOR_LIGHT_TEAL 0x62AEB2 +#define COLOR_ORANGE 0xE47128 +#define COLOR_YELLOW 0xE5AD24 +#define COLOR_WHITE 0xFFFFFF + + +void customMenu() { + Braccio.lvgl_lock(); + static lv_style_t style; + lv_style_init(&style); + lv_style_set_bg_color(&style, lv_color_hex(COLOR_WHITE)); + lv_style_set_border_color(&style, lv_color_hex(COLOR_TEAL)); + lv_style_set_border_width(&style, 5); + lv_style_set_text_color(&style, lv_color_hex(COLOR_ORANGE)); + + lv_obj_t * btn1 = lv_btn_create(lv_scr_act()); + lv_obj_set_size(btn1, 120, 75); + + lv_obj_t * label1 = lv_label_create(btn1); + lv_label_set_text(label1, "BTN 1"); + + lv_obj_align(btn1, LV_ALIGN_CENTER, 0, 0); + lv_obj_center(label1); + + lv_obj_add_style(btn1, &style, 0); + Braccio.lvgl_unlock(); +} + +void setup() { + // put your setup code here, to run once: + if (!Braccio.begin(customMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } +} + +void loop() { + // put your main code here, to run repeatedly: + +} diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/03_designing_a_menu/03_designing_a_menu.ino similarity index 91% rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/03_designing_a_menu/03_designing_a_menu.ino index e5ab044..6f5d7e2 100644 --- a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/03_designing_a_menu/03_designing_a_menu.ino @@ -1,48 +1,53 @@ -#include - -#define MARGIN_LEFT 0 -#define MARGIN_TOP 0 - -// Arduino Colors -#define COLOR_TEAL 0x00878F -#define COLOR_LIGHT_TEAL 0x62AEB2 -#define COLOR_ORANGE 0xE47128 -#define COLOR_YELLOW 0xE5AD24 -#define COLOR_WHITE 0xFFFFFF - -static const char * btnm_map[] = {"OPTION 1", "OPTION 2", "\n", - "OPTION 3", "OPTION 4", "\0" - }; - -void customMenu() { - Braccio.lvgl_lock(); - static lv_style_t style_bg; - lv_style_init(&style_bg); - lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); - - static lv_style_t style_btn; - lv_style_init(&style_btn); - lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_WHITE)); - lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW)); - lv_style_set_border_width(&style_btn, 2); - lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL)); - - - lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act()); - lv_btnmatrix_set_map(btnm1, btnm_map); - lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP); - - lv_obj_add_style(btnm1, &style_bg, 0); - lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS); - Braccio.lvgl_unlock(); -} - -void setup() { - // put your setup code here, to run once: - Braccio.begin(customMenu); -} - -void loop() { - // put your main code here, to run repeatedly: - -} +#include + +#define MARGIN_LEFT 0 +#define MARGIN_TOP 0 + +// Arduino Colors +#define COLOR_TEAL 0x00878F +#define COLOR_LIGHT_TEAL 0x62AEB2 +#define COLOR_ORANGE 0xE47128 +#define COLOR_YELLOW 0xE5AD24 +#define COLOR_WHITE 0xFFFFFF + +static const char * btnm_map[] = {"OPTION 1", "OPTION 2", "\n", + "OPTION 3", "OPTION 4", "\0" + }; + +void customMenu() { + Braccio.lvgl_lock(); + + static lv_style_t style_bg; + lv_style_init(&style_bg); + lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); + + static lv_style_t style_btn; + lv_style_init(&style_btn); + lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_WHITE)); + lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW)); + lv_style_set_border_width(&style_btn, 2); + lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL)); + + + lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act()); + lv_btnmatrix_set_map(btnm1, btnm_map); + lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP); + + lv_obj_add_style(btnm1, &style_bg, 0); + lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS); + + Braccio.lvgl_unlock(); +} + +void setup() { + // put your setup code here, to run once: + if (!Braccio.begin(customMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } +} + +void loop() { + // put your main code here, to run repeatedly: + +} diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/04_adding_an_extra_button/04_adding_an_extra_button.ino similarity index 87% rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/04_adding_an_extra_button/04_adding_an_extra_button.ino index 12c0601..9f45754 100644 --- a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/04_adding_an_extra_button/04_adding_an_extra_button.ino @@ -1,48 +1,53 @@ -#include - -#define MARGIN_LEFT 0 -#define MARGIN_TOP 0 - -// Arduino Colors -#define COLOR_TEAL 0x00878F -#define COLOR_LIGHT_TEAL 0x62AEB2 -#define COLOR_ORANGE 0xE47128 -#define COLOR_YELLOW 0xE5AD24 - -static const char * btnm_map[] = {"OPTION 1", "OPTION 2", "OPTION 3", "\n", - "OPTION 4", "OPTION 5", "\0" - }; - -void customMenu() { - Braccio.lvgl_lock(); - static lv_style_t style_bg; - lv_style_init(&style_bg); - lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); - - static lv_style_t style_btn; - lv_style_init(&style_btn); - lv_style_set_bg_color(&style_btn, lv_color_hex(0xFFFFFF)); - lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW)); - lv_style_set_border_width(&style_btn, 2); - lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL)); - - - lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act()); - lv_btnmatrix_set_map(btnm1, btnm_map); - lv_btnmatrix_set_btn_width(btnm1, 3, 2); // Make "Option 4" twice as wide as "Option 5" - lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP); - - lv_obj_add_style(btnm1, &style_bg, 0); - lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS); - Braccio.lvgl_unlock(); -} - -void setup() { - // put your setup code here, to run once: - Braccio.begin(customMenu); -} - -void loop() { - // put your main code here, to run repeatedly: - -} +#include + +#define MARGIN_LEFT 0 +#define MARGIN_TOP 0 + +// Arduino Colors +#define COLOR_TEAL 0x00878F +#define COLOR_LIGHT_TEAL 0x62AEB2 +#define COLOR_ORANGE 0xE47128 +#define COLOR_YELLOW 0xE5AD24 + +static const char * btnm_map[] = {"OPTION 1", "OPTION 2", "OPTION 3", "\n", + "OPTION 4", "OPTION 5", "\0" + }; + +void customMenu() { + Braccio.lvgl_lock(); + + static lv_style_t style_bg; + lv_style_init(&style_bg); + lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); + + static lv_style_t style_btn; + lv_style_init(&style_btn); + lv_style_set_bg_color(&style_btn, lv_color_hex(0xFFFFFF)); + lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW)); + lv_style_set_border_width(&style_btn, 2); + lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL)); + + + lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act()); + lv_btnmatrix_set_map(btnm1, btnm_map); + lv_btnmatrix_set_btn_width(btnm1, 3, 2); // Make "Option 4" twice as wide as "Option 5" + lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP); + + lv_obj_add_style(btnm1, &style_bg, 0); + lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS); + + Braccio.lvgl_unlock(); +} + +void setup() { + // put your setup code here, to run once: + if (!Braccio.begin(customMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } +} + +void loop() { + // put your main code here, to run repeatedly: + +} diff --git a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino similarity index 92% rename from examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino index 9209311..d29e555 100644 --- a/examples/Platform_Tutorials/lessons/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino @@ -15,6 +15,7 @@ static const char * btnm_map[] = {"BTN 1", "\n", void customMenu() { Braccio.lvgl_lock(); + static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_BG)); @@ -34,12 +35,16 @@ void customMenu() { lv_obj_add_style(btnm1, &style_bg, 0); lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS); + Braccio.lvgl_unlock(); } void setup() { // put your setup code here, to run once: - Braccio.begin(customMenu); + if (!Braccio.begin(customMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } } void loop() { diff --git a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino similarity index 93% rename from examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino index 70fd320..6911840 100644 --- a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino @@ -14,7 +14,7 @@ String checkJoystick(int input){ void setup() { Serial.begin(115200); - while(!Serial){} + while (!Serial) {} Braccio.begin(); Serial.println("Press any button or move the joystick."); } @@ -22,7 +22,7 @@ void setup() { void loop() { int joystickPos = Braccio.getKey(); message = checkJoystick(joystickPos); - if(message != ""){ + if (message != "") { Serial.println(message); message = ""; } diff --git a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino similarity index 92% rename from examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino index 45c392b..7e200d3 100644 --- a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino @@ -15,8 +15,9 @@ static const char * btnm_map[] = {"Option 1", "Option 2", "\n", "Option 5", "Option 6", "\0" }; -static void eventHandler(lv_event_t * e) { +static void eventHandler(lv_event_t * e){ Braccio.lvgl_lock(); + lv_event_code_t code = lv_event_get_code(e); lv_obj_t * obj = lv_event_get_target(e); if (code == LV_EVENT_PRESSED) { @@ -26,11 +27,13 @@ static void eventHandler(lv_event_t * e) { LV_LOG_USER("%s was selected\n", txt); Serial.println(String(txt) + " was selected."); } + Braccio.lvgl_unlock(); } -void customMenu() { +void customMenu(){ Braccio.lvgl_lock(); + static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_WHITE)); @@ -60,13 +63,17 @@ void customMenu() { lv_btnmatrix_set_one_checked(btnm1, true); lv_obj_add_event_cb(btnm1, eventHandler, LV_EVENT_ALL, NULL); - Braccio.lvgl_unlock(); + Braccio.lvgl_unlock(); + Braccio.connectJoystickTo(btnm1); } void setup() { - Braccio.begin(customMenu); + if (!Braccio.begin(customMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } } void loop() { diff --git a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino similarity index 95% rename from examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino index a531642..9891585 100644 --- a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino @@ -17,6 +17,7 @@ static const char * btnm_map[] = {"Option 1", "Option 2", "\n", static void eventHandler(lv_event_t * e) { Braccio.lvgl_lock(); + lv_event_code_t code = lv_event_get_code(e); lv_obj_t * obj = lv_event_get_target(e); if (code == LV_EVENT_PRESSING) { @@ -26,11 +27,13 @@ static void eventHandler(lv_event_t * e) { LV_LOG_USER("%s is pressed\n", txt); Serial.println(String(txt) + " is pressed."); } + Braccio.lvgl_unlock(); } void customMenu() { Braccio.lvgl_lock(); + static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); @@ -60,13 +63,17 @@ void customMenu() { lv_btnmatrix_set_one_checked(btnm1, true); lv_obj_add_event_cb(btnm1, eventHandler, LV_EVENT_ALL, NULL); - Braccio.lvgl_unlock(); Braccio.connectJoystickTo(btnm1); + + Braccio.lvgl_unlock(); } void setup() { - Braccio.begin(customMenu); + if (!Braccio.begin(customMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } } void loop() { diff --git a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino similarity index 94% rename from examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino index 63358b2..10ad8f5 100644 --- a/examples/Platform_Tutorials/lessons/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino @@ -17,6 +17,7 @@ static const char * btnm_map[] = {"Option 1", "Option 2", "\n", static void eventHandler(lv_event_t * e) { Braccio.lvgl_lock(); + lv_event_code_t code = lv_event_get_code(e); lv_obj_t * obj = lv_event_get_target(e); if (code == LV_EVENT_RELEASED) { @@ -26,11 +27,13 @@ static void eventHandler(lv_event_t * e) { LV_LOG_USER("%s was released\n", txt); Serial.println(String(txt) + " was released."); } + Braccio.lvgl_unlock(); } void customMenu() { Braccio.lvgl_lock(); + static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); @@ -60,13 +63,17 @@ void customMenu() { lv_btnmatrix_set_one_checked(btnm1, true); lv_obj_add_event_cb(btnm1, eventHandler, LV_EVENT_ALL, NULL); + Braccio.lvgl_unlock(); Braccio.connectJoystickTo(btnm1); } void setup() { - Braccio.begin(customMenu); + if (!Braccio.begin(customMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } } void loop() { diff --git a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino similarity index 76% rename from examples/Platform_Tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino index 6b7399f..07c8a1f 100644 --- a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino @@ -1,24 +1,28 @@ #include -int motorID= 0; +int motorID = 0; void setup() { - Braccio.begin(); + if (!Braccio.begin()) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } delay(500); - + Serial.begin(115200); - while(!Serial){} + while (!Serial) {} } void loop() { Serial.println("To start, send any key to the serial port:"); - while((Serial.available() <= 0)){}; + while ((Serial.available() <= 0)) {}; Serial.read(); // Clear the serial buffer - - for(motorID = 1; motorID <=6; motorID++){ + Serial.read(); // It is necessary to clean '\n' + + for (motorID = 1; motorID <= 6; motorID++) { Serial.println("\nMoving the motor " + String(motorID)); Serial.println("Current angle 0.0 (zero)"); - + Braccio.move(motorID).to(0.0f); delay(2000); // delay between movements diff --git a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/02_selecting_each_motor/02_selecting_each_motor.ino similarity index 71% rename from examples/Platform_Tutorials/lessons/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/02_selecting_each_motor/02_selecting_each_motor.ino index c3f2270..83dac2f 100644 --- a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/02_selecting_each_motor/02_selecting_each_motor.ino @@ -7,60 +7,63 @@ boolean movement = false; float initialAngle = 0.0; void setup() { - Braccio.begin(); + if (!Braccio.begin()) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } delay(500); // Waits for the Braccio initialization // Sets the initial angle for the motors - for(int i = 1; i <= 6; i++){ + for (int i = 1; i <= 6; i++) { Braccio.move(i).to(0.0f); delay(1000); // Necessary to set the motor ID correctly } - + Serial.begin(115200); - + Serial.println("Press the Enter Button to select the motor 1."); } void loop() { // Check if the control key pressed is the Enter Button - if(Braccio.getKey() == BUTTON_ENTER){ - - if(motorID <= 6){ - + if (Braccio.getKey() == BUTTON_ENTER) { + + if (motorID <= 6) { + motorID++; // Increment the ID - - if(motorID > 6){ + + if (motorID > 6) { motorID = 1; // Restart the ID to motor 1 } } - + movement = true; // Flag allows the motor to move - - while(Braccio.getKey() == BUTTON_ENTER); // Avoids more than one increment + + while (Braccio.getKey() == BUTTON_ENTER); // Avoids more than one increment Serial.println("Motor " + String(motorID) + " selected."); } - if(movement){ - - for (float angle = 0.0; angle <= 315.0; angle+=45.0){ + if (movement) { + + for (float angle = 0.0; angle <= 315.0; angle += 45.0) { Braccio.move(motorID).to(angle); - + Serial.println("Motor " + String(motorID) + " - current angle: " + String(angle)); delay(250); } delay(500); - - for (float angle = 315.0; angle >= 0.0; angle-=45.0){ + + for (float angle = 315.0; angle >= 0.0; angle -= 45.0) { Braccio.move(motorID).to(angle); - + Serial.println("Motor " + String(motorID) + " - current angle: " + String(angle)); delay(250); } - + movement = false; - + Serial.println("\n\nPress the Enter Button to select the next motor.\n\n"); } } diff --git a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/03_servo_motors_using_the_joystick/03_servo_motors_using_the_joystick.ino similarity index 93% rename from examples/Platform_Tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/03_servo_motors_using_the_joystick/03_servo_motors_using_the_joystick.ino index 10b5be0..a9b350a 100644 --- a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/03_servo_motors_using_the_joystick/03_servo_motors_using_the_joystick.ino @@ -12,7 +12,10 @@ float initialAngle = SmartServoClass::MAX_ANGLE / 2.0f; // 315 degrees / 2 = 157 float currentAngle = initialAngle; void setup() { - Braccio.begin(); // Initialize Braccio + if (!Braccio.begin()) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } delay(500); // Waits for the Braccio initialization diff --git a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino similarity index 95% rename from examples/Platform_Tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino index 04503c1..c8407f5 100644 --- a/examples/Platform_Tutorials/lessons/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino @@ -12,7 +12,10 @@ float initialAngle = SmartServoClass::MAX_ANGLE / 2.0f; float currentAngle = initialAngle; void setup() { - Braccio.begin(); + if (!Braccio.begin()) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } delay(500); // Waits for the Braccio initialization // Sets the initial angle for the motors diff --git a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/01_designing_a_gauge_interface/01_designing_a_gauge_interface.ino similarity index 94% rename from examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/01_designing_a_gauge_interface/01_designing_a_gauge_interface.ino index 9bdc746..6e6101b 100644 --- a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/01_designing_a_gauge_interface/01_designing_a_gauge_interface.ino @@ -22,16 +22,18 @@ lv_meter_indicator_t * indic; static void eventHandlerMeter(lv_event_t * e) { - /* Set the meter value */ Braccio.lvgl_lock(); + + /* Set the meter value */ lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); + Braccio.lvgl_unlock(); } -void meterScreen(void) -{ +void meterScreen(void) { Braccio.lvgl_lock(); + meter = lv_meter_create(lv_scr_act()); lv_obj_center(meter); @@ -55,14 +57,17 @@ void meterScreen(void) indic = lv_meter_add_arc(meter, scale, 10, lv_color_hex(COLOR_LIGHT_TEAL), 0); lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL); + Braccio.lvgl_unlock(); Braccio.connectJoystickTo(meter); } void setup() { - Braccio.begin(meterScreen); - + if (!Braccio.begin(meterScreen)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } delay(500); // Waits for the Braccio initialization // Sets the initial angle for the motors diff --git a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/02_completing_the_screen_ui/02_completing_the_screen_ui.ino similarity index 95% rename from examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/02_completing_the_screen_ui/02_completing_the_screen_ui.ino index a682875..2223e02 100644 --- a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/02_completing_the_screen_ui/02_completing_the_screen_ui.ino @@ -33,6 +33,8 @@ lv_meter_indicator_t * indic; // Indication of selected motor angle // Event Handlers static void eventHandlerMeter(lv_event_t * e) { + Braccio.lvgl_lock(); + uint32_t pressed_key = Braccio.getKey(); if (pressed_key == BUTTON_ENTER) { @@ -43,9 +45,13 @@ static void eventHandlerMeter(lv_event_t * e) { else { lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); } + + Braccio.lvgl_unlock(); } static void eventHandlerMenu(lv_event_t * e) { + Braccio.lvgl_lock(); + lv_obj_t * obj = lv_event_get_target(e); uint32_t id = lv_btnmatrix_get_selected_btn(obj); @@ -53,12 +59,14 @@ static void eventHandlerMenu(lv_event_t * e) { currentAngle = angles[motorID - 1]; meterScreen(); // Load meter screen lv_obj_del(btnm); // Delete the object + + Braccio.lvgl_unlock(); } // Screens functions -void meterScreen(void) -{ +void meterScreen(void) { Braccio.lvgl_lock(); + meter = lv_meter_create(lv_scr_act()); lv_obj_center(meter); @@ -84,6 +92,7 @@ void meterScreen(void) lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL); lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); + Braccio.lvgl_unlock(); Braccio.connectJoystickTo(meter); @@ -91,6 +100,7 @@ void meterScreen(void) void motorMenu() { Braccio.lvgl_lock(); + static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_WHITE)); @@ -119,14 +129,17 @@ void motorMenu() { lv_btnmatrix_set_one_checked(btnm, true); lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_PRESSED, NULL); + Braccio.lvgl_unlock(); Braccio.connectJoystickTo(btnm); } void