v1.5.10 moveToAtOnce(x,y,z)

uArm-Developer · Jun 7, 2016 · c17a4c0 · c17a4c0
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diff --git a/HISTORY.md b/HISTORY.md
@@ -1,3 +1,8 @@
+## [1.5.10] - 2016-06-07
+
+### Fix
+- At moveToAtOnce(x,y,z)
+
 ## [1.5.9] - 2016-06-01
 
 ### Fix

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=uArmLibrary
-version=1.5.8
+version=1.5.10
 author=UFactory <developer@ufactory.cc>
 maintainer=Joey Song <joey@ufactory.cc>, Alex Tan<alex@ufactory.cc>, Dave Corboy<dave@corboy.com>
 sentence=uArm Library for Arduino

diff --git a/uarm_library.h b/uarm_library.h
@@ -1,13 +1,13 @@
 /******************************************************************************
-* File Name          : uArm_library.h
-* Author             : Joey Song
-* Updated            : Joey Song, Alex Tan, Dave Corboy
-* Email              : joey@ufactory.cc
-* Date               : 12 Dec, 2014
-* Description        :
-* License            :
-* Copyright(C) 2016 UFactory Team. All right reserved.
-*******************************************************************************/
+ * File Name          : uArm_library.h
+ * Author             : Joey Song
+ * Updated            : Joey Song, Alex Tan, Dave Corboy
+ * Email              : joey@ufactory.cc
+ * Date               : 12 Dec, 2014
+ * Description        :
+ * License            :
+ * Copyright(C) 2016 UFactory Team. All right reserved.
+ *******************************************************************************/
 
 #include <Arduino.h>
 #include <EEPROM.h>
@@ -20,7 +20,7 @@
 
 #define UARM_MAJOR_VERSION      1
 #define UARM_MINOR_VERSION      5
-#define UARM_BUGFIX             9
+#define UARM_BUGFIX             10
 
