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controlscheme
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controlscheme
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/* Robotic Arm Control Program
Jake Messner
January 2013 */
#include <Servo.h>
Servo servo1;
int servo1pos = 0;
Servo servo2;
int servo2pos = 0;
Servo servo3;
const int magnet = 13;
const int light = 8;
const int magnetSwitch = 5;
const int gripperSwitch = 6;
const int continueSwitch = 7;
const int joyx = 1;
const int joyy = 0;
//int target1 = 0;
//int target2 = 0;
int magnetSwitchState = 0;
int gripperSwitchState = 0;
int magnetSwitchStateNow = 0;
int gripperSwitchStateNow = 0;
int continueSwitchState = 0;
int alreadyrunning = 0;
int servoVal;
int servoValNow;
int servoVal2;
int servoVal2Now;
int lastmagnet = 0;
int lastgripper = 0;
int firstmanual = 1;
void setup() {
servo1.attach(1);
servo2.attach(2);
servo3.attach(3);
pinMode(magnet, OUTPUT);
pinMode(light, OUTPUT);
pinMode(magnetSwitch, INPUT);
pinMode(gripperSwitch, INPUT);
pinMode(continueSwitch, INPUT);
Serial.begin(9600);
}
void loop() {
outputServos();
continueSwitchState = digitalRead(continueSwitch);
while (digitalRead(7) == 0) {
outputServos();
delay(30); // debounce
}
// magnetSwitchState = digitalRead(magnetSwitch);
// gripperSwitchState = digitalRead(gripperSwitch);
if (alreadyrunning == 1) {
}
else if (alreadyrunning == 0) {
if(gripperSwitchState == 0) {
automaticL();
}
else if (gripperSwitchState == 1) {
automaticR();
}
}
delay(30);
}
void automaticL() {
Serial.println("automatic running");
alreadyrunning = 1;
Serial.println("bonus left");
Serial.println("step 1");
servo3.write(180); //OPEN
servo2.write(90); //step 1
delay(2000);
servo1.write(85);
delay(1000);
delay(1000);
servo2.write(30);
delay(2000);
servo3.write(0); //CLOSE
delay(1000);
servo2.write(90);
delay(2000);
servo1.write(100);
delay(1500);
servo2.write(50);
delay(2000);
servo3.write(180); //OPEN
delay(1000);
lastmagnet = 0;
lastgripper = 1;
servoValNow = servo1.read();
servoVal2Now = servo2.read();
magnetSwitchStateNow = digitalRead(magnetSwitch);
gripperSwitchStateNow = digitalRead(gripperSwitch);
digitalWrite(light, 1);
while (digitalRead(7) == 0) {
manual();
delay(30); // debounce
}
Serial.println("step 1 finished");
digitalWrite(light, 0);
servo3.write(180);
servo2.write(90);
delay(2000);
servo1.write(100);
delay(650);
servo2.write(30);
delay(1000);
servo3.write(0);
delay(1000);
servo2.write(90);
delay(1000);
servo1.write(50);
delay(900);
servo2.write(55);
delay(1000);
servo3.write(180);
delay(1000);
lastmagnet = 0;
lastgripper = 1;
servoValNow = servo1.read();
servoVal2Now = servo2.read();
magnetSwitchStateNow = digitalRead(magnetSwitch);
gripperSwitchStateNow = digitalRead(gripperSwitch);
digitalWrite(light, 1);
while (digitalRead(7) == 0) {
manual();
delay(30); // debounce
}
Serial.println("step 2 finished");
digitalWrite(light, 0);
servo3.write(180);
servo2.write(90);
delay(1000);
servo1.write(135);
delay(850);
servo2.write(30);
delay(1000);
servo3.write(0);
delay(1000);
servo2.write(90);
servo1.write(75);
delay(1000);
servo2.write(60);
delay(1000);
servo3.write(180);
delay(1000);
servoValNow = servo1.read();
servoVal2Now = servo2.read();
while (digitalRead(7) == 0) {
manual();
delay(30); // debounce
}
Serial.println("step 3 finished");
}
void automaticR() {
Serial.println("automatic running");
alreadyrunning = 1;
Serial.println("bonus right");
Serial.println("step 1");
servo3.write(180); //OPEN
servo2.write(90); //step 1
delay(2000);
servo1.write(85);
delay(1000);
delay(1000);
servo2.write(30);
delay(2000);
servo3.write(0); //CLOSE
delay(1000);
servo2.write(90);
delay(2000);
servo1.write(100);
delay(1500);
servo2.write(50);
delay(2000);
servo3.write(180); //OPEN
delay(1000);
firstmanual = 1;
lastmagnet = 0;
lastgripper = 1;
servoValNow = servo1.read();
servoVal2Now = servo2.read();
while (digitalRead(7) == 0) {
manual();
delay(30); // debounce
}
Serial.println("step 1 finished");
servo3.write(180);
servo2.write(90);
delay(2000);
servo1.write(100);
delay(650);
servo2.write(30);