setup() { - Braccio.begin(motorMenu); - + if (!Braccio.begin(motorMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } delay(5000); // Waits for the Braccio initialization // Sets the initial angle for the motors diff --git a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino similarity index 94% rename from examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino index c09064b..f36e9cc 100644 --- a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino @@ -17,7 +17,7 @@ // Variables int motorID = 0; // Selected motor ID -float initialAngle = 0.0; +float initialAngle = SmartServoClass::MAX_ANGLE / 2.0f; float currentAngle = initialAngle; // Selected motor current angle float angles[6]; // All motors current angles @@ -33,6 +33,8 @@ lv_meter_indicator_t * indic; // Indication of selected motor angle // Event Handlers static void eventHandlerMeter(lv_event_t * e) { + Braccio.lvgl_lock(); + uint32_t pressed_key = Braccio.getKey(); if (pressed_key == BUTTON_ENTER) { @@ -43,9 +45,13 @@ static void eventHandlerMeter(lv_event_t * e) { else { lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); } + + Braccio.lvgl_unlock(); } static void eventHandlerMenu(lv_event_t * e) { + Braccio.lvgl_lock(); + lv_obj_t * obj = lv_event_get_target(e); uint32_t id = lv_btnmatrix_get_selected_btn(obj); @@ -53,12 +59,14 @@ static void eventHandlerMenu(lv_event_t * e) { currentAngle = angles[motorID - 1]; meterScreen(); lv_obj_del(btnm); + + Braccio.lvgl_unlock(); } // Screens functions -void meterScreen(void) -{ +void meterScreen(void) { Braccio.lvgl_lock(); + meter = lv_meter_create(lv_scr_act()); lv_obj_center(meter); @@ -84,6 +92,7 @@ void meterScreen(void) lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL); lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); + Braccio.lvgl_unlock(); Braccio.connectJoystickTo(meter); @@ -91,6 +100,7 @@ void meterScreen(void) void motorMenu() { Braccio.lvgl_lock(); + static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_WHITE)); @@ -119,14 +129,17 @@ void motorMenu() { lv_btnmatrix_set_one_checked(btnm, true); lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_PRESSED, NULL); + Braccio.lvgl_unlock(); Braccio.connectJoystickTo(btnm); } void setup() { - Braccio.begin(motorMenu); - + if (!Braccio.begin(motorMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } delay(500); // Waits for the Braccio initialization // Sets the initial angle for the motors diff --git a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino similarity index 94% rename from examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino index ade5d8c..3b22970 100644 --- a/examples/Platform_Tutorials/lessons/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino @@ -17,7 +17,7 @@ // Variables int motorID = 0; // Selected motor ID -float initialAngle = 0.0; +float initialAngle = SmartServoClass::MAX_ANGLE / 2.0f; float currentAngle = initialAngle; // Selected motor current angle float angles[6]; // All motors current angles @@ -33,6 +33,8 @@ lv_meter_indicator_t * indic; // Indication of selected motor angle // Event Handlers static void eventHandlerMeter(lv_event_t * e) { + Braccio.lvgl_lock(); + uint32_t pressed_key = Braccio.getKey(); if (pressed_key == BUTTON_ENTER) { @@ -43,9 +45,13 @@ static void eventHandlerMeter(lv_event_t * e) { else { lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); } + + Braccio.lvgl_unlock(); } static void eventHandlerMenu(lv_event_t * e) { + Braccio.lvgl_lock(); + lv_obj_t * obj = lv_event_get_target(e); uint32_t id = lv_btnmatrix_get_selected_btn(obj); @@ -53,12 +59,14 @@ static void eventHandlerMenu(lv_event_t * e) { currentAngle = angles[motorID - 1]; meterScreen(); lv_obj_del(btnm); + + Braccio.lvgl_unlock(); } // Screens functions -void meterScreen(void) -{ +void meterScreen(void) { Braccio.lvgl_lock(); + meter = lv_meter_create(lv_scr_act()); lv_obj_center(meter); @@ -84,6 +92,7 @@ void meterScreen(void) lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL); lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); + Braccio.lvgl_unlock(); Braccio.connectJoystickTo(meter); @@ -91,6 +100,7 @@ void meterScreen(void) void motorMenu() { Braccio.lvgl_lock(); + static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_WHITE)); @@ -119,14 +129,17 @@ void motorMenu() { lv_btnmatrix_set_one_checked(btnm, true); lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_PRESSED, NULL); + Braccio.lvgl_unlock(); Braccio.connectJoystickTo(btnm); } void setup() { - Braccio.begin(motorMenu); - + if (!Braccio.begin(motorMenu)) { + if (Serial) Serial.println("Braccio.begin() failed."); + for(;;) { } + } delay(500); // Waits for the Braccio initialization // Sets the initial angle for the motors From 196949d7801880f36790110ea9da38675b027974 Mon Sep 17 00:00:00 2001 From: Esquirio Date: Wed, 31 Aug 2022 11:35:24 +0200 Subject: [PATCH 28/41] fix: old lessons codes --- .../01_creating_a_button.ino | 9 +- .../01_creating_a_button/sketch.json | 7 ++ .../02_designing_the_button.ino} | 85 +++++++-------- .../btn_style.ino.NANO_RP2040_CONNECT.bin | Bin 0 -> 345140 bytes .../02_designing_the_button/sketch.json | 6 ++ .../03_creating_a_menu.ino} | 101 +++++++++--------- .../04_testing_it_out.ino} | 101 +++++++++--------- .../05_display_challenge.ino | 7 +- .../01_playing_with_the_Joystick.ino | 4 +- .../02_handling_events_in_the_menu.ino | 15 +-- .../03_navigate_challenge_I.ino | 11 +- .../04_navigate_challenge_II.ino | 9 +- .../01_playing_with_the_motors.ino | 20 ++-- ...cting_the_motor_with_the_enter_button.ino} | 47 ++++---- ...3_moving_the_motors_with_the_joystick.ino} | 5 +- .../04_servo_motors_challenge.ino | 5 +- .../01_playing_with_a_joint_angle_gauge.ino} | 15 +-- ...2_selecting_the_motor_in_the_LCD_menu.ino} | 21 +--- .../03_learnings_challenge_I.ino | 23 +--- .../04_learnings_challenge_II.ino | 23 +--- 20 files changed, 213 insertions(+), 301 deletions(-) create mode 100644 examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/sketch.json rename examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/{02_styling_the_button/02_styling_the_button.ino => 02_designing_the_button/02_designing_the_button.ino} (84%) create mode 100755 examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/btn_style.ino.NANO_RP2040_CONNECT.bin create mode 100644 examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/sketch.json rename examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/{03_designing_a_menu/03_designing_a_menu.ino => 03_creating_a_menu/03_creating_a_menu.ino} (91%) rename examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/{04_adding_an_extra_button/04_adding_an_extra_button.ino => 04_testing_it_out/04_testing_it_out.ino} (87%) rename examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/{02_selecting_each_motor/02_selecting_each_motor.ino => 02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino} (71%) rename examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/{03_servo_motors_using_the_joystick/03_servo_motors_using_the_joystick.ino => 03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino} (93%) rename examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/{01_designing_a_gauge_interface/01_designing_a_gauge_interface.ino => 01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino} (94%) rename examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/{02_completing_the_screen_ui/02_completing_the_screen_ui.ino => 02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino} (95%) diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino index 7f3d00e..2ee6ed1 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/01_creating_a_button.ino @@ -1,24 +1,19 @@ -#include + #include void customMenu() { Braccio.lvgl_lock(); - lv_obj_t * btn1 = lv_btn_create(lv_scr_act()); lv_obj_set_size(btn1, 120, 75); lv_obj_t * label1 = lv_label_create(btn1); lv_label_set_text(label1, "BTN 1"); lv_obj_align(btn1, LV_ALIGN_CENTER, 0, 0); lv_obj_center(label1); - Braccio.lvgl_unlock(); } void setup() { // put your setup code here, to run once: - if (!Braccio.begin(customMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(customMenu); } void loop() { diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/sketch.json b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/sketch.json new file mode 100644 index 0000000..45332f0 --- /dev/null +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/01_creating_a_button/sketch.json @@ -0,0 +1,7 @@ +{ + "cpu": { + "fqbn": "arduino:mbed_nano:nanorp2040connect", + "name": "Arduino Nano RP2040 Connect", + "port": "serial:///dev/ttyACM0" + } +} \ No newline at end of file diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_styling_the_button/02_styling_the_button.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino similarity index 84% rename from examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_styling_the_button/02_styling_the_button.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino index 9347adf..295e3eb 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_styling_the_button/02_styling_the_button.