/* AL5D robotic arm manual control using USB mouse. Servo controller by Renbotics with some pins swapped, USB Host Shield by Circuits At Home */ #include #include #include #include #define DEVADDR 1 #define CONFVALUE 1 /* Arm dimensions( mm ) */ #define BASE_HGT 67.31 //base hight 2.65" #define HUMERUS 146.05 //shoulder-to-elbow "bone" 5.75" #define ULNA 187.325 //elbow-to-wrist "bone" 7.375" #define GRIPPER 100.00 //gripper (incl.heavy duty wrist rotate mechanism) length 3.94" #define ftl(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5)) //float to long conversion /* Servo names/numbers */ /* Base servo HS-485HB */ #define BAS_SERVO 0 /* Shoulder Servo HS-5745-MG */ #define SHL_SERVO 1 /* Elbow Servo HS-5745-MG */ #define ELB_SERVO 2 /* Wrist servo HS-645MG */ #define WRI_SERVO 3 /* Wrist rotate servo HS-485HB */ #define WRO_SERVO 4 /* Gripper servo HS-422 */ #define GRI_SERVO 5 //#define ARM_PARK set_arm( -50, 140, 100, 0 ) //arm parking position /* pre-calculations */ float hum_sq = HUMERUS*HUMERUS; float uln_sq = ULNA*ULNA; void setup(); void loop(); ServoShield servos; //ServoShield object MAX3421E Max; USB Usb; //ServoShield servos; //ServoShield object /* Arm data structure */ struct { float x_coord; // X coordinate of the gripper tip float y_coord; // Y coordinate of the gripper tip float z_coord; //Z coordinate of the gripper tip float gripper_angle; //gripper angle int16_t gripper_servo; //gripper servo pulse duration int16_t wrist_rotate; //wrist rotate servo pulse duration } armdata; void setup() { /* set servo end points */ servos.setbounds( BAS_SERVO, 900, 2100 ); servos.setbounds( SHL_SERVO, 1000, 2100 ); servos.setbounds( ELB_SERVO, 900, 2100 ); servos.setbounds( WRI_SERVO, 600, 2400 ); servos.setbounds( WRO_SERVO, 600, 2400 ); servos.setbounds( GRI_SERVO, 890, 2100 ); /**/ // servo_park(); arm_park(); servos.start(); //Start the servo shield Max.powerOn(); Serial.begin( 115200 ); Serial.println("Start"); delay( 500 ); //ARM_PARK; } void loop() { byte rcode; //delay( 10 ); set_arm( armdata.x_coord, armdata.y_coord, armdata.z_coord, armdata.gripper_angle ); servos.setposition( WRO_SERVO, armdata.wrist_rotate ); servos.setposition( GRI_SERVO, armdata.gripper_servo ); //ARM_PARK; // circle(); Max.Task(); Usb.Task(); if( Usb.getUsbTaskState() == USB_STATE_CONFIGURING ) { mouse_init(); }//if( Usb.getUsbTaskState() == USB_STATE_CONFIGURING... if( Usb.getUsbTaskState() == USB_STATE_RUNNING ) { //poll the keyboard rcode = mouse_poll(); if( rcode ) { Serial.print("Mouse Poll Error: "); Serial.println( rcode, HEX ); }//if( rcode... }//if( Usb.getUsbTaskState() == USB_STATE_RUNNING... //Serial.println( armdata.gripper_servo, DEC ); } /* Initialize mouse */ void mouse_init( void ) { byte rcode = 0; //return code /**/ Usb.setDevTableEntry( 1, Usb.getDevTableEntry( 0,0 ) ); //copy device 0 endpoint information to device 1 /* Configure device */ rcode = Usb.setConf( DEVADDR, 0, CONFVALUE ); if( rcode ) { Serial.print("Error configuring mouse. Return code : "); Serial.println( rcode, HEX ); while(1); //stop }//if( rcode... Usb.setUsbTaskState( USB_STATE_RUNNING ); return; } /* Poll mouse using Get Report and fill arm data structure */ byte mouse_poll( void ) { byte rcode; char buf[ 4 ]; //mouse buffer static uint16_t delay = 500; //delay before park /* poll mouse */ rcode = Usb.getReport( DEVADDR, 0, 4, 0, 1, 0, buf ); if( rcode ) { //error return( rcode ); } // todo: add arm limit check armdata.x_coord += ( buf[ 1 ] * -0.1 ); armdata.y_coord += ( buf[ 2 ] * -0.1 ); switch( buf[ 0 ] ) { //read buttons case 0x00: //no buttons pressed armdata.z_coord += ( buf[ 3 ] * -2 ) ; break; case 0x01: //button 1 pressed. Wheel sets gripper angle armdata.gripper_servo += ( buf[ 3 ] * -20 ); /* check gripper boundaries */ if( armdata.gripper_servo < 1000 ) { armdata.gripper_servo = 1000; } if( armdata.gripper_servo > 2100 ) { armdata.gripper_servo = 2100; } break; case 0x02: //button 2 pressed. Wheel sets wrist rotate armdata.wrist_rotate += ( buf[ 3 ] * -10 ); /* check wrist rotate boundaries */ if( armdata.wrist_rotate < 600 ) { armdata.wrist_rotate = 600; } if( armdata.wrist_rotate > 2400 ) { armdata.wrist_rotate = 2400; } break; case 0x04: //wheel button pressed. Wheel controls gripper armdata.gripper_angle += ( buf[ 3 ] * -1 ); /* check gripper angle boundaries */ if( armdata.gripper_angle < -90 ) { armdata.gripper_angle = -90; } if( armdata.gripper_angle > 90 ) { armdata.gripper_angle = 90; } break; case 0x07: //all 3 buttons pressed. Park the arm arm_park(); break; }//switch( buf[ 0 ... Serial.println( armdata.wrist_rotate, DEC ); } /* arm positioning routine utilizing inverse kinematics */ /* z is height, y is distance from base center out, x is side to side. y,z can only be positive */ //void set_arm( uint16_t x, uint16_t y, uint16_t z, uint16_t grip_angle ) void set_arm( float x, float y, float z, float grip_angle_d ) { float grip_angle_r = radians( grip_angle_d ); //grip angle in radians for use in calculations /* Base angle and radial distance from x,y coordinates */ float bas_angle_r = atan2( x, y ); float rdist = sqrt(( x * x ) + ( y * y )); /* rdist is y coordinate for the arm */ y = rdist; /* Grip offsets calculated based on grip angle */ float grip_off_z = ( sin( grip_angle_r )) * GRIPPER; float grip_off_y = ( cos( grip_angle_r )) * GRIPPER; /* Wrist position */ float wrist_z = ( z - grip_off_z ) - BASE_HGT; float wrist_y = y - grip_off_y; /* Shoulder to wrist distance ( AKA sw ) */ float s_w = ( wrist_z * wrist_z ) + ( wrist_y * wrist_y ); float s_w_sqrt = sqrt( s_w ); /* s_w angle to ground */ //float a1 = atan2( wrist_y, wrist_z ); float a1 = atan2( wrist_z, wrist_y ); /* s_w angle to humerus */ float a2 = acos((( hum_sq - uln_sq ) + s_w ) / ( 2 * HUMERUS * s_w_sqrt )); /* shoulder angle */ float shl_angle_r = a1 + a2; float shl_angle_d = degrees( shl_angle_r ); /* elbow angle */ float elb_angle_r = acos(( hum_sq + uln_sq - s_w ) / ( 2 * HUMERUS * ULNA )); float elb_angle_d = degrees( elb_angle_r ); float elb_angle_dn = -( 180.0 - elb_angle_d ); /* wrist angle */ float wri_angle_d = ( grip_angle_d - elb_angle_dn ) - shl_angle_d; /* Servo pulses */ float bas_servopulse = 1500.0 - (( degrees( bas_angle_r )) * 11.11 ); float shl_servopulse = 1500.0 + (( shl_angle_d - 90.0 ) * 6.6 ); float elb_servopulse = 1500.0 - (( elb_angle_d - 90.0 ) * 6.6 ); float wri_servopulse = 1500 + ( wri_angle_d * 11.1 ); /* Set servos */ servos.setposition( BAS_SERVO, ftl( bas_servopulse )); servos.setposition( WRI_SERVO, ftl( wri_servopulse )); servos.setposition( SHL_SERVO, ftl( shl_servopulse )); servos.setposition( ELB_SERVO, ftl( elb_servopulse )); } /* moves the arm to parking position */ void arm_park() { set_arm( armdata.x_coord = -50, armdata.y_coord = 140, armdata.z_coord = 100, armdata.gripper_angle = 0 ); servos.setposition( WRO_SERVO, armdata.wrist_rotate = 600 ); servos.setposition( GRI_SERVO, armdata.gripper_servo = 900 ); } /* move servos to parking position */ void servo_park() { servos.setposition( BAS_SERVO, 1715 ); servos.setposition( SHL_SERVO, 2100 ); servos.setposition( ELB_SERVO, 2100 ); servos.setposition( WRI_SERVO, 1800 ); servos.setposition( WRO_SERVO, 600 ); servos.setposition( GRI_SERVO, 900 ); return; } void zero_x() { for( double yaxis = 150.0; yaxis < 356.0; yaxis += 1 ) { set_arm( 0, yaxis, 127.0, 0 ); delay( 10 ); } for( double yaxis = 356.0; yaxis > 150.0; yaxis -= 1 ) { set_arm( 0, yaxis, 127.0, 0 ); delay( 10 ); } } /* moves arm in a straight line */ void line() { for( double xaxis = -100.0; xaxis < 100.0; xaxis += 0.5 ) { set_arm( xaxis, 250, 100, 0 ); delay( 10 ); } for( float xaxis = 100.0; xaxis > -100.0; xaxis -= 0.5 ) { set_arm( xaxis, 250, 100, 0 ); delay( 10 ); } } void circle() { #define RADIUS 80.0 //float angle = 0; float zaxis,yaxis; for( float angle = 0.0; angle < 360.0; angle += 1.0 ) { yaxis = RADIUS * sin( radians( angle )) + 200; zaxis = RADIUS * cos( radians( angle )) + 200; set_arm( 0, yaxis, zaxis, 0 ); delay( 1 ); } }