delay(1000);
servo3.write(0);
delay(1000);
servo2.write(90);
delay(1000);
servo1.write(50);
delay(900);
servo2.write(55);
delay(1000);
servo3.write(180);
delay(1000);
servoValNow = analogRead(joyx);
servoVal2Now = analogRead(joyy);
while (digitalRead(7) == 0) {
manual();
delay(30); // debounce
}
Serial.println("step 2 finished");
servo3.write(180);
servo2.write(90);
delay(1000);
servo1.write(135);
delay(850);
servo2.write(30);
delay(1000);
servo3.write(0);
delay(1000);
servo2.write(90);
servo1.write(75);
delay(1000);
servo2.write(60);
delay(1000);
servo3.write(180);
delay(1000);
servoValNow = analogRead(joyx);
servoVal2Now = analogRead(joyy);
while (digitalRead(7) == 0) {
manual();
delay(30); // debounce
}
Serial.println("step 3 finished");
}
void manual() {
outputServos();
//MANUAL CONTROL SECTION
// Read the horizontal joystick value (value between 0 and 1023)
servoVal = analogRead(joyx);
servoVal = map(servoVal, 0, 1023, -60, 60); // scale it to use it with the servo (result between 0 and 180)
if(servoVal < -5) {
servo1.write(servoValNow - 1); // sets the servo position according to the scaled value
}
else if(servoVal > 5) {
servo1.write(servoValNow + 1);
}
// Read the horizontal joystick value (value between 0 and 1023)
servoVal2 = analogRead(joyy);
servoVal2 = map(servoVal2, 0, 1023, -60, 60); // scale it to use it with the servo (result between 70 and 180)
if(servoVal2 < -5) {
servo2.write(servoVal2Now - 1); // sets the servo position according to the scaled value
}
else if(servoVal2 > 5) {
servo2.write(servoVal2Now + 1);
} // sets the servo position according to the scaled value
runmagnet();
rungripper();
servoValNow = servo1.read();
servoVal2Now = servo2.read();
delay(30); //(originally 50) // waits for the servo to get there
}
void runmagnet() {
magnetSwitchState = digitalRead(magnetSwitch);
if((lastmagnet == 0) && (magnetSwitchStateNow != magnetSwitchState)) {
digitalWrite(magnet, 1);
Serial.println("magnetized 1");
lastmagnet = 1;
magnetSwitchStateNow = digitalRead(magnetSwitch);
}
else if((lastmagnet == 0) && (magnetSwitchStateNow == magnetSwitchState)) {
digitalWrite(magnet, 0);
Serial.println("NOT magnetized 1");
lastmagnet = 0;
magnetSwitchStateNow = digitalRead(magnetSwitch);
}
else if((lastmagnet == 1) && (magnetSwitchStateNow != magnetSwitchState)) {
digitalWrite(magnet, 0);
Serial.println("NOT magnetized 2");
lastmagnet = 0;
magnetSwitchStateNow = digitalRead(magnetSwitch);
}
else if((lastmagnet == 1) && (magnetSwitchStateNow == magnetSwitchState)) {
digitalWrite(magnet, 1);
Serial.println("magnetized 2");
lastmagnet = 1;
magnetSwitchStateNow = digitalRead(magnetSwitch);
}
delay(30);
}
void rungripper() {
gripperSwitchState = digitalRead(gripperSwitch);
if((lastgripper == 0) && (gripperSwitchStateNow != gripperSwitchState)) {
servo3.write(180);
Serial.println("gripper open");
lastgripper = 1;
gripperSwitchStateNow = digitalRead(gripperSwitch);
}
else if((lastgripper == 0) && (gripperSwitchStateNow == gripperSwitchState)) {
servo3.write(0);
Serial.println("gripper closed");
lastgripper = 0;
gripperSwitchStateNow = digitalRead(gripperSwitch);
}
else if((lastgripper == 1) && (gripperSwitchStateNow != gripperSwitchState)) {
servo3.write(0);
Serial.println("gripper closed");
lastgripper = 0;
gripperSwitchStateNow = digitalRead(gripperSwitch);
}
else if((lastgripper == 1) && (gripperSwitchStateNow == gripperSwitchState)) {
servo3.write(180);
Serial.println("gripper open");
lastgripper = 1;
gripperSwitchStateNow = digitalRead(gripperSwitch);
}
delay(30);
}
void outputServos() {
Serial.print ("Servo Position: ");
Serial.print(servoVal);
Serial.print (", ");
Serial.println(servoVal2);
delay(30);
}
/*
void servo1write() {
while(((target1-servo1pos > 2)) || ((target1-servo1pos) < -2)){
servo1pos = servo1.read();
Serial.print(servo1pos);
servo1.write((target1-servo1pos)*0.2);
delay(500);
}
}
void servo2write() {
while(((target2-servo2pos > 2)) || ((target2-servo2pos) < -2)){
servo2pos = servo2.read();
Serial.print(servo2pos);
servo1.write((target2-servo2pos)*0.2);
delay(500);
}
}
*/