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/02_designing_the_button.ino @@ -1,44 +1,41 @@ -#include - -// Arduino Colors -#define COLOR_TEAL 0x00878F -#define COLOR_LIGHT_TEAL 0x62AEB2 -#define COLOR_ORANGE 0xE47128 -#define COLOR_YELLOW 0xE5AD24 -#define COLOR_WHITE 0xFFFFFF - - -void customMenu() { - Braccio.lvgl_lock(); - static lv_style_t style; - lv_style_init(&style); - lv_style_set_bg_color(&style, lv_color_hex(COLOR_WHITE)); - lv_style_set_border_color(&style, lv_color_hex(COLOR_TEAL)); - lv_style_set_border_width(&style, 5); - lv_style_set_text_color(&style, lv_color_hex(COLOR_ORANGE)); - - lv_obj_t * btn1 = lv_btn_create(lv_scr_act()); - lv_obj_set_size(btn1, 120, 75); - - lv_obj_t * label1 = lv_label_create(btn1); - lv_label_set_text(label1, "BTN 1"); - - lv_obj_align(btn1, LV_ALIGN_CENTER, 0, 0); - lv_obj_center(label1); - - lv_obj_add_style(btn1, &style, 0); - Braccio.lvgl_unlock(); -} - -void setup() { - // put your setup code here, to run once: - if (!Braccio.begin(customMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } -} - -void loop() { - // put your main code here, to run repeatedly: - -} +#include + +// Arduino Colors +#define COLOR_TEAL 0x00878F +#define COLOR_LIGHT_TEAL 0x62AEB2 +#define COLOR_ORANGE 0xE47128 +#define COLOR_YELLOW 0xE5AD24 +#define COLOR_WHITE 0xFFFFFF + + +void customMenu() { + Braccio.lvgl_lock(); + static lv_style_t style; + lv_style_init(&style); + lv_style_set_bg_color(&style, lv_color_hex(COLOR_WHITE)); + lv_style_set_border_color(&style, lv_color_hex(COLOR_TEAL)); + lv_style_set_border_width(&style, 5); + lv_style_set_text_color(&style, lv_color_hex(COLOR_ORANGE)); + + lv_obj_t * btn1 = lv_btn_create(lv_scr_act()); + lv_obj_set_size(btn1, 120, 75); + + lv_obj_t * label1 = lv_label_create(btn1); + lv_label_set_text(label1, "BTN 1"); + + lv_obj_align(btn1, LV_ALIGN_CENTER, 0, 0); + lv_obj_center(label1); + + lv_obj_add_style(btn1, &style, 0); + Braccio.lvgl_unlock(); +} + +void setup() { + // put your setup code here, to run once: + Braccio.begin(customMenu); +} + +void loop() { + // put your main code here, to run repeatedly: + +} diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/btn_style.ino.NANO_RP2040_CONNECT.bin 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z&a)Z%k{Ryf>V9rjvsM_E8Z@r23MK{ZLYhSFg!f4G?oMwHl4ffysxq>E5LSit;RmJ} z#hVJ%f%2dG@!Of}Ls_;`C13$~67Zf@TXa02tn~iM+6Hvq{ieD_24x@Fn=`oPZ1?Hp z8;*zjtAwnvYj26ya)kmYDG?Sx$r7OwN@79+N;V43P_jkX1|>U$Jy5bwXn~S8p#w?|3&)}4 zl+Xnw-NHpExhCLOJQf)s41tnVVKkJa3pr4dD-=LUiLd}lmI#$l;@lhi)T|_BF8aIA re95QGT^Y*UyjYnhHYl@rqcRU5|Al0~`7wTrv>ET<&VBUy_jLaOU$fT^ literal 0 HcmV?d00001 diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/sketch.json b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/sketch.json new file mode 100644 index 0000000..abdab11 --- /dev/null +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/02_designing_the_button/sketch.json @@ -0,0 +1,6 @@ +{ + "cpu": { + "fqbn": "arduino:mbed_nano:nanorp2040connect", + "port": "" + } +} \ No newline at end of file diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/03_designing_a_menu/03_designing_a_menu.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino similarity index 91% rename from examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/03_designing_a_menu/03_designing_a_menu.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino index 6f5d7e2..e5ab044 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/03_designing_a_menu/03_designing_a_menu.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/03_creating_a_menu/03_creating_a_menu.ino @@ -1,53 +1,48 @@ -#include - -#define MARGIN_LEFT 0 -#define MARGIN_TOP 0 - -// Arduino Colors -#define COLOR_TEAL 0x00878F -#define COLOR_LIGHT_TEAL 0x62AEB2 -#define COLOR_ORANGE 0xE47128 -#define COLOR_YELLOW 0xE5AD24 -#define COLOR_WHITE 0xFFFFFF - -static const char * btnm_map[] = {"OPTION 1", "OPTION 2", "\n", - "OPTION 3", "OPTION 4", "\0" - }; - -void customMenu() { - Braccio.lvgl_lock(); - - static lv_style_t style_bg; - lv_style_init(&style_bg); - lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); - - static lv_style_t style_btn; - lv_style_init(&style_btn); - lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_WHITE)); - lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW)); - lv_style_set_border_width(&style_btn, 2); - lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL)); - - - lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act()); - lv_btnmatrix_set_map(btnm1, btnm_map); - lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP); - - lv_obj_add_style(btnm1, &style_bg, 0); - lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS); - - Braccio.lvgl_unlock(); -} - -void setup() { - // put your setup code here, to run once: - if (!Braccio.begin(customMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } -} - -void loop() { - // put your main code here, to run repeatedly: - -} +#include + +#define MARGIN_LEFT 0 +#define MARGIN_TOP 0 + +// Arduino Colors +#define COLOR_TEAL 0x00878F +#define COLOR_LIGHT_TEAL 0x62AEB2 +#define COLOR_ORANGE 0xE47128 +#define COLOR_YELLOW 0xE5AD24 +#define COLOR_WHITE 0xFFFFFF + +static const char * btnm_map[] = {"OPTION 1", "OPTION 2", "\n", + "OPTION 3", "OPTION 4", "\0" + }; + +void customMenu() { + Braccio.lvgl_lock(); + static lv_style_t style_bg; + lv_style_init(&style_bg); + lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); + + static lv_style_t style_btn; + lv_style_init(&style_btn); + lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_WHITE)); + lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW)); + lv_style_set_border_width(&style_btn, 2); + lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL)); + + + lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act()); + lv_btnmatrix_set_map(btnm1, btnm_map); + lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP); + + lv_obj_add_style(btnm1, &style_bg, 0); + lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS); + Braccio.lvgl_unlock(); +} + +void setup() { + // put your setup code here, to run once: + Braccio.begin(customMenu); +} + +void loop() { + // put your main code here, to run repeatedly: + +} diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/04_adding_an_extra_button/04_adding_an_extra_button.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino similarity index 87% rename from examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/04_adding_an_extra_button/04_adding_an_extra_button.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino index 9f45754..12c0601 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/04_adding_an_extra_button/04_adding_an_extra_button.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/04_testing_it_out/04_testing_it_out.ino @@ -1,53 +1,48 @@ -#include - -#define MARGIN_LEFT 0 -#define MARGIN_TOP 0 - -// Arduino Colors -#define COLOR_TEAL 0x00878F -#define COLOR_LIGHT_TEAL 0x62AEB2 -#define COLOR_ORANGE 0xE47128 -#define COLOR_YELLOW 0xE5AD24 - -static const char * btnm_map[] = {"OPTION 1", "OPTION 2", "OPTION 3", "\n", - "OPTION 4", "OPTION 5", "\0" - }; - -void customMenu() { - Braccio.lvgl_lock(); - - static lv_style_t style_bg; - lv_style_init(&style_bg); - lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); - - static lv_style_t style_btn; - lv_style_init(&style_btn); - lv_style_set_bg_color(&style_btn, lv_color_hex(0xFFFFFF)); - lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW)); - lv_style_set_border_width(&style_btn, 2); - lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL)); - - - lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act()); - lv_btnmatrix_set_map(btnm1, btnm_map); - lv_btnmatrix_set_btn_width(btnm1, 3, 2); // Make "Option 4" twice as wide as "Option 5" - lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP); - - lv_obj_add_style(btnm1, &style_bg, 0); - lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS); - - Braccio.lvgl_unlock(); -} - -void setup() { - // put your setup code here, to run once: - if (!Braccio.begin(customMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } -} - -void loop() { - // put your main code here, to run repeatedly: - -} +#include + +#define MARGIN_LEFT 0 +#define MARGIN_TOP 0 + +// Arduino Colors +#define COLOR_TEAL 0x00878F +#define COLOR_LIGHT_TEAL 0x62AEB2 +#define COLOR_ORANGE 0xE47128 +#define COLOR_YELLOW 0xE5AD24 + +static const char * btnm_map[] = {"OPTION 1", "OPTION 2", "OPTION 3", "\n", + "OPTION 4", "OPTION 5", "\0" + }; + +void customMenu() { + Braccio.lvgl_lock(); + static lv_style_t style_bg; + lv_style_init(&style_bg); + lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); + + static lv_style_t style_btn; + lv_style_init(&style_btn); + lv_style_set_bg_color(&style_btn, lv_color_hex(0xFFFFFF)); + lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_YELLOW)); + lv_style_set_border_width(&style_btn, 2); + lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL)); + + + lv_obj_t * btnm1 = lv_btnmatrix_create(lv_scr_act()); + lv_btnmatrix_set_map(btnm1, btnm_map); + lv_btnmatrix_set_btn_width(btnm1, 3, 2); // Make "Option 4" twice as wide as "Option 5" + lv_obj_align(btnm1, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP); + + lv_obj_add_style(btnm1, &style_bg, 0); + lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS); + Braccio.lvgl_unlock(); +} + +void setup() { + // put your setup code here, to run once: + Braccio.begin(customMenu); +} + +void loop() { + // put your main code here, to run repeatedly: + +} diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino index d29e555..9209311 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/01-programming-the-braccio-display/05_display_challenge/05_display_challenge.ino @@ -15,7 +15,6 @@ static const char * btnm_map[] = {"BTN 1", "\n", void customMenu() { Braccio.lvgl_lock(); - static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_BG)); @@ -35,16 +34,12 @@ void customMenu() { lv_obj_add_style(btnm1, &style_bg, 0); lv_obj_add_style(btnm1, &style_btn, LV_PART_ITEMS); - Braccio.lvgl_unlock(); } void setup() { // put your setup code here, to run once: - if (!Braccio.begin(customMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(customMenu); } void loop() { diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino index 6911840..70fd320 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/01_playing_with_the_Joystick/01_playing_with_the_Joystick.ino @@ -14,7 +14,7 @@ String checkJoystick(int input){ void setup() { Serial.begin(115200); - while (!Serial) {} + while(!Serial){} Braccio.begin(); Serial.println("Press any button or move the joystick."); } @@ -22,7 +22,7 @@ void setup() { void loop() { int joystickPos = Braccio.getKey(); message = checkJoystick(joystickPos); - if (message != "") { + if(message != ""){ Serial.println(message); message = ""; } diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino index 7e200d3..45c392b 