This repo is for the control of the robots motors on the joint and grippers. The control is done through PID and the encoders placed on each joint.
These instructions will allow you to run this system on a robot like the inchworm.
What things you need to install the software and how to install them
Give examples
Additionally, for debugging we added some functions that allow you to debug the system. Some of these functions allow you to connect a button to test various parts of the physical system separately. For example the in main the helper function:
void gripperButtonTest(gripperState currentState, Gripper grip, Button buttonGripper)
Enables to interface (engage and disengage) the grippers using one button. The button should be plugged into the analog pins in a pull up configuration.
NOTE: Pull Up Configuration
GND => Button Terminal 1
Analog Pin => Button Terminal 2
The system is simple to run. To move the joint angles and the grippers a message has to be sent through the serial terminal. The message is 12 characters long and has the following structure.
Joint_1 Angle Joint_2 Angle Joint_3 Angle Gripper1&2_States
(0 0 0) (0 0 0) (0 0 0) (0 0 0)
It is important to mention that this code in non-blocking.
- PlataformIO - Generation ecosystem for embedded development
Please read CONTRIBUTING.md for details on our code of conduct, and the process for submitting pull requests to us.
- Trevor Rizzo - PID -
- Josue Contreras - Gripper -
See also the list of contributors who participated in this project.
This project is licensed under the MIT License - see the LICENSE.md file for details
- Multi-tasking in arduino article