'Gripper/Gripper.ino' löschen

Gripper/Gripper.ino

@@ -1,172 +0,0 @@
-#include "Arduino.h"
-#include "AX12A.h"
-
-#define DirectionPin   (10u)
-#define BaudRate      (1000000ul)
-#define ID1       (4u)
-#define ID2       (5u)
-
-#include <XYZrobotServo.h>
-
-#ifdef SERIAL_PORT_HARDWARE_OPEN
-#define servoSerial SERIAL_PORT_HARDWARE_OPEN
-#else
-#include <SoftwareSerial.h>
-SoftwareSerial servoSerial(10, 11);
-#endif
-
-int input = 0;
-XYZrobotServo servo1(servoSerial, 2);
-
-const uint8_t playtime = 100;
-const int max_angle = 712,min_angle = 312;
-
-const byte button_oben = 20;
-const byte button_unten = 21;
-int ain1 = 4;
-int ain2 = 5;
-int pwma = 8;
-
-int x ,position;
-int val[10] = {0,0,0,0,0};
-int choice;
-
-void ax12_1(int position){
-     if((position<min_angle) || (position>max_angle)){
-    Serial.print("invalide position. Try again");
-    return;
-    }
-  ax12a.moveSpeed(ID1,position, playtime);
-}
-
-void ax12_2(int position){
-     if((position<min_angle) || (position>max_angle)){
-    Serial.print("invalide position. Try again");
-    return;
-    }
-  ax12a.moveSpeed(ID2,position, playtime);
-}
-
-void a116(int position){
-    if((position<min_angle) || (position>max_angle)){
-    Serial.print("invalide position. Try again");
-    return;
-  }
-  servo1.setPosition(position, playtime);
-}
-
-void motor(int speed, int dir){
-  if (dir == 0){
-    digitalWrite(ain1,HIGH);
-    digitalWrite(ain2,LOW);
-    }
-    else{
-    digitalWrite(ain1,LOW);
-    digitalWrite(ain2,HIGH);
-    }
-    analogWrite(pwma,speed);
-  }
-
-void auto_close(){
-  //  Serial.print("Servo 1:  ");
-//  Serial.println(ax12a.readLoad(ID1));
-//  Serial.print("Servo 2:  ");
- // Serial.println(ax12a.readLoad(ID2));
- // delay(300);
- while(((ax12a.readLoad(ID1)<1