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[Krobot-commits] [SCM] krobot branch, master, updated. 9ab5f4a67923e98473a1685942ecf176e8c06fc4
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From: Xavier L. <Ba...@us...> - 2010-05-20 13:43:41
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via 755fd4c6d04fc43bc96eddfc9ee20f3007a717aa (commit)
via b4fe376e4b223f387804ff33e89595c6345fa93d (commit)
via 21a3822e7f2c19f56bfcda23fdf077c186a78080 (commit)
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- Log -----------------------------------------------------------------
commit 9ab5f4a67923e98473a1685942ecf176e8c06fc4
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu May 20 15:42:23 2010 +0200
Added macro commands to monitor to move [Kro]bot Jr's AX12s
commit 755fd4c6d04fc43bc96eddfc9ee20f3007a717aa
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu May 20 15:41:53 2010 +0200
Remove some warnings
commit b4fe376e4b223f387804ff33e89595c6345fa93d
Author: Xavier Lagorce <Xav...@cr...>
Date: Thu May 20 15:41:23 2010 +0200
Added constants for AX12 interesting positions for Krobot Jr
commit 21a3822e7f2c19f56bfcda23fdf077c186a78080
Author: Xavier Lagorce <Xav...@cr...>
Date: Wed May 19 23:26:28 2010 +0200
No need to wait after the last command
commit 4854cd39e1f97d00b3d77ecea3e50ce58852357d
Author: Xavier Lagorce <Xav...@cr...>
Date: Wed May 19 23:23:47 2010 +0200
Modified AX12s IDs to be different from the default one
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/MotherBoard_KrobotJr2010/Firmware/ax12.c b/elec/boards/MotherBoard_KrobotJr2010/Firmware/ax12.c
index dd17855..cf34548 100644
--- a/elec/boards/MotherBoard_KrobotJr2010/Firmware/ax12.c
+++ b/elec/boards/MotherBoard_KrobotJr2010/Firmware/ax12.c
@@ -150,8 +150,6 @@ void ax12Configure(uint8_t old_id, uint8_t new_id) {
*/
// Set ID
ax12SendPacket(old_id, INST_WRITE, sizeof(paramsID), paramsID);
- chThdSleepMilliseconds(1);
-
}
void ax12Goto(uint8_t id, uint16_t position, uint16_t speed, uint8_t mode) {
diff --git a/elec/boards/MotherBoard_KrobotJr2010/Firmware/ax12.h b/elec/boards/MotherBoard_KrobotJr2010/Firmware/ax12.h
index a685bcc..a3da360 100644
--- a/elec/boards/MotherBoard_KrobotJr2010/Firmware/ax12.h
+++ b/elec/boards/MotherBoard_KrobotJr2010/Firmware/ax12.h
@@ -6,7 +6,7 @@
#ifndef HEADER__AX12
#define HEADER__AX12
-#define AX12_BAUDRATE 1000000
+#define AX12_BAUDRATE 115200//1000000
#include <stdio.h>
#include <stdlib.h>
@@ -117,12 +117,20 @@
#define CMD_ACTION 2
// AX12 names
-#define AX12_ARM1 1
-#define AX12_GRIP1 2
-#define AX12_ARM2 3
-#define AX12_GRIP2 4
-#define AX12_ARM3 5
-#define AX12_GRIP3 6
+#define AX12_ARM1 2
+#define AX12_GRIP1 3
+#define AX12_ARM2 4
+#define AX12_GRIP2 5
+#define AX12_ARM3 6
+#define AX12_GRIP3 7
+
+// AX12 positions
+#define GRIP_OPEN 250
+#define GRIP_CLOSE 435
+#define GRIP_RELEASE 350
+
+#define ARM_GET 512
+#define ARM_CARRY 200
void ax12Init(void);
void ax12SendPacket(uint8_t id, uint8_t instruction, uint8_t len, uint8_t *params);
diff --git a/elec/boards/MotherBoard_KrobotJr2010/Firmware/monitor.c b/elec/boards/MotherBoard_KrobotJr2010/Firmware/monitor.c
index abf1662..66d0b06 100644
--- a/elec/boards/MotherBoard_KrobotJr2010/Firmware/monitor.c
+++ b/elec/boards/MotherBoard_KrobotJr2010/Firmware/monitor.c
@@ -203,8 +203,8 @@ void ax12Handler(BaseChannel *chp, int argc, char* argv[]) {
uint8_t id, new_id;
uint16_t pos, spd;
- if (argc < 2) {
- shellPrintLine(chp, "Usage : ax12 (config|goto|goto_delayed|action) id ...");
+ if (argc < 1) {
+ shellPrintLine(chp, "Usage : ax12 (config|goto|goto_delayed|action|open|close) id ...");
return;
}
@@ -239,6 +239,153 @@ void ax12Handler(BaseChannel *chp, int argc, char* argv[]) {
else if(strcmp(argv[0], "action") == 0) {
ax12Action(id);
}
+ else if(strcmp(argv[0], "open") == 0) {
+ if (argc == 1) {
+ ax12Goto(AX12_GRIP1, GRIP_OPEN, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Goto(AX12_GRIP2, GRIP_OPEN, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Goto(AX12_GRIP3, GRIP_OPEN, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Action(ID_BROADCAST);