 #define SERVO_ROT_NUM           0
 #define SERVO_LEFT_NUM          1
@@ -118,90 +118,94 @@
 class uArmClass
 {
 public:
-    uArmClass();
-
-    double readServoOffset(byte servo_num);
-    void readSerialNumber(byte (&byte_sn_array)[14]);
-    void writeSerialNumber(byte (&byte_sn_array)[14]);
-    void readLinearOffset(byte servo_num, double& intercept_val, double& slope_val);
-    void detachServo(byte servo_num);
-    void alert(byte times, byte runTime, byte stopTime);
-    void detachAll();
-    void writeServoAngle(byte servoNumber, double servoAngle,  boolean writeWithoffset);
-    void writeLeftRightServoAngle(double servo_left_angle, double servo_right_angle, boolean writeWithoffset);
-    byte inputToReal(byte servo_num, byte input_angle);
-    double readAngle(byte servo_num);
-    double readAngle(byte servo_num, boolean withOffset);
-    double analogToAngle(int input_angle, byte servo_num, boolean withOffset);
-    void writeAngle(byte servo_rot_angle, byte servo_left_angle, byte servo_right_angle, byte servo_hand_rot_angle, byte trigger);
-
-    void moveToOpts(double x, double y, double z, double hand_angle, byte relative_flags, double time, byte path_type, byte ease_type);
-    void moveTo(double x, double y,double z) {
-        moveToOpts(x, y, z, 0, F_HAND_RELATIVE, 2.0, PATH_LINEAR, INTERP_EASE_INOUT_CUBIC);
-    }
-    void moveTo(double x, double y,double z,int relative, double time) {
-        moveToOpts(x, y, z, 0, F_HAND_RELATIVE | (relative ? F_POSN_RELATIVE : 0), time, PATH_LINEAR, INTERP_EASE_INOUT_CUBIC);
-    }
-    void moveTo(double x, double y,double z,int relative, double time, double servo_4_angle) {
-        moveToOpts(x, y, z, servo_4_angle, relative ? F_POSN_RELATIVE : 0, time, PATH_LINEAR, INTERP_EASE_INOUT_CUBIC);
-    }
-    void moveTo(double x, double y, double z, int relative, double time, int servo_4_relative, double servo_4_angle) {
-        moveToOpts(x, y, z, servo_4_angle, (relative ? F_POSN_RELATIVE : 0) | (servo_4_relative ? F_HAND_RELATIVE : 0), time, PATH_LINEAR, INTERP_EASE_INOUT_CUBIC);
-    }
-    void moveToAtOnce(double x, double y, double z, int relative, double servo_4_angle) {
-        moveToOpts(x, y, z, servo_4_angle, relative ? F_POSN_RELATIVE : 0, 0.0, PATH_LINEAR, INTERP_LINEAR);
-    }
-
-    void writeStretch(double armStretch, double armHeight);
-    void writeAngle(double servo_rot_angle, double servo_left_angle, double servo_right_angle, double servo_hand_rot_angle);
-
-    double getCalX() {
-        return g_cal_x;
-    }
-    double getCalY() {
-        return g_cal_y;
-    }
-    double getCalZ() {
-        return g_cal_z;
-    }
-    void getCalXYZ(double& x, double& y, double &z) {
-        calXYZ(); x = g_cal_x; y = g_cal_y; z = g_cal_z;
-    }
-    void getCalXYZ(double theta_1, double theta_2, double theta_3, double& x, double& y, double &z) {
-        calXYZ(theta_1, theta_2, theta_3); x = g_cal_x; y = g_cal_y; z = g_cal_z;
-    }
-
-    void calAngles(double x, double y, double z, double& theta_1, double& theta_2, double& theta_3);
-
-    void calXYZ(double theta_1, double theta_2, double theta_3);
-    void calXYZ();
-
-    void gripperCatch();
-    void gripperRelease();
-    void interpolate(double start_val, double end_val, double (&interp_vals)[INTERP_INTVLS], byte ease_type);
-    void pumpOn();
-    void pumpOff();
-
-    Servo g_servo_rot;
-    Servo g_servo_left;
-    Servo g_servo_right;
-    Servo g_servo_hand_rot;
-    Servo g_servo_hand;
+        uArmClass();
+
+        double readServoOffset(byte servo_num);
+        void readSerialNumber(byte (&byte_sn_array)[14]);
+        void writeSerialNumber(byte (&byte_sn_array)[14]);
+        void readLinearOffset(byte servo_num, double& intercept_val, double& slope_val);
+        void detachServo(byte servo_num);
+        void alert(byte times, byte runTime, byte stopTime);
+        void detachAll();
+        void writeServoAngle(byte servoNumber, double servoAngle,  boolean writeWithoffset);
+        void writeLeftRightServoAngle(double servo_left_angle, double servo_right_angle, boolean writeWithoffset);
+        byte inputToReal(byte servo_num, byte input_angle);
+        double readAngle(byte servo_num);
+        double readAngle(byte servo_num, boolean withOffset);
+        double analogToAngle(int input_angle, byte servo_num, boolean withOffset);
+        void writeAngle(byte servo_rot_angle, byte servo_left_angle, byte servo_right_angle, byte servo_hand_rot_angle, byte trigger);
+
+        void moveToOpts(double x, double y, double z, double hand_angle, byte relative_flags, double time, byte path_type, byte ease_type);
+        void moveTo(double x, double y,double z) {
+                moveToOpts(x, y, z, 0, F_HAND_RELATIVE, 2.0, PATH_LINEAR, INTERP_EASE_INOUT_CUBIC);
+        }
+        void moveTo(double x, double y,double z,int relative, double time) {
+                moveToOpts(x, y, z, 0, F_HAND_RELATIVE | (relative ? F_POSN_RELATIVE : 0), time, PATH_LINEAR, INTERP_EASE_INOUT_CUBIC);
+        }
+        void moveTo(double x, double y,double z,int relative, double time, double servo_4_angle) {
+                moveToOpts(x, y, z, servo_4_angle, relative ? F_POSN_RELATIVE : 0, time, PATH_LINEAR, INTERP_EASE_INOUT_CUBIC);
+        }
+        void moveTo(double x, double y, double z, int relative, double time, int servo_4_relative, double servo_4_angle) {
+                moveToOpts(x, y, z, servo_4_angle, (relative ? F_POSN_RELATIVE : 0) | (servo_4_relative ? F_HAND_RELATIVE : 0), time, PATH_LINEAR, INTERP_EASE_INOUT_CUBIC);
+        }
+
+        void moveToAtOnce(double x, double y, double z) {
+                moveToOpts(x, y, z, 0, F_HAND_RELATIVE, 0.0, PATH_LINEAR, INTERP_LINEAR);
+        }
+        void moveToAtOnce(double x, double y, double z, int relative, double servo_4_angle) {
+                moveToOpts(x, y, z, servo_4_angle, relative ? F_POSN_RELATIVE : 0, 0.0, PATH_LINEAR, INTERP_LINEAR);
+        }
+
+        void writeStretch(double armStretch, double armHeight);
+        void writeAngle(double servo_rot_angle, double servo_left_angle, double servo_right_angle, double servo_hand_rot_angle);
+
+        double getCalX() {
+                return g_cal_x;
+        }
+        double getCalY() {
+                return g_cal_y;
+        }
+        double getCalZ() {
+                return g_cal_z;
+        }
+        void getCalXYZ(double& x, double& y, double &z) {
+                calXYZ(); x = g_cal_x; y = g_cal_y; z = g_cal_z;
+        }
+        void getCalXYZ(double theta_1, double theta_2, double theta_3, double& x, double& y, double &z) {
+                calXYZ(theta_1, theta_2, theta_3); x = g_cal_x; y = g_cal_y; z = g_cal_z;
+        }
+
+        void calAngles(double x, double y, double z, double& theta_1, double& theta_2, double& theta_3);
+
+        void calXYZ(double theta_1, double theta_2, double theta_3);
+        void calXYZ();
+
+        void gripperCatch();
+        void gripperRelease();
+        void interpolate(double start_val, double end_val, double (&interp_vals)[INTERP_INTVLS], byte ease_type);
+        void pumpOn();
+        void pumpOff();
+
+        Servo g_servo_rot;
+        Servo g_servo_left;
+        Servo g_servo_right;
+        Servo g_servo_hand_rot;
+        Servo g_servo_hand;
 
 protected:
-    void attachAll();
-    void attachServo(byte servo_num);
-    double cur_rot;
-    double cur_left;
-    double cur_right;
-    double cur_hand;
-    double calYonly(double theta_1, double theta_2, double theta_3);
-
-    double g_cal_x;
-    double g_cal_y;
-    double g_cal_z;
-
-    boolean g_gripper_reset;
+        void attachAll();
+        void attachServo(byte servo_num);
+        double cur_rot;
+        double cur_left;
+        double cur_right;
+        double cur_hand;
+        double calYonly(double theta_1, double theta_2, double theta_3);
+
+        double g_cal_x;
+        double g_cal_y;
+        double g_cal_z;
+
+        boolean g_gripper_reset;
 
 };