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/02_handling_events_in_the_menu/02_handling_events_in_the_menu.ino @@ -15,9 +15,8 @@ static const char * btnm_map[] = {"Option 1", "Option 2", "\n", "Option 5", "Option 6", "\0" }; -static void eventHandler(lv_event_t * e){ +static void eventHandler(lv_event_t * e) { Braccio.lvgl_lock(); - lv_event_code_t code = lv_event_get_code(e); lv_obj_t * obj = lv_event_get_target(e); if (code == LV_EVENT_PRESSED) { @@ -27,13 +26,11 @@ static void eventHandler(lv_event_t * e){ LV_LOG_USER("%s was selected\n", txt); Serial.println(String(txt) + " was selected."); } - Braccio.lvgl_unlock(); } -void customMenu(){ +void customMenu() { Braccio.lvgl_lock(); - static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_WHITE)); @@ -63,17 +60,13 @@ void customMenu(){ lv_btnmatrix_set_one_checked(btnm1, true); lv_obj_add_event_cb(btnm1, eventHandler, LV_EVENT_ALL, NULL); - Braccio.lvgl_unlock(); - + Braccio.connectJoystickTo(btnm1); } void setup() { - if (!Braccio.begin(customMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(customMenu); } void loop() { diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino index 9891585..a531642 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/03_navigate_challenge_I/03_navigate_challenge_I.ino @@ -17,7 +17,6 @@ static const char * btnm_map[] = {"Option 1", "Option 2", "\n", static void eventHandler(lv_event_t * e) { Braccio.lvgl_lock(); - lv_event_code_t code = lv_event_get_code(e); lv_obj_t * obj = lv_event_get_target(e); if (code == LV_EVENT_PRESSING) { @@ -27,13 +26,11 @@ static void eventHandler(lv_event_t * e) { LV_LOG_USER("%s is pressed\n", txt); Serial.println(String(txt) + " is pressed."); } - Braccio.lvgl_unlock(); } void customMenu() { Braccio.lvgl_lock(); - static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); @@ -63,17 +60,13 @@ void customMenu() { lv_btnmatrix_set_one_checked(btnm1, true); lv_obj_add_event_cb(btnm1, eventHandler, LV_EVENT_ALL, NULL); + Braccio.lvgl_unlock(); Braccio.connectJoystickTo(btnm1); - - Braccio.lvgl_unlock(); } void setup() { - if (!Braccio.begin(customMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(customMenu); } void loop() { diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino index 10ad8f5..63358b2 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/02-navigatting-the-display-menu/04_navigate_challenge_II/04_navigate_challenge_II.ino @@ -17,7 +17,6 @@ static const char * btnm_map[] = {"Option 1", "Option 2", "\n", static void eventHandler(lv_event_t * e) { Braccio.lvgl_lock(); - lv_event_code_t code = lv_event_get_code(e); lv_obj_t * obj = lv_event_get_target(e); if (code == LV_EVENT_RELEASED) { @@ -27,13 +26,11 @@ static void eventHandler(lv_event_t * e) { LV_LOG_USER("%s was released\n", txt); Serial.println(String(txt) + " was released."); } - Braccio.lvgl_unlock(); } void customMenu() { Braccio.lvgl_lock(); - static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_LIGHT_TEAL)); @@ -63,17 +60,13 @@ void customMenu() { lv_btnmatrix_set_one_checked(btnm1, true); lv_obj_add_event_cb(btnm1, eventHandler, LV_EVENT_ALL, NULL); - Braccio.lvgl_unlock(); Braccio.connectJoystickTo(btnm1); } void setup() { - if (!Braccio.begin(customMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(customMenu); } void loop() { diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino index 07c8a1f..6b7399f 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/01_playing_with_the_motors/01_playing_with_the_motors.ino @@ -1,28 +1,24 @@ #include -int motorID = 0; +int motorID= 0; void setup() { - if (!Braccio.begin()) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(); delay(500); - + Serial.begin(115200); - while (!Serial) {} + while(!Serial){} } void loop() { Serial.println("To start, send any key to the serial port:"); - while ((Serial.available() <= 0)) {}; + while((Serial.available() <= 0)){}; Serial.read(); // Clear the serial buffer - Serial.read(); // It is necessary to clean '\n' - - for (motorID = 1; motorID <= 6; motorID++) { + + for(motorID = 1; motorID <=6; motorID++){ Serial.println("\nMoving the motor " + String(motorID)); Serial.println("Current angle 0.0 (zero)"); - + Braccio.move(motorID).to(0.0f); delay(2000); // delay between movements diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/02_selecting_each_motor/02_selecting_each_motor.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino similarity index 71% rename from examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/02_selecting_each_motor/02_selecting_each_motor.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino index 83dac2f..c3f2270 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/02_selecting_each_motor/02_selecting_each_motor.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/02_selecting_the_motor_with_the_enter_button/02_selecting_the_motor_with_the_enter_button.ino @@ -7,63 +7,60 @@ boolean movement = false; float initialAngle = 0.0; void setup() { - if (!Braccio.begin()) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(); delay(500); // Waits for the Braccio initialization // Sets the initial angle for the motors - for (int i = 1; i <= 6; i++) { + for(int i = 1; i <= 6; i++){ Braccio.move(i).to(0.0f); delay(1000); // Necessary to set the motor ID correctly } - + Serial.begin(115200); - + Serial.println("Press the Enter Button to select the motor 1."); } void loop() { // Check if the control key pressed is the Enter Button - if (Braccio.getKey() == BUTTON_ENTER) { - - if (motorID <= 6) { - + if(Braccio.getKey() == BUTTON_ENTER){ + + if(motorID <= 6){ + motorID++; // Increment the ID - - if (motorID > 6) { + + if(motorID > 6){ motorID = 1; // Restart the ID to motor 1 } } - + movement = true; // Flag allows the motor to move - - while (Braccio.getKey() == BUTTON_ENTER); // Avoids more than one increment + + while(Braccio.getKey() == BUTTON_ENTER); // Avoids more than one increment Serial.println("Motor " + String(motorID) + " selected."); } - if (movement) { - - for (float angle = 0.0; angle <= 315.0; angle += 45.0) { + if(movement){ + + for (float angle = 0.0; angle <= 315.0; angle+=45.0){ Braccio.move(motorID).to(angle); - + Serial.println("Motor " + String(motorID) + " - current angle: " + String(angle)); delay(250); } delay(500); - - for (float angle = 315.0; angle >= 0.0; angle -= 45.0) { + + for (float angle = 315.0; angle >= 0.0; angle-=45.0){ Braccio.move(motorID).to(angle); - + Serial.println("Motor " + String(motorID) + " - current angle: " + String(angle)); delay(250); } - + movement = false; - + Serial.println("\n\nPress the Enter Button to select the next motor.\n\n"); } } diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/03_servo_motors_using_the_joystick/03_servo_motors_using_the_joystick.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino similarity index 93% rename from examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/03_servo_motors_using_the_joystick/03_servo_motors_using_the_joystick.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino index a9b350a..10b5be0 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/03_servo_motors_using_the_joystick/03_servo_motors_using_the_joystick.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/03_moving_the_motors_with_the_joystick/03_moving_the_motors_with_the_joystick.ino @@ -12,10 +12,7 @@ float initialAngle = SmartServoClass::MAX_ANGLE / 2.0f; // 315 degrees / 2 = 157 float currentAngle = initialAngle; void setup() { - if (!Braccio.begin()) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(); // Initialize Braccio delay(500); // Waits for the Braccio initialization diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino index c8407f5..04503c1 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/03-playing-with-the-motors/04_servo_motors_challenge/04_servo_motors_challenge.ino @@ -12,10 +12,7 @@ float initialAngle = SmartServoClass::MAX_ANGLE / 2.0f; float currentAngle = initialAngle; void setup() { - if (!Braccio.begin()) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(); delay(500); // Waits for the Braccio initialization // Sets the initial angle for the motors diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/01_designing_a_gauge_interface/01_designing_a_gauge_interface.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino similarity index 94% rename from examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/01_designing_a_gauge_interface/01_designing_a_gauge_interface.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino index 6e6101b..9bdc746 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/01_designing_a_gauge_interface/01_designing_a_gauge_interface.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/01_playing_with_a_joint_angle_gauge/01_playing_with_a_joint_angle_gauge.ino @@ -22,18 +22,16 @@ lv_meter_indicator_t * indic; static void eventHandlerMeter(lv_event_t * e) { - Braccio.lvgl_lock(); - /* Set the meter value */ + Braccio.lvgl_lock(); lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); - Braccio.lvgl_unlock(); } -void meterScreen(void) { +void meterScreen(void) +{ Braccio.lvgl_lock(); - meter = lv_meter_create(lv_scr_act()); lv_obj_center(meter); @@ -57,17 +55,14 @@ void meterScreen(void) { indic = lv_meter_add_arc(meter, scale, 10, lv_color_hex(COLOR_LIGHT_TEAL), 0); lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL); - Braccio.lvgl_unlock(); Braccio.connectJoystickTo(meter); } void setup() { - if (!Braccio.begin(meterScreen)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(meterScreen); + delay(500); // Waits for the Braccio initialization // Sets the initial angle for the motors diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/02_completing_the_screen_ui/02_completing_the_screen_ui.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino similarity index 95% rename from examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/02_completing_the_screen_ui/02_completing_the_screen_ui.ino rename to examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino index 2223e02..a682875 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/02_completing_the_screen_ui/02_completing_the_screen_ui.