+ }
+ else if (argc == 2) {
+ switch(argv[1][0]) {
+ case '1':
+ ax12Goto(AX12_GRIP1, GRIP_OPEN, 0, CMD_NOW);
+ break;
+ case '2':
+ ax12Goto(AX12_GRIP2, GRIP_OPEN, 0, CMD_NOW);
+ break;
+ case '3':
+ ax12Goto(AX12_GRIP3, GRIP_OPEN, 0, CMD_NOW);
+ break;
+ default:
+ shellPrintLine(chp, "Identifiant de pince entre 1 et 3");
+ break;
+ }
+ }
+ else {
+ shellPrintLine(chp, "Usage : ax12 open [id]");
+ }
+ }
+ else if(strcmp(argv[0], "close") == 0) {
+ if (argc == 1) {
+ ax12Goto(AX12_GRIP1, GRIP_CLOSE, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Goto(AX12_GRIP2, GRIP_CLOSE, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Goto(AX12_GRIP3, GRIP_CLOSE, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Action(ID_BROADCAST);
+ }
+ else if (argc == 2) {
+ switch(argv[1][0]) {
+ case '1':
+ ax12Goto(AX12_GRIP1, GRIP_CLOSE, 0, CMD_NOW);
+ break;
+ case '2':
+ ax12Goto(AX12_GRIP2, GRIP_CLOSE, 0, CMD_NOW);
+ break;
+ case '3':
+ ax12Goto(AX12_GRIP3, GRIP_CLOSE, 0, CMD_NOW);
+ break;
+ default:
+ shellPrintLine(chp, "Identifiant de pince entre 1 et 3");
+ break;
+ }
+ }
+ else {
+ shellPrintLine(chp, "Usage : ax12 close [id]");
+ }
+ }
+ else if(strcmp(argv[0], "release") == 0) {
+ if (argc == 1) {
+ ax12Goto(AX12_GRIP1, GRIP_RELEASE, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Goto(AX12_GRIP2, GRIP_RELEASE, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Goto(AX12_GRIP3, GRIP_RELEASE, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Action(ID_BROADCAST);
+ }
+ else if (argc == 2) {
+ switch(argv[1][0]) {
+ case '1':
+ ax12Goto(AX12_GRIP1, GRIP_RELEASE, 0, CMD_NOW);
+ break;
+ case '2':
+ ax12Goto(AX12_GRIP2, GRIP_RELEASE, 0, CMD_NOW);
+ break;
+ case '3':
+ ax12Goto(AX12_GRIP3, GRIP_RELEASE, 0, CMD_NOW);
+ break;
+ default:
+ shellPrintLine(chp, "Identifiant de pince entre 1 et 3");
+ break;
+ }
+ }
+ else {
+ shellPrintLine(chp, "Usage : ax12 close [id]");
+ }
+ }
+ else if(strcmp(argv[0], "get") == 0) {
+ if (argc == 1) {
+ ax12Goto(AX12_ARM1, ARM_GET, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Goto(AX12_ARM2, ARM_GET, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Goto(AX12_ARM3, ARM_GET, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Action(ID_BROADCAST);
+ }
+ else if (argc == 2) {
+ switch(argv[1][0]) {
+ case '1':
+ ax12Goto(AX12_ARM1, ARM_GET, 0, CMD_NOW);
+ break;
+ case '2':
+ ax12Goto(AX12_ARM2, ARM_GET, 0, CMD_NOW);
+ break;
+ case '3':
+ ax12Goto(AX12_ARM3, ARM_GET, 0, CMD_NOW);
+ break;
+ default:
+ shellPrintLine(chp, "Identifiant de pince entre 1 et 3");
+ break;
+ }
+ }
+ }
+ else if(strcmp(argv[0], "carry") == 0) {
+ if (argc == 1) {
+ ax12Goto(AX12_ARM1, ARM_CARRY, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Goto(AX12_ARM2, ARM_CARRY, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Goto(AX12_ARM3, ARM_CARRY, 0, CMD_ACTION);
+ chThdSleepMilliseconds(5);
+ ax12Action(ID_BROADCAST);
+ }
+ else if (argc == 2) {
+ switch(argv[1][0]) {
+ case '1':
+ ax12Goto(AX12_ARM1, ARM_CARRY, 0, CMD_NOW);
+ break;
+ case '2':
+ ax12Goto(AX12_ARM2, ARM_CARRY, 0, CMD_NOW);
+ break;
+ case '3':
+ ax12Goto(AX12_ARM3, ARM_CARRY, 0, CMD_NOW);
+ break;
+ default:
+ shellPrintLine(chp, "Identifiant de pince entre 1 et 3");
+ break;
+ }
+ }
+ else {
+ shellPrintLine(chp, "Usage : ax12 close [id]");
+ }
+ }
else {
shellPrintLine(chp, "Usage : ax12 (config|goto|goto_delayed|action) ...");
return;
diff --git a/elec/boards/MotherBoard_KrobotJr2010/Firmware/monitor.h b/elec/boards/MotherBoard_KrobotJr2010/Firmware/monitor.h
index 77fb7ed..021ef64 100644
--- a/elec/boards/MotherBoard_KrobotJr2010/Firmware/monitor.h
+++ b/elec/boards/MotherBoard_KrobotJr2010/Firmware/monitor.h
@@ -14,6 +14,7 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
+#include <ctype.h>
#include "ch.h"
#include "hal.h"
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