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Merge branch 'astronomer80-softstart'
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‎README.adoc

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= Braccio Library for Arduino =
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The library offers easy access to the data from the onboard Arduino Braccio, and provides moves the Arduino Braccio.
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The library offers easy access to the data from the onboard TinkerKit Braccio, and provides moves for the Braccio.
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- Upgrades:
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Soft-Start: Used with the Braccio Shield V4 create perform a soft start for the TinkerKit Braccio. It protects the servo motors and the junctions from damages
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For more information about this library please visit us at
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http://www.arduino.org/products/tinkerkit/17-arduino-tinkerkit/arduino-tinkerkit-braccio

‎examples/braccioOfUnoWiFi/braccioOfUnoWiFi.ino

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/*
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braccioOfUnoWifi.ino
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Based on Arduino Uno WiFi Rest Server example
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This example for the Arduino Uno WiFi shows how to
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control a TinkerKit Braccio through REST calls.
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You can create your how mobile app or your
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browser app to control the Braccio in wireless mode
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Note that with the Braccio shield version less than V4
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you need to disconnect the pin A4 from the shield to the board
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Possible commands created in this shetch:
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* "/arduino/custom/base/value:80" -> Moves the base of the Braccio at 80 degrees
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* "/arduino/custom/shoulder/value:150" -> Moves the shoulder of the Braccio at 150 degrees
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* "/arduino/custom/elbow/value:45" -> Moves the elbow of the Braccio at 45 degrees
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* "/arduino/custom/wristv/value:10" -> Moves the wristv of the Braccio at 10 degrees
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* "/arduino/custom/wristr/value:120" -> Moves the wristr of the Braccio at 120 degrees
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* "/arduino/custom/gripper/value:73" -> Close the gripper
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* "/arduino/custom/ledon" -> Turn ON the LED 13
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* "/arduino/custom/ledoff" -> Turn OFF the LED 13
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* "/arduino/custom/servo:3/value:73" -> Moves the servo to the pin 3 at 73 degrees
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* "/arduino/custom/sayciao" -> Run the function sayciao(). The Braccio say "Ciao" with the gripper
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* "/arduino/custom/takesponge" -> Run the function takesponge(). The Braccio take the big sponge you can find in the its box
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* "/arduino/custom/showsponge" -> Run the function showsponge(). The Braccio show the sponge to the user
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* "/arduino/custom/throwsponge" -> Run the function throwsponge(). The Braccio throw away the sponge
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This example code is part of the public domain
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http://labs.arduino.org/RestServer+and+RestClient
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http://www.arduino.org/products/tinkerkit/arduino-tinkerkit-braccio
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*/
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#include <Wire.h>
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#include <ArduinoWiFi.h>
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#include <Servo.h>
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#include <Braccio.h>
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//Initial Value for each Motor
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int m1 = 0;
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int m2 = 45;
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int m3 = 180;
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int m4 = 180;
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int m5 = 90;
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int m6 = 0;
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boolean moveBraccio = false;
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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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//Intitialization of Braccio
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Braccio.begin();
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//Intitialization of the Uno WiFi
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Wifi.begin();
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Wifi.println("REST Server is up");
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}
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void loop() {
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//Wait until the board receives HTTP commands
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while (Wifi.available()) {
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process(Wifi);
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}
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delay(50);
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}
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/**
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Parse Command from REST
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It parse a command like: /arduino/custom/base/value:45
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@param command: The message to parse
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@param type: the key for parsing
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@return the value for the key
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*/
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int parseCommand(String command, String type) {
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int typeIndex = command.indexOf(type);
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int dotsIndex = command.indexOf(':', typeIndex + type.length());
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int idxtmp = dotsIndex + 4;
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if ((dotsIndex + 4) > command.length()) idxtmp = command.length();
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String tmp = command.substring(dotsIndex + 1, idxtmp);
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return tmp.toInt();
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}
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/**
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It process data from the HTTP protocol
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*/
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void process(WifiData client) {
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// read the command
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String command = client.readString();
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command.toUpperCase();
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if(command.indexOf("CUSTOM")==-1){
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client.println("Invalid command: " + command + "");
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return;
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}
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//The message from sender
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String message = command.substring(16);
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//client.println(message); //Debug
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/*
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For each message perform the proper command
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*/
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if (message == "LEDON") {
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//Turn ON Led 13
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digitalWrite(13, HIGH);
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//Return message to the sender (Eg: the browser)
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client.println("alert('Led D13 ON');");
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}
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else if (message == "LEDOFF") {
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digitalWrite(13, LOW);
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client.println("alert('Led D13 OFF');");
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}
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//This command allow you to move a desired servo motor giving the
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//PWM pin where is connected
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//eg: http://192.168.240.1/arduino/custom/servo:3/value:45 or http://192.168.240.1/arduino/custom/base/value:45
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else if (message.startsWith("SERVO")) {
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//Parse the message to retrive what is the servo to move
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int servo = parseCommand(message, "SERVO");
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//Parse the message to retrive what is the value for the servo
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int value = parseCommand(message, "VALUE");
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client.println("Message:" + String(message) + "SERVO: " + String(servo) + " " + String(value));
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moveBraccio=true;
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}
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//http://192.168.240.1/arduino/custom/base:45 or http://192.168.240.1/arduino/custom/base/value:45
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//Command for the base of the braccio (M1)
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else if (message.startsWith("BASE")) {