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/02_selecting_the_motor_in_the_LCD_menu/02_selecting_the_motor_in_the_LCD_menu.ino @@ -33,8 +33,6 @@ lv_meter_indicator_t * indic; // Indication of selected motor angle // Event Handlers static void eventHandlerMeter(lv_event_t * e) { - Braccio.lvgl_lock(); - uint32_t pressed_key = Braccio.getKey(); if (pressed_key == BUTTON_ENTER) { @@ -45,13 +43,9 @@ static void eventHandlerMeter(lv_event_t * e) { else { lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); } - - Braccio.lvgl_unlock(); } static void eventHandlerMenu(lv_event_t * e) { - Braccio.lvgl_lock(); - lv_obj_t * obj = lv_event_get_target(e); uint32_t id = lv_btnmatrix_get_selected_btn(obj); @@ -59,14 +53,12 @@ static void eventHandlerMenu(lv_event_t * e) { currentAngle = angles[motorID - 1]; meterScreen(); // Load meter screen lv_obj_del(btnm); // Delete the object - - Braccio.lvgl_unlock(); } // Screens functions -void meterScreen(void) { +void meterScreen(void) +{ Braccio.lvgl_lock(); - meter = lv_meter_create(lv_scr_act()); lv_obj_center(meter); @@ -92,7 +84,6 @@ void meterScreen(void) { lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL); lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); - Braccio.lvgl_unlock(); Braccio.connectJoystickTo(meter); @@ -100,7 +91,6 @@ void meterScreen(void) { void motorMenu() { Braccio.lvgl_lock(); - static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_WHITE)); @@ -129,17 +119,14 @@ void motorMenu() { lv_btnmatrix_set_one_checked(btnm, true); lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_PRESSED, NULL); - Braccio.lvgl_unlock(); Braccio.connectJoystickTo(btnm); } void setup() { - if (!Braccio.begin(motorMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(motorMenu); + delay(5000); // Waits for the Braccio initialization // Sets the initial angle for the motors diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino index f36e9cc..c09064b 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/03_learnings_challenge_I/03_learnings_challenge_I.ino @@ -17,7 +17,7 @@ // Variables int motorID = 0; // Selected motor ID -float initialAngle = SmartServoClass::MAX_ANGLE / 2.0f; +float initialAngle = 0.0; float currentAngle = initialAngle; // Selected motor current angle float angles[6]; // All motors current angles @@ -33,8 +33,6 @@ lv_meter_indicator_t * indic; // Indication of selected motor angle // Event Handlers static void eventHandlerMeter(lv_event_t * e) { - Braccio.lvgl_lock(); - uint32_t pressed_key = Braccio.getKey(); if (pressed_key == BUTTON_ENTER) { @@ -45,13 +43,9 @@ static void eventHandlerMeter(lv_event_t * e) { else { lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); } - - Braccio.lvgl_unlock(); } static void eventHandlerMenu(lv_event_t * e) { - Braccio.lvgl_lock(); - lv_obj_t * obj = lv_event_get_target(e); uint32_t id = lv_btnmatrix_get_selected_btn(obj); @@ -59,14 +53,12 @@ static void eventHandlerMenu(lv_event_t * e) { currentAngle = angles[motorID - 1]; meterScreen(); lv_obj_del(btnm); - - Braccio.lvgl_unlock(); } // Screens functions -void meterScreen(void) { +void meterScreen(void) +{ Braccio.lvgl_lock(); - meter = lv_meter_create(lv_scr_act()); lv_obj_center(meter); @@ -92,7 +84,6 @@ void meterScreen(void) { lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL); lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); - Braccio.lvgl_unlock(); Braccio.connectJoystickTo(meter); @@ -100,7 +91,6 @@ void meterScreen(void) { void motorMenu() { Braccio.lvgl_lock(); - static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_WHITE)); @@ -129,17 +119,14 @@ void motorMenu() { lv_btnmatrix_set_one_checked(btnm, true); lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_PRESSED, NULL); - Braccio.lvgl_unlock(); Braccio.connectJoystickTo(btnm); } void setup() { - if (!Braccio.begin(motorMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(motorMenu); + delay(500); // Waits for the Braccio initialization // Sets the initial angle for the motors diff --git a/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino index 3b22970..ade5d8c 100644 --- a/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino +++ b/examples/Platform_Tutorials/lessons/Basic_codes/04-integration-of-previous-learnings/04_learnings_challenge_II/04_learnings_challenge_II.ino @@ -17,7 +17,7 @@ // Variables int motorID = 0; // Selected motor ID -float initialAngle = SmartServoClass::MAX_ANGLE / 2.0f; +float initialAngle = 0.0; float currentAngle = initialAngle; // Selected motor current angle float angles[6]; // All motors current angles @@ -33,8 +33,6 @@ lv_meter_indicator_t * indic; // Indication of selected motor angle // Event Handlers static void eventHandlerMeter(lv_event_t * e) { - Braccio.lvgl_lock(); - uint32_t pressed_key = Braccio.getKey(); if (pressed_key == BUTTON_ENTER) { @@ -45,13 +43,9 @@ static void eventHandlerMeter(lv_event_t * e) { else { lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); } - - Braccio.lvgl_unlock(); } static void eventHandlerMenu(lv_event_t * e) { - Braccio.lvgl_lock(); - lv_obj_t * obj = lv_event_get_target(e); uint32_t id = lv_btnmatrix_get_selected_btn(obj); @@ -59,14 +53,12 @@ static void eventHandlerMenu(lv_event_t * e) { currentAngle = angles[motorID - 1]; meterScreen(); lv_obj_del(btnm); - - Braccio.lvgl_unlock(); } // Screens functions -void meterScreen(void) { +void meterScreen(void) +{ Braccio.lvgl_lock(); - meter = lv_meter_create(lv_scr_act()); lv_obj_center(meter); @@ -92,7 +84,6 @@ void meterScreen(void) { lv_obj_add_event_cb(meter, eventHandlerMeter, LV_EVENT_KEY, NULL); lv_meter_set_indicator_end_value(meter, indic, (int32_t)angles[motorID - 1]); - Braccio.lvgl_unlock(); Braccio.connectJoystickTo(meter); @@ -100,7 +91,6 @@ void meterScreen(void) { void motorMenu() { Braccio.lvgl_lock(); - static lv_style_t style_bg; lv_style_init(&style_bg); lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_WHITE)); @@ -129,17 +119,14 @@ void motorMenu() { lv_btnmatrix_set_one_checked(btnm, true); lv_obj_add_event_cb(btnm, eventHandlerMenu, LV_EVENT_PRESSED, NULL); - Braccio.lvgl_unlock(); Braccio.connectJoystickTo(btnm); } void setup() { - if (!Braccio.begin(motorMenu)) { - if (Serial) Serial.println("Braccio.begin() failed."); - for(;;) { } - } + Braccio.begin(motorMenu); + delay(500); // Waits for the Braccio initialization // Sets the initial angle for the motors From 3c3cc21134ea84bc92e04dbc2687625bd03ec8d4 Mon Sep 17 00:00:00 2001 From: Esquirio Date: Wed, 31 Aug 2022 13:54:18 +0200 Subject: [PATCH 29/41] fix: removing the speed function from the codes --- .../Braccio_moving_range_angles.ino | 2 - .../01_aligning_braccio.ino | 53 +++++++++------ .../02_waving_with_Braccio.ino | 64 ++++++++++++------- .../03_moving_challenge.ino | 56 ++++++++++------ 4 files changed, 112 insertions(+), 63 deletions(-) diff --git a/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino b/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino index 5d22936..7206a1b 100644 --- a/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino +++ b/examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino @@ -38,10 +38,8 @@ float angles[6]; void setup() { if (Braccio.begin()) { - /* Configure Braccio speed. */ /* Warning: keep a safe distance from the robot and watch out for the robot's movement. It could be speedy and hit someone. */ - Braccio.speed(speed_grade_t(1000)/*SLOW*/); /* Move to home position. */ Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]); delay(TIME_DELAY); diff --git a/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino b/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino index b06b096..dee140c 100644 --- a/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino +++ b/examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino @@ -1,6 +1,19 @@ +/************************************************************************************** + * INCLUDE + **************************************************************************************/ + #include -// Variables +/************************************************************************************** + * DEFINES + **************************************************************************************/ + +#define TIME_DELAY 1000 + +/************************************************************************************** + * GLOBAL VARIABLES + **************************************************************************************/ + // Braccio ++ joints auto gripper = Braccio.get(1); auto wristRoll = Braccio.get(2); @@ -9,28 +22,28 @@ auto elbow = Braccio.get(4); auto shoulder = Braccio.get(5); auto base = Braccio.get(6); -float initialGripper = 160.0; float initialBase = 90.0; -float initialAngle = 150.0; +float initialAngle = 157.5; + float angles[6]; +/************************************************************************************** + * SETUP/LOOP + **************************************************************************************/ + void setup() { - Braccio.begin(); - delay(500); // Waits for the Braccio initialization - - // Send motors initial angle - gripper.move().to(initialGripper); - delay(100); - wristRoll.move().to(initialAngle); - delay(100); - wristPitch.move().to(initialAngle); - delay(100); - elbow.move().to(initialAngle); - delay(100); - shoulder.move().to(initialAngle); - delay(100); - base.move().to(initialBase); - delay(100); + if (Braccio.begin()){ + /* Warning: keep a safe distance from the robot and watch out for the robot's + movement. It could be speedy and hit someone. */ + + /* Move to home position. */ + gripper.move().to(initialAngle); delay(TIME_DELAY); + wristRoll.move().to(initialAngle); delay(TIME_DELAY); + wristPitch.move().to(initialAngle); delay(TIME_DELAY); + elbow.move().to(initialAngle); delay(TIME_DELAY); + shoulder.move().to(initialAngle); delay(TIME_DELAY); + base.move().to(initialBase); delay(TIME_DELAY); + } Serial.begin(115200); while(!Serial){} @@ -53,5 +66,5 @@ void loop() { Serial.println("*****************************************\n\n\n\n\n"); Serial.println("\n\n\n\n"); - delay(1000); + delay(TIME_DELAY); } diff --git a/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino b/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino index f837495..de1a0fd 100644 --- a/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino +++ b/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino @@ -1,7 +1,27 @@ +/************************************************************************************** + * INCLUDE + **************************************************************************************/ + #include +/************************************************************************************** + * DEFINES + **************************************************************************************/ + #define BUTTON_ENTER 6 +#define TIME_DELAY 1000 + +/************************************************************************************** + * CONSTANTS + **************************************************************************************/ + +float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0}; +float const WAVE_POS[6] = {180.0, 260.0, 157.5, 157.5, 157.5, 180.0}; +/************************************************************************************** + * GLOBAL VARIABLES + **************************************************************************************/ + // Braccio ++ joints auto gripper = Braccio.get(1); auto wristRoll = Braccio.get(2); @@ -10,24 +30,27 @@ auto elbow = Braccio.get(4); auto shoulder = Braccio.get(5); auto base = Braccio.get(6); -/* Variables */ -// initialAngles[6] = {gripper, wristRoll, wristPitch, elbow, shoulder, base} -float homePos[6] = {160.0, 150.0, 220.0, 220.0, 100.0, 180.0}; -float wavePos[6] = {180.0, 250.0, 145.0, 150.0, 150.0, 90.0}; - bool movement = false; // Flag to initialize joints' movements +/************************************************************************************** + * SETUP/LOOP + **************************************************************************************/ + void setup() { - Braccio.begin(); - delay(500); // Waits for the Braccio initialization + if (Braccio.begin()){ + /* Warning: + Keep a safe distance from the robot until you make sure the code is properly + working. Be mindful of the robot’s movement prior to that, as it could be + speedy and accidentally hit someone. + */ - // Set motors initial angle - // Should move all the motors at once - Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]); - delay(500); + /* Move to home position. */ + Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]); + delay(TIME_DELAY); + } } -// Waving whit Wrist pitch +// Waving with Wrist pitch void loop() { int pressedKey = Braccio.getKey(); @@ -35,16 +58,13 @@ void loop() { movement = true; // Trigger joints' movements if (movement) { - Braccio.moveTo(wavePos[0], wavePos[1], wavePos[2], wavePos[3], wavePos[4], wavePos[5]); - delay(1000); - - for (int i = 1; i <= 10; i++) { - wristPitch.move().to(100.0f); - delay(300); - wristPitch.move().to(190.0f); - delay(600); - wristPitch.move().to(145.0f); - delay(300); + Braccio.moveTo(WAVE_POS[0], WAVE_POS[1], WAVE_POS[2], WAVE_POS[3], WAVE_POS[4], WAVE_POS[5]); + delay(TIME_DELAY/10); + + for (int i = 1; i <= 5; i++) { + wristPitch.move().to(120.0f); delay(TIME_DELAY/2); + wristPitch.move().to(200.0f); delay(TIME_DELAY); + wristPitch.move().to(WAVE_POS[3]); } movement = false; // Stop joints' movements diff --git a/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino b/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino index 138d7d7..cee77a0 100644 --- a/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino +++ b/examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino @@ -1,6 +1,26 @@ +/************************************************************************************** + * INCLUDE + **************************************************************************************/ + #include +/************************************************************************************** + * DEFINES + **************************************************************************************/ + #define BUTTON_ENTER 6 +#define TIME_DELAY 1000 + +/************************************************************************************** + * CONSTANTS + **************************************************************************************/ + +static float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0}; +static float const AGREE_POS[6] = {160.0, 160.0, 210.0, 240.0, 100.0, 180.0}; + +/************************************************************************************** + * GLOBAL VARIABLES + **************************************************************************************/ // Braccio ++ joints auto gripper = Braccio.get(1); @@ -10,20 +30,21 @@ auto elbow = Braccio.get(4); auto shoulder = Braccio.get(5); auto base = Braccio.get(6); -/* Variables */ -// initialAngles[6] = {gripper, wristRoll, wristPitch, elbow, shoulder, base} -float homePos[6] = {160.0, 150.0, 220.0, 220.0, 100.0, 180.0}; - bool movement = false; // Flag to initialize joints' movements +/************************************************************************************** + * SETUP/LOOP + **************************************************************************************/ + void setup() { - Braccio.begin(); - delay(500); // Waits for the Braccio initialization + if (Braccio.begin()){ + /* Warning: keep a safe distance from the robot and watch out for the robot's + movement. It could be speedy and hit someone. */ - // Set motors initial angle - // Should move all the motors at once - Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]); - delay(500); + /* Move to home position. */ + Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]); + delay(500); + } } void loop() { @@ -33,18 +54,15 @@ void loop() { movement = true; // Trigger joints' movements if (movement) { - Braccio.moveTo(160.0, 150.0, 220.0, 220.0, 100.0, 270.0); - delay(1000); + Braccio.moveTo(AGREE_POS[0], AGREE_POS[1], AGREE_POS[2], AGREE_POS[3], AGREE_POS[4], AGREE_POS[5]); + delay(TIME_DELAY/10); for (int i = 1; i <= 10; i++) { - wristPitch.move().to(190.0f); - delay(200); - wristPitch.move().to(250.0f); - delay(400); - wristPitch.move().to(220.0f); - delay(200); + wristPitch.move().to(190.0f); delay(TIME_DELAY/2); + wristPitch.move().to(240.0f); delay(TIME_DELAY); + wristPitch.move().to(AGREE_POS[3]); } - movement = false; // Stop joints' moviments + movement = false; // Stop joints' movements } } From aaa8653b02518b09b85e32005ba7ff7b09514640 Mon Sep 17 00:00:00 2001 From: Esquirio Date: Wed, 31 Aug 2022 13:58:56 +0200 Subject: [PATCH 30/41] fix: fixing waving_with_braccio code --- .../02_waving_with_Braccio/02_waving_with_Braccio.ino | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino b/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino index de1a0fd..f969acb 100644 --- a/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino +++ b/examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino @@ -59,11 +59,11 @@ void loop() { if (movement) { Braccio.moveTo(WAVE_POS[0], WAVE_POS[1], WAVE_POS[2], WAVE_POS[3], WAVE_POS[4], WAVE_POS[5]); - delay(TIME_DELAY/10); + delay(TIME_DELAY); for (int i = 1; i <= 5; i++) { - wristPitch.move().to(120.0f); delay(TIME_DELAY/2); - wristPitch.move().to(200.0f); delay(TIME_DELAY); + wristPitch.move().to(120.0f); delay(TIME_DELAY); + wristPitch.move().to(200.0f); delay(2*TIME_DELAY); wristPitch.move().to(WAVE_POS[3]); } From f0a9db51c304c929fe7176ee8291f1567a5c2f9a Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Tue, 6 Sep 2022 06:46:54 +0200 Subject: [PATCH 31/41] Allow retrieval of captured angles in CSV format via Serial command. --- .../Braccio_Record_and_Replay/AppState.cpp | 35 +++++++++++++++++++ examples/Braccio_Record_and_Replay/AppState.h | 1 + 2 files changed, 36 insertions(+) diff --git a/examples/Braccio_Record_and_Replay/AppState.cpp b/examples/Braccio_Record_and_Replay/AppState.cpp index bc8c875..d25cac7 100644 --- a/examples/Braccio_Record_and_Replay/AppState.cpp +++ b/examples/Braccio_Record_and_Replay/AppState.cpp @@ -137,6 +137,41 @@ State * IdleState::handle_OnZeroPosition() return new ZeroState(); } +State * IdleState::handle_OnTimerTick() +{ + /* If data has been recorded and a serial command is + * sent to the device then all recorded positions are + * sent to the PC. + */ + if (!sample_cnt) + return this; + + if (!Serial) + return this; + + if (!Serial.available()) + return this; + + if (Serial.read() == 'r') + { + for (int i = 0; i < sample_cnt; i += 6) + { + char msg[64] = {0}; + snprintf(msg, sizeof(msg), "%d;%0.2f;%0.2f;%0.2f;%0.2f;%0.2f;%0.2f;", + i / 6, + sample_buf[i + 0], + sample_buf[i + 1], + sample_buf[i + 2], + sample_buf[i + 3], + sample_buf[i + 4], + sample_buf[i + 5]); + Serial.println(msg); + } + } + + return this; +} + /************************************************************************************** * RecordState **************************************************************************************/ diff --git a/examples/Braccio_Record_and_Replay/AppState.h b/examples/Braccio_Record_and_Replay/AppState.h index 09fd28b..0888f26 100644 --- a/examples/Braccio_Record_and_Replay/AppState.h +++ b/examples/Braccio_Record_and_Replay/AppState.h @@ -70,6 +70,7 @@ class IdleState : public State virtual State * handle_OnRecord () override; virtual State * handle_OnReplay () override; virtual State * handle_OnZeroPosition() override; + virtual State * handle_OnTimerTick () override; }; class RecordState : public State From c5c4ee9e283139b430e053d82339fa9eef46921a Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Tue, 6 Sep 2022 06:54:01 +0200 Subject: [PATCH 32/41] Adding README with instructions how to obtain recorded angle values. --- examples/Braccio_Record_and_Replay/README.md | 10 ++++++++++ 1 file changed, 10 insertions(+) create mode 100644 examples/Braccio_Record_and_Replay/README.md diff --git a/examples/Braccio_Record_and_Replay/README.md b/examples/Braccio_Record_and_Replay/README.md new file mode 100644 index 0000000..3643f97 --- /dev/null +++ b/examples/Braccio_Record_and_Replay/README.md @@ -0,0 +1,10 @@ +`Braccio_Record_and_Replay` +=========================== +For debug purposes all recorded angles can be received via serial command. The approach to do this is: +* Start `minicom`. +```bash +minicom -D /dev/ttyACM0 -C angle_log.csv +``` +* Press `Record` and record some angles. +* Retrieve the recorded angles by sending `r` (Press `r`). You'll see the output on your console which will automagically be stored in the CSV file. +* Close `minicom` with `Ctrl + A`, `Ctrl + Q`. From acf3a7f7a83ed5306905400835707142d50779db Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Tue, 6 Sep 2022 06:59:44 +0200 Subject: [PATCH 33/41] Add video of how to capture CSV angles. --- examples/Braccio_Record_and_Replay/README.md | 4 +++- .../retrieve-angles.mp4 | Bin 0 -> 465794 bytes 2 files changed, 3 insertions(+), 1 deletion(-) create mode 100644 examples/Braccio_Record_and_Replay/retrieve-angles.mp4 diff --git a/examples/Braccio_Record_and_Replay/README.md b/examples/Braccio_Record_and_Replay/README.md index 3643f97..6674031 100644 --- a/examples/Braccio_Record_and_Replay/README.md +++ b/examples/Braccio_Record_and_Replay/README.md @@ -7,4 +7,6 @@ minicom -D /dev/ttyACM0 -C angle_log.csv ``` * Press `Record` and record some angles. * Retrieve the recorded angles by sending `r` (Press `r`). You'll see the output on your console which will automagically be stored in the CSV file. -* Close `minicom` with `Ctrl + A`, `Ctrl + Q`. +* Close `minicom` with `Ctrl + A, Q`. + +![](retrieve-angles.mp4) diff --git a/examples/Braccio_Record_and_Replay/retrieve-angles.mp4 b/examples/Braccio_Record_and_Replay/retrieve-angles.mp4 new file mode 100644 index 0000000000000000000000000000000000000000..21807891559583b6e06fcf4a970c05bcbfe7ce10 GIT binary patch literal 465794 zcma&Mb980R*DV|;9ox2Tqhs5)Pi)&($4STR*tTukNypBY=ZEjTcf9}HG0v{NYOYzU z)~Z?ijD5~1ARr(@GiMKgrIWoa5D*B^Klks8+0fOP$rixM1Ox;GW#(vV3IwrhU~6LN z{LLwc0RQ?b-Vic4ua1C8Q%Xws$loWMX3@bY$jY;vi%+ycWEDik=~xMc)I`3SCZ@*U4iS5RhmEP3Ga)l0BMTifBhx=@3uk8lHv@y4 zn;X5WrHQG%jiDXAy`wq9KeNzVINREMbL;`mmiBf|+=Rx4Mux_GOoWc6X5X!esgaGn zu{9qPHzPMAp`o3jjfaydAEP@9_xD9;YszP0X-MegV)Sh>5dxe%{@v<3n(#5vGJX&F zZU}8H-AzsO|B3f)o9a6n+L?c|*$Is;9PMol_5U^0+0oR-#?tAV!RgLvV(k1K$JoL4 zyK7={vP(%iz?=-X!xFtyV+w+DQC{|)|Al(nhHcWgdpHpc&$`nHyK z-(5l{V^cd*V;5&WR>ptQbTs^DNgYj{EWU?38uJ-Dni1L>eXrxUJcQpJK4unLMnZ>w zlILTjW&bt-{{;Hi-O!zno$DKLayA9^DaCQgGaza1N8ZSQ3I5KRYJhj;nvs-^+Da~h{NJ9P+LSLzWl^n z@}

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b/examples/Braccio_Record_and_Replay/README.md @@ -9,4 +9,4 @@ minicom -D /dev/ttyACM0 -C angle_log.csv * Retrieve the recorded angles by sending `r` (Press `r`). You'll see the output on your console which will automagically be stored in the CSV file. * Close `minicom` with `Ctrl + A, Q`. -![](retrieve-angles.mp4) +![Video recording of command sequence](retrieve-angles.mp4) From 283c03c47696cfb0dd808400b375452290884705 Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Tue, 6 Sep 2022 15:17:37 +0200 Subject: [PATCH 35/41] Remove video recording on how to retrieve samples. (#94) --- examples/Braccio_Record_and_Replay/README.md | 1 - .../retrieve-angles.mp4 | Bin 465794 -> 0 bytes 2 files changed, 1 deletion(-) delete mode 100644 examples/Braccio_Record_and_Replay/retrieve-angles.mp4 diff --git a/examples/Braccio_Record_and_Replay/README.md b/examples/Braccio_Record_and_Replay/README.md index d44ce70..9010372 100644 --- a/examples/Braccio_Record_and_Replay/README.md +++ b/examples/Braccio_Record_and_Replay/README.md @@ -9,4 +9,3 @@ minicom -D /dev/ttyACM0 -C angle_log.csv * Retrieve the recorded angles by sending `r` (Press `r`). You'll see the output on your console which will automagically be stored in the CSV file. * Close `minicom` with `Ctrl + A, Q`. -![Video recording of command sequence](retrieve-angles.mp4) diff --git a/examples/Braccio_Record_and_Replay/retrieve-angles.mp4 b/examples/Braccio_Record_and_Replay/retrieve-angles.mp4 deleted file mode 100644 index 21807891559583b6e06fcf4a970c05bcbfe7ce10..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 465794 zcma&Mb980R*DV|;9ox2Tqhs5)Pi)&($4STR*tTukNypBY=ZEjTcf9}HG0v{NYOYzU z)~Z?ijD5~1ARr(@GiMKgrIWoa5D*B^Klks8+0fOP$rixM1Ox;GW#(vV3IwrhU~6LN z{LLwc0RQ?b-Vic4ua1C8Q%Xws$loWMX3@bY$jY;vi%+ycWEDik=~xMc)I`3SCZ@*U4iS5RhmEP3Ga)l0BMTifBhx=@3uk8lHv@y4 zn;X5WrHQG%jiDXAy`wq9KeNzVINREMbL;`mmiBf|+=Rx4Mux_GOoWc6X5X!esgaGn zu{9qPHzPMAp`o3jjfaydAEP@9_xD9;YszP0X-MegV)Sh>5dxe%{@v<3n(#5vGJX&F zZU}8H-AzsO|B3f)o9a6n+L?c|*$Is;9PMol_5U^0+0oR-#?tAV!RgLvV(k1K$JoL4 zyK7={vP(%iz?=-X!xFtyV+w+DQC{|)|Al(nhHcWgdpHpc&$`nHyK z-(5l{V^cd*V;5&WR>ptQbTs^DNgYj{EWU?38uJ-Dni1L>eXrxUJcQpJK4unLMnZ>w zlILTjW&bt-{{;Hi-O!zno$DKLayA9^DaCQgGaza1N8ZSQ3I5KRYJhj;nvs-^+Da~h{NJ9P+LSLzWl^n z@}

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dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] --- .github/workflows/sync-labels.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/sync-labels.yml b/.github/workflows/sync-labels.yml index 986bda6..10abaea 100644 --- a/.github/workflows/sync-labels.yml +++ b/.github/workflows/sync-labels.yml @@ -114,7 +114,7 @@ jobs: path: ${{ env.CONFIGURATIONS_FOLDER }} - name: Remove unneeded artifact - uses: geekyeggo/delete-artifact@v1 + uses: geekyeggo/delete-artifact@v2 with: name: ${{ env.CONFIGURATIONS_ARTIFACT }} From c254dbadc8d661c31c02993970b67b057f1e0051 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 24 Oct 2022 12:31:53 +0000 Subject: [PATCH 37/41] Bump carlosperate/download-file-action from 1 to 2 Bumps [carlosperate/download-file-action](https://github.com/carlosperate/download-file-action) from 1 to 2. - [Release notes](https://github.com/carlosperate/download-file-action/releases) - [Commits](https://github.com/carlosperate/download-file-action/compare/v1...v2) --- updated-dependencies: - dependency-name: carlosperate/download-file-action dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] --- .github/workflows/sync-labels.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/sync-labels.yml b/.github/workflows/sync-labels.yml index 10abaea..94938f3 100644 --- a/.github/workflows/sync-labels.yml +++ b/.github/workflows/sync-labels.yml @@ -31,7 +31,7 @@ jobs: - name: Download JSON schema for labels configuration file id: download-schema - uses: carlosperate/download-file-action@v1 + uses: carlosperate/download-file-action@v2 with: file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/arduino-tooling-gh-label-configuration-schema.json location: ${{ runner.temp }}/label-configuration-schema @@ -65,7 +65,7 @@ jobs: steps: - name: Download - uses: carlosperate/download-file-action@v1 + uses: carlosperate/download-file-action@v2 with: file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/${{ matrix.filename }} From 1bc38c5faf41e1098e8bf5bad19093fa42d817ec Mon Sep 17 00:00:00 2001 From: Naveen Date: Wed, 22 Feb 2023 13:00:00 +0900 Subject: [PATCH 38/41] Fix: SmartServoClass::getPosition return value This PR fixes the issue #97. --- src/lib/motors/SmartServo.cpp | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 84efd23..1d5f031 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -235,7 +235,18 @@ float SmartServoClass::getPosition(uint8_t const id) return -1.0f; mbed::ScopedLock lock(_mtx); - return positionToAngle(readWordCmd(id, REG(SmartServoRegister::POSITION_H))); + int position = readWordCmd(id, REG(SmartServoRegister::POSITION_H)); + + // retry one more time + if (position < 0) { + delay(1); + position = readWordCmd(id, REG(SmartServoRegister::POSITION_H)); + } + + if (position < 0) + return -1.0f; + + return positionToAngle(position); } void SmartServoClass::center(uint8_t const id, uint16_t const position) From 1217b070f1c67a077dcc000ddf64b9c0d4688d00 Mon Sep 17 00:00:00 2001 From: Naveen Date: Wed, 22 Feb 2023 14:51:31 +0900 Subject: [PATCH 39/41] Update src/lib/motors/SmartServo.cpp Co-authored-by: Alexander Entinger --- src/lib/motors/SmartServo.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index 1d5f031..c3cd566 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -235,7 +235,7 @@ float SmartServoClass::getPosition(uint8_t const id) return -1.0f; mbed::ScopedLock lock(_mtx); - int position = readWordCmd(id, REG(SmartServoRegister::POSITION_H)); + int const position = readWordCmd(id, REG(SmartServoRegister::POSITION_H)); // retry one more time if (position < 0) { From e1e6612534cc531cb7e03a7684b0826c942f8fdb Mon Sep 17 00:00:00 2001 From: Alexander Entinger Date: Wed, 22 Feb 2023 07:08:46 +0100 Subject: [PATCH 40/41] Revert "Update src/lib/motors/SmartServo.cpp" - previous commit causes build error a couple of lines down - my bad. This reverts commit 1217b070f1c67a077dcc000ddf64b9c0d4688d00. --- src/lib/motors/SmartServo.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/motors/SmartServo.cpp b/src/lib/motors/SmartServo.cpp index c3cd566..1d5f031 100644 --- a/src/lib/motors/SmartServo.cpp +++ b/src/lib/motors/SmartServo.cpp @@ -235,7 +235,7 @@ float SmartServoClass::getPosition(uint8_t const id) return -1.0f; mbed::ScopedLock lock(_mtx); - int const position = readWordCmd(id, REG(SmartServoRegister::POSITION_H)); + int position = readWordCmd(id, REG(SmartServoRegister::POSITION_H)); // retry one more time if (position < 0) { From 978b76af7ec608fdc9df1caeeb4580256a836de3 Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Wed, 31 May 2023 10:28:18 +0200 Subject: [PATCH 41/41] Release v1.3.3 --- library.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/library.properties b/library.properties index b33976a..52628ed 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=Arduino_Braccio_plusplus -version=1.3.2 +version=1.3.3 author=Arduino maintainer=Arduino sentence=Board support library for the Arduino Braccio++ 6-DOF robot arm.