UArmTextControl2.0.ino File Reference

#include <uarm_library.h>

Functions
void	setup ()
void	loop ()
String	runCommand (String cmnd)
void	getCommandValues (String cmnd, String parameters[], int parameterCount, float *valueArray)
String	isValidCommand (String cmnd, String parameters[], int parameterCount)
String	parseNextCommand ()
void	setMove (double x, double y, double z, double goalSpeed)
bool	isTimeToMove ()
void	moveStep ()

Variables
byte	currentStep = 255
int	tipPin = 2
int	buzzerPin = 3
unsigned int	INTERP_INTVLS
long	goalTime
double	goalTimeStep
double	x_array [51]
double	y_array [51]
double	z_array [51]
double	currentHand =90
long	buzzerStopTime = -1
String	message = ""

Function Documentation

void getCommandValues	(	String	cmnd,
		String	parameters[],
		int	parameterCount,
		float *	valueArray
	)

bool isTimeToMove

(

)

String isValidCommand	(	String	cmnd,
		String	parameters[],
		int	parameterCount
	)

void loop

(

)

void moveStep

(

)

String parseNextCommand

(

)

String runCommand

(

String

cmnd

)

void setMove	(	double	x,
		double	y,
		double	z,
		double	goalSpeed
	)

void setup

(

)

Variable Documentation

int buzzerPin = 3

long buzzerStopTime = -1

double currentHand =90

byte currentStep = 255

This sketch is a communication protocol for uArm using Serial.

All commands must be wrapped in brackets- [command] Any string of commands must end with an endline char '
' for the commands to be processed

Commands: [moveX::Y::Z::S#] Where # is a double, This will move the robot to an XYZ position, in S is speed in centimeters / second from the current location to goal location Send Example: [moveX15Y-15Z20S25] Return Example: [OK moveX15Y-15Z20S2]

[handV#] Where # is an angle between 0 and 180. This will set the angle of the robots hand Send Example: [handV90] Return Example: [OK handV90]

[pumpV#] Where # is either 1 or 0. 1 means pump on, 0 means pump off. Send Example: [pumpV1] Return Example: [OK pumpV1]

[attachS#] Attach servo #. Same as servo #'s in uarm_library.h Send Example: [attachS1] Return Example: [OK attachS1]

[detachS#] Detach servo #. Same as servo #'s in uarm_library.h Send Example: [detachS1] Return Example: [OK detachS1]

[buzzF::T#] Set the buzzer to F Frequency for T time Send Example: [buzzF261.63T1] Return Example: [OK buzzF261.63T1]

[gcoords] Returns the XYZ position of the robot Send Example: [gcoords] Return Example: [coordsX::Y::Z#]

[gAngleS#] Returns the angle of any particular servo. Send Example: [angleA1] Return Example: [angleA###.##]

[gmoving] Returns whether or not the robot is currently moving. Returns either 1 or 0 if it is moving or not. Send Example: [gmoving] Return Example: [movingM1]

[gtip] Returns whether or not the tip of the robot is currently pressed. Returns either 1 if the tip is pressed, 0 if not. Send Example: [gtip] Return Example: [tipV1]

long goalTime

double goalTimeStep

unsigned int INTERP_INTVLS

String message = ""

int tipPin = 2

double x_array[51]

double y_array[51]

double z_array[51]