63 lines
2 KiB
Arduino
63 lines
2 KiB
Arduino
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/*
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simpleMovements.ino
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This sketch simpleMovements shows how they move each servo motor of Braccio
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Created on 18 Nov 2015
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by Andrea Martino
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This example is in the public domain.
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*/
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#include <Braccio.h>
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#include <Servo.h>
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#define error 0 //A
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//#define error 4 //B
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Servo base;
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Servo shoulder;
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Servo elbow;
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Servo wrist_rot;
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Servo wrist_ver;
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Servo gripper;
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void setup() {
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//Initialization functions and set up the initial position for Braccio
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//All the servo motors will be positioned in the "safety" position:
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//Base (M1):90 degrees
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//Shoulder (M2): 45 degrees
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//Elbow (M3): 180 degrees
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//Wrist vertical (M4): 180 degrees
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//Wrist rotation (M5): 90 degrees
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//gripper (M6): 10 degrees
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pinMode(12, OUTPUT); //you need to set HIGH the pin 12
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digitalWrite(12, HIGH);
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Braccio.begin(SOFT_START_DISABLED);
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Braccio.ServoMovement(20, 0, 60, 0 + error, 71 + error, 90, 73); //B
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}
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void loop() {
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/*
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Step Delay: a milliseconds delay between the movement of each servo. Allowed values from 10 to 30 msec.
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M1=base degrees. Allowed values from 0 to 180 degrees
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M2=shoulder degrees. Allowed values from 15 to 165 degrees
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M3=elbow degrees. Allowed values from 0 to 180 degrees
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M4=wrist vertical degrees. Allowed values from 0 to 180 degrees
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M5=wrist rotation degrees. Allowed values from 0 to 180 degrees
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M6=gripper degrees. Allowed values from 10 to 73 degrees. 10: the toungue is open, 73: the gripper is closed.
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*/
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//(step delay, M1, M2, M3, M4, M5, M6);
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Braccio.ServoMovement(20, 0, 125, 0 + error, 71 + error, 90, 73); //B
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delay(1000);
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Braccio.ServoMovement(20, 0, 125, 0 + error, 71 + error, 0, 73); //B
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delay(1000);
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Braccio.ServoMovement(20, 0, 125, 0 + error, 71 + error, 90, 73); //B
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delay(1000);
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Braccio.ServoMovement(20, 0, 125, 0 + error, 71 + error, 180, 73); //B
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}
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