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m1 = parseCommand(message, "VALUE");
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moveBraccio = true;
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client.println("BASE: " + String(m1));
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}
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//Command for the shoulder of the braccio (M2)
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else if (message.startsWith("SHOULDER")) {
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m2 = parseCommand(message, "VALUE");
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moveBraccio = true;
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client.println("SHOULDER: " + String(m2));
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}
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//Command for the elbow of the braccio (M3)
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else if (message.startsWith("ELBOW")) {
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m3 = parseCommand(message, "VALUE");
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moveBraccio = true;
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client.println("ELBOW: " + String(m3));
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}
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//Command for the wrist of the braccio to move it up and down (M4)
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else if (message.startsWith("WRISTV")) {
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m4 = parseCommand(message, "VALUE");
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moveBraccio = true;
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client.println("WRISTV: " + String(m4));
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}
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//Command for the wrist of the braccio to rotate it (M5)
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else if (message.startsWith("WRISTR")) {
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m5 = parseCommand(message, "VALUE");
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moveBraccio = true;
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client.println("WRISTR: " + String(m5));
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}
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//Command for the GRIPPER of the braccio to open and close it (M6)
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else if (message.startsWith("GRIPPER")) {
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m6 = parseCommand(message, "VALUE");
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moveBraccio = true;
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client.println("GRIPPER: " + String(m6));
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}
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//Command to say "Ciao"
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else if (message.startsWith("SAYCIAO")) {
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sayCiao();
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client.println("SAYCIAO: " + String(m6));
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}
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//Command for take the sponge
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else if (message.startsWith("TAKESPONGE")) {
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takesponge();
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client.println("TAKESPONGE: " + String(m6));
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}
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//Command for show the sponge
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else if (message.startsWith("SHOWSPONGE")) {
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showsponge();
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client.println("SHOWSPONGE: " + String(m6));
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}
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//Command for throw away the sponge
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else if (message.startsWith("THROWSPONGE")) {
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throwsponge();
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client.println("THROWSPONGE: " + String(m6));
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}
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else
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client.println("command error: " + message);
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//if flag moveBraccio is true fire the movement
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if (moveBraccio) {
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//client.println("moveBraccio");
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Braccio.ServoMovement(20, m1, m2, m3, m4, m5, m6);
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moveBraccio = false;
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}
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client.flush();
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}
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/**
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The braccio Say 'Ciao' with the GRIPPER
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*/
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void sayCiao() {
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Braccio.ServoMovement(20, 90, 0, 180, 160, 0, 15);
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for (int i = 0; i < 5; i++) {
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Braccio.ServoMovement(10, 90, 0, 180, 160, 0, 15);
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delay(500);
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Braccio.ServoMovement(10, 90, 0, 180, 160, 0, 73);
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delay(500);
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}
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}
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/**
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Braccio take the Sponge
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*/
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void takesponge() {
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//starting position
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//(step delay M1 , M2 , M3 , M4 , M5 , M6);
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Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 0);
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//I move arm towards the sponge
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Braccio.ServoMovement(20, 0, 90, 180, 180, 90, 0);
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//the GRIPPER takes the sponge
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Braccio.ServoMovement(20, 0, 90, 180, 180, 90, 60 );
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//up the sponge
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Braccio.ServoMovement(20, 0, 45, 180, 45, 0, 60);
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}
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/**
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Braccio show the sponge to the user
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*/
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void showsponge() {
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for (int i = 0; i < 2; i++) {
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//(step delay M1 , M2 , M3 , M4 , M5 , M6 );
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Braccio.ServoMovement(10, 0, 45, 180, 45, 180, 60);
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Braccio.ServoMovement(10, 0, 45, 180, 45, 0, 60);
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}
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}
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/**
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Braccio throw away the sponge
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*/
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void throwsponge() {
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//(step delay M1 , M2 , M3 , M4 , M5 , M6 );
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Braccio.ServoMovement(20, 0, 45, 90, 45, 90, 60);
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Braccio.ServoMovement(5, 0, 45, 135, 90, 90, 60);
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Braccio.ServoMovement(5, 0, 90, 150, 90, 90, 0);
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}

‎examples/ciaoBraccio/ciaoBraccio.ino

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Servo gripper;
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void setup() {
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//Initialization functions for Ciao
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//Initialization function for Ciao
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Ciao.begin();
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//Initialization functions for Braccio
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//Initialization function for Braccio
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//You should set begin(SOFT_START_DISABLED) if you are using the Arm Robot shield V1.6
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Braccio.begin();
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}
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‎keywords.txt

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begin KEYWORD2
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ServoMovement KEYWORD2
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#######################################
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# Constants
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#######################################

‎library.properties

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name=Braccio
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version=1.0
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version=2.0
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author=Andrea Martino
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maintainer=Andrea <[email protected]>
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sentence=For Arduino braccio only.
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paragraph= Arduino Braccio
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category=Device Control
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url=www.arduino.org
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architectures=avr
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architectures=avr, samd, sam

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