uarm_library.h File Reference

uarm library header More...

#include <Arduino.h>
#include <EEPROM.h>
#include <Wire.h>
#include "UFServo.h"
#include "linreg.h"

Go to the source code of this file.

Classes
class	uArmClass

Macros
#define	UARM_MAJOR_VERSION   1
#define	UARM_MINOR_VERSION   7
#define	UARM_BUGFIX   2
#define	SUCCESS   1
#define	FAILED   -1
#define	SERVO_ROT_NUM   0
#define	SERVO_LEFT_NUM   1
#define	SERVO_RIGHT_NUM   2
#define	SERVO_HAND_ROT_NUM   3
#define	SERVO_ROT_PIN   11
#define	SERVO_LEFT_PIN   13
#define	SERVO_RIGHT_PIN   12
#define	SERVO_HAND_PIN   10
#define	SERVO_ROT_ANALOG_PIN   2
#define	SERVO_LEFT_ANALOG_PIN   0
#define	SERVO_RIGHT_ANALOG_PIN   1
#define	SERVO_HAND_ROT_ANALOG_PIN   3
#define	ARM_STRETCH_MIN   0
#define	ARM_STRETCH_MAX   195
#define	ARM_HEIGHT_MIN   -150
#define	ARM_HEIGHT_MAX   160
#define	ARM_A   148
#define	ARM_B   160
#define	ARM_2AB   47360
#define	ARM_A2   21904
#define	ARM_B2   25600
#define	ARM_A2B2   47504
#define	LIMIT_SW   2
#define	PUMP_EN   6
#define	VALVE_EN   5
#define	STOPPER   2
#define	BUZZER   3
#define	BTN_D4   4
#define	BTN_D7   7
#define	GRIPPER   9
#define	MATH_PI   3.141592653589793238463
#define	MATH_TRANS   57.2958
#define	MATH_L1   (10.645+0.6)
#define	MATH_L2   2.117
#define	MATH_L3   14.825
#define	MATH_L4   16.02
#define	MATH_L43   MATH_L4/MATH_L3
#define	RELATIVE   1
#define	ABSOLUTE   0
#define	TopOffset   -1.5
#define	BottomOffset   1.5
#define	CALIBRATION_FLAG   10
#define	CALIBRATION_LINEAR_FLAG   11
#define	CALIBRATION_MANUAL_FLAG   12
#define	CALIBRATION_STRETCH_FLAG   13
#define	LINEAR_INTERCEPT_START_ADDRESS   70
#define	LINEAR_SLOPE_START_ADDRESS   50
#define	MANUAL_OFFSET_ADDRESS   30
#define	OFFSET_STRETCH_START_ADDRESS   20
#define	SERIAL_NUMBER_ADDRESS   100
#define	A
#define	CONFIRM_FLAG   0x80
#define	PATH_LINEAR   0
#define	PATH_ANGLES   1
#define	F_ABSOLUTE   0
#define	F_POSN_RELATIVE   1
#define	F_HAND_RELATIVE   2
#define	F_HAND_ROT_REL   4
#define	INTERP_EASE_INOUT_CUBIC   0
#define	INTERP_LINEAR   1
#define	INTERP_EASE_INOUT   2
#define	INTERP_EASE_IN   3
#define	INTERP_EASE_OUT   4
#define	LINEAR_INTERCEPT   1
#define	LINEAR_SLOPE   2

Variables
uArmClass	uarm

Detailed Description

uarm library header

---

Author

Joey Song Joey Song, Alex Tan, Dave Corboy

Date

12/Dec/2014 GNU 2016 UFactory Team. All right reserved

Macro Definition Documentation

#define A

#define ABSOLUTE   0

#define ARM_2AB   47360

#define ARM_A   148

#define ARM_A2   21904

#define ARM_A2B2   47504

#define ARM_B   160

#define ARM_B2   25600

#define ARM_HEIGHT_MAX   160

#define ARM_HEIGHT_MIN   -150

#define ARM_STRETCH_MAX   195

#define ARM_STRETCH_MIN   0

#define BottomOffset   1.5

#define BTN_D4   4

#define BTN_D7   7

#define BUZZER   3

#define CALIBRATION_FLAG   10

#define CALIBRATION_LINEAR_FLAG   11

#define CALIBRATION_MANUAL_FLAG   12

#define CALIBRATION_STRETCH_FLAG   13

#define CONFIRM_FLAG   0x80

Examples:

UArmProtocol.ino.

#define F_ABSOLUTE   0

Examples:

movement.ino.

#define F_HAND_RELATIVE   2

#define F_HAND_ROT_REL   4

Examples:

movement.ino.

#define F_POSN_RELATIVE   1

#define FAILED   -1

#define GRIPPER   9

#define INTERP_EASE_IN   3

Examples:

movement.ino.

#define INTERP_EASE_INOUT   2

Examples:

movement.ino.

#define INTERP_EASE_INOUT_CUBIC   0

Examples:

movement.ino.

#define INTERP_EASE_OUT   4

Examples:

movement.ino.

#define INTERP_LINEAR   1

Examples:

movement.ino.

#define LIMIT_SW   2

#define LINEAR_INTERCEPT   1

#define LINEAR_INTERCEPT_START_ADDRESS   70

#define LINEAR_SLOPE   2

#define LINEAR_SLOPE_START_ADDRESS   50

#define MANUAL_OFFSET_ADDRESS   30

#define MATH_L1   (10.645+0.6)

#define MATH_L2   2.117

#define MATH_L3   14.825

#define MATH_L4   16.02

#define MATH_L43   MATH_L4/MATH_L3

#define MATH_PI   3.141592653589793238463

#define MATH_TRANS   57.2958

#define OFFSET_STRETCH_START_ADDRESS   20

#define PATH_ANGLES   1

Examples:

movement.ino.

#define PATH_LINEAR   0

Examples:

movement.ino.

#define PUMP_EN   6

#define RELATIVE   1

Examples:

GettingStarted.ino.

#define SERIAL_NUMBER_ADDRESS   100

Examples:

UArmProtocol.ino.

#define SERVO_HAND_PIN   10

#define SERVO_HAND_ROT_ANALOG_PIN   3

#define SERVO_HAND_ROT_NUM   3

Examples:

GettingStarted.ino, and movement.ino.

#define SERVO_LEFT_ANALOG_PIN   0

#define SERVO_LEFT_NUM   1

Examples:

GettingStarted.ino, and movement.ino.

#define SERVO_LEFT_PIN   13

#define SERVO_RIGHT_ANALOG_PIN   1

#define SERVO_RIGHT_NUM   2

Examples:

GettingStarted.ino, and movement.ino.

#define SERVO_RIGHT_PIN   12

#define SERVO_ROT_ANALOG_PIN   2

#define SERVO_ROT_NUM   0

Examples:

GettingStarted.ino, and movement.ino.

#define SERVO_ROT_PIN   11

#define STOPPER   2

#define SUCCESS   1

#define TopOffset   -1.5

#define UARM_BUGFIX   2

#define UARM_MAJOR_VERSION   1

#define UARM_MINOR_VERSION   7

#define VALVE_EN   5

Variable Documentation

uArmClass uarm