#include <uarm_library.h>

Public Member Functions
	uArmClass ()

double	read_servo_offset (byte servo_num)
	Read Servo Offset from EEPROM. From OFFSET_START_ADDRESS, each offset occupy 4 bytes in rom. More...

void	read_linear_offset (byte servo_num, double &intercept_val, double &slope_val)
	read Linear Offset from EEPROM, From LINEAR_INTERCEPT_START_ADDRESS & LINEAR_SLOPE_START_ADDRESS, each offset occupy 4 bytes in rom More...

void	alert (byte times, byte runt_time, byte stop_time)
	Use BUZZER for Alert. More...

void	write_servo_angle (byte servo_num, double servo_angle, boolean with_offset)
	Write the angle to Servo. More...

void	write_left_right_servo_angle (double servo_left_angle, double servo_right_angle, boolean with_offset)
	Write the left Servo & Right Servo in the same time (Avoid demage the Servo) More...

double	read_servo_angle (byte servo_num)
	read Angle by servo_num without offset More...

double	read_servo_angle (byte servo_num, boolean with_offset)
	read Angle by servo_num More...

double	analog_to_angle (int input_angle, byte servo_num, boolean with_offset)
	Convert the Analog to Servo Angle, by this formatter, angle = intercept + slope * analog. More...

int	move_to (double x, double y, double z, double hand_angle, byte relative_flags, double time, byte path_type, byte ease_type, boolean enable_hand)
	Move To, Action Control Core Function. More...

void	move_to (double x, double y, double z)

void	move_to (double x, double y, double z, double hand_angle)

void	move_to (double x, double y, double z, int relative, double time)

void	move_to (double x, double y, double z, int relative, double time, double servo_4_angle)

void	move_to (double x, double y, double z, int relative, double time, int servo_4_relative, double servo_4_angle)

void	move_to_at_once (double x, double y, double z)

void	move_to_at_once (double x, double y, double z, int relative, double servo_4_angle)

void	write_stretch_height (double stretch, double height)
	Write Sretch & Height. This is an old control method to uArm. Using uarm's Stretch and height, , Height from -180 to 150. More...

double	get_current_x ()

double	get_current_y ()

double	get_current_z ()

void	get_current_xyz ()
	Calculate X,Y,Z to g_current_x,g_current_y,g_current_z. More...

void	get_current_xyz (double theta_1, double theta_2, double theta_3)
	Calculate X,Y,Z to g_current_x,g_current_y,g_current_z. More...

void	angle_to_coordinate (double &x, double &y, double &z)

void	angle_to_coordinate (double theta_1, double theta_2, double theta_3, double &x, double &y, double &z)

void	coordinate_to_angle (double x, double y, double z, double &theta_1, double &theta_2, double &theta_3)
	Calculate the angles from given coordinate x, y, z to theta_1, theta_2, theta_3. More...

void	gripper_catch ()
	Close Gripper. More...

void	gripper_release ()
	Release Gripper. More...

void	interpolate (double start_val, double end_val, double *interp_vals, byte ease_type)
	"Genernate the position array" More...

void	pump_on ()
	Turn on Pump. More...

void	pump_off ()
	Turn off Pump. More...

int	write_servo_angle (byte servo_rot_angle, byte servo_left_angle, byte servo_right_angle, byte servo_hand_rot_angle, byte trigger)

int	write_servo_angle (double servo_rot_angle, double servo_left_angle, double servo_right_angle, double servo_hand_rot_angle)
	Write 4 Servo Angles, servo_rot, servo_left, servo_right, servo_hand_rot. More...

int	write_servo_angle (double servo_rot_angle, double servo_left_angle, double servo_right_angle)
	Write 3 Servo Angles, servo_rot, servo_left, servo_right. More...

boolean	set_servo_status (boolean attach_state, byte servo_num)
	Attach Servo, if servo has not been attached, attach the servo, and read the current Angle. More...

void	init ()

Public Attributes
unsigned int	INTERP_INTVLS

Protected Member Functions
double	angle_to_coordinate_y (double theta_1, double theta_2, double theta_3)
	Calculate Y. More...

Protected Attributes
double	cur_rot

double	cur_left

double	cur_right

double	cur_hand

double	g_current_x

double	g_current_y

double	g_current_z

boolean	g_gripper_reset

Constructor & Destructor Documentation

uArmClass::uArmClass ( )

Member Function Documentation

void uArmClass::alert	(	byte	times,
		byte	runTime,
		byte	stopTime
	)

Use BUZZER for Alert.

Parameters

times	Beep Times
runTime	How Long from High to Low
stopTime	How Long from Low to High

Examples:: movement.ino, and UArmProtocol.ino.

double uArmClass::analog_to_angle	(	int	input_analog,
		byte	servo_num,
		boolean	withOffset
	)

Convert the Analog to Servo Angle, by this formatter, angle = intercept + slope * analog.

Parameters

input_analog	Analog Value
servo_num	SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM
withOffset	true, false

Returns: Return Servo Angle

void uArmClass::angle_to_coordinate	(	double &	x,
		double &	y,
		double &	z
	)

inline

void uArmClass::angle_to_coordinate	(	double	theta_1,
		double	theta_2,
		double	theta_3,
		double &	x,
		double &	y,
		double &	z
	)

inline

double uArmClass::angle_to_coordinate_y	(	double	theta_1,
		double	theta_2,
		double	theta_3
	)

protected

Calculate Y.

Parameters

theta_1
theta_2
theta_3

Returns: Y Axis Value

void uArmClass::coordinate_to_angle	(	double	x,
		double	y,
		double	z,
		double &	theta_1,
		double &	theta_2,
		double &	theta_3
	)

Calculate the angles from given coordinate x, y, z to theta_1, theta_2, theta_3.

Calculate the angles from given coordinate x, y, z to theta_1, theta_2, theta_3

Parameters

x	X axis
y	Y axis
z	Z axis
theta_1	SERVO_ROT_NUM servo angles
theta_2	SERVO_LEFT_NUM servo angles
theta_3	SERVO_RIGHT_NUM servo angles

double uArmClass::get_current_x ( )

inline

Examples:: GettingStarted.ino, and UArmProtocol.ino.

void uArmClass::get_current_xyz ( )

Calculate X,Y,Z to g_current_x,g_current_y,g_current_z.

Examples:: GettingStarted.ino, and UArmProtocol.ino.

void uArmClass::get_current_xyz	(	double	theta_1,
		double	theta_2,
		double	theta_3
	)

Calculate X,Y,Z to g_current_x,g_current_y,g_current_z.

double uArmClass::get_current_y ( )

inline

Examples:: GettingStarted.ino, and UArmProtocol.ino.

double uArmClass::get_current_z ( )

inline

Examples:: GettingStarted.ino, and UArmProtocol.ino.

void uArmClass::gripper_catch ( )

Close Gripper.

Examples:: UArmProtocol.ino.

void uArmClass::gripper_release ( )

Release Gripper.

Examples:: UArmProtocol.ino.

void uArmClass::init ( )

Examples:: UArmProtocol.ino.

void uArmClass::interpolate	(	double	start_val,
		double	end_val,
		double *	interp_vals,
		byte	ease_type
	)

"Genernate the position array"

Parameters

start_val	Start Position
end_val	End Position
interp_vals	interpolation array
ease_type	INTERP_EASE_INOUT_CUBIC, INTERP_LINEAR, INTERP_EASE_INOUT, INTERP_EASE_IN, INTERP_EASE_OUT

int uArmClass::move_to	(	double	x,
		double	y,
		double	z,
		double	hand_angle,
		byte	relative_flags,
		double	time,
		byte	path_type,
		byte	ease_type,
		boolean	enable_hand
	)

Move To, Action Control Core Function.

Parameters

x	X Axis Value
y	Y Axis Value
z	Z Axis Value
hand_angle	Hand Axis
relative_flags	ABSOLUTE, RELATIVE
path_type	PATH_LINEAR, PATH_ANGLES
enable_hand	Enable Hand Axis

Returns: SUCCESS, FAILED

Examples:: GettingStarted.ino, movement.ino, and UArmProtocol.ino.

void uArmClass::move_to	(	double	x,
		double	y,
		double	z
	)

inline

void uArmClass::move_to	(	double	x,
		double	y,
		double	z,
		double	hand_angle
	)

inline

void uArmClass::move_to	(	double	x,
		double	y,
		double	z,
		int	relative,
		double	time
	)

inline

void uArmClass::move_to	(	double	x,
		double	y,
		double	z,
		int	relative,
		double	time,
		double	servo_4_angle
	)

inline

void uArmClass::move_to	(	double	x,
		double	y,
		double	z,
		int	relative,
		double	time,
		int	servo_4_relative,
		double	servo_4_angle
	)

inline

void uArmClass::move_to_at_once	(	double	x,
		double	y,
		double	z
	)

inline

void uArmClass::move_to_at_once	(	double	x,
		double	y,
		double	z,
		int	relative,
		double	servo_4_angle
	)

inline

void uArmClass::pump_off ( )

Turn off Pump.

Examples:: GettingStarted.ino, and UArmProtocol.ino.

void uArmClass::pump_on ( )

Turn on Pump.

Examples:: GettingStarted.ino, and UArmProtocol.ino.

void uArmClass::read_linear_offset	(	byte	servo_num,
		double &	intercept_val,
		double &	slope_val
	)

read Linear Offset from EEPROM, From LINEAR_INTERCEPT_START_ADDRESS & LINEAR_SLOPE_START_ADDRESS, each offset occupy 4 bytes in rom

Parameters

servo_num	SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM
intercept_val	get intercept_val
slope_val	get slope_val

double uArmClass::read_servo_angle ( byte servo_num )

read Angle by servo_num without offset

Parameters

servo_num SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM

Returns: Return servo_num Angle

Examples:: UArmProtocol.ino.

double uArmClass::read_servo_angle	(	byte	servo_num,
		boolean	withOffset
	)

read Angle by servo_num

Parameters

servo_num	SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM
withOffset	true, false

Returns: Return servo_num Angle

double uArmClass::read_servo_offset ( byte servo_num )

Read Servo Offset from EEPROM. From OFFSET_START_ADDRESS, each offset occupy 4 bytes in rom.

Parameters

servo_num SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM

Returns: Return servo offset

Examples:: GettingStarted.ino.

boolean uArmClass::set_servo_status	(	boolean	setAttached,
		byte	servoNum
	)

Attach Servo, if servo has not been attached, attach the servo, and read the current Angle.

Parameters

servo number SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM

Examples:: GettingStarted.ino, movement.ino, and UArmProtocol.ino.

void uArmClass::write_left_right_servo_angle	(	double	servo_left_angle,
		double	servo_right_angle,
		boolean	writeWithoffset
	)

Write the left Servo & Right Servo in the same time (Avoid demage the Servo)

Parameters

servo_left_angle	left servo target angle
servo_right_angle	right servo target angle
writeWithoffset	True: with Offset, False: without Offset

Examples:: UArmProtocol.ino.

void uArmClass::write_servo_angle	(	byte	servo_number,
		double	servo_angle,
		boolean	writeWithoffset
	)

Write the angle to Servo.

Parameters

servo_number	SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM
servo_angle	Servo target angle, 0.00 - 180.00
writeWithoffset	True: with Offset, False: without Offset

Examples:: UArmProtocol.ino.

int uArmClass::write_servo_angle	(	byte	servo_rot_angle,
		byte	servo_left_angle,
		byte	servo_right_angle,
		byte	servo_hand_rot_angle,
		byte	trigger
	)

int uArmClass::write_servo_angle	(	double	servo_rot_angle,
		double	servo_left_angle,
		double	servo_right_angle,
		double	servo_hand_rot_angle
	)

Write 4 Servo Angles, servo_rot, servo_left, servo_right, servo_hand_rot.

Parameters

servo_rot_angle	SERVO_ROT_NUM
servo_left_angle	SERVO_LEFT_NUM
servo_right_angle	SERVO_RIGHT_NUM
servo_hand_rot_angle	SERVO_HAND_ROT_NUM

Returns: SUCCESS, FAILED

int uArmClass::write_servo_angle	(	double	servo_rot_angle,
		double	servo_left_angle,
		double	servo_right_angle
	)

Write 3 Servo Angles, servo_rot, servo_left, servo_right.

Parameters

servo_rot_angle	SERVO_ROT_NUM
servo_left_angle	SERVO_LEFT_NUM
servo_right_angle	SERVO_RIGHT_NUM

Returns: SUCCESS, FAILED

void uArmClass::write_stretch_height	(	double	armStretch,
		double	armHeight
	)

Write Sretch & Height. This is an old control method to uArm. Using uarm's Stretch and height, , Height from -180 to 150.

Parameters

armStretch	Stretch from 0 to 195
armHeight	Height from -150 to 150

Examples:: UArmProtocol.ino.

Member Data Documentation

double uArmClass::cur_hand

protected

double uArmClass::cur_left

protected

double uArmClass::cur_right

protected

double uArmClass::cur_rot

protected

double uArmClass::g_current_x

protected

double uArmClass::g_current_y

protected

double uArmClass::g_current_z

protected

boolean uArmClass::g_gripper_reset

protected

unsigned int uArmClass::INTERP_INTVLS

The documentation for this class was generated from the following files:

/Users/alex/Workspace/develop/uarm_metal/uarm4arduino/src/uarm_library.h
/Users/alex/Workspace/develop/uarm_metal/uarm4arduino/src/uarm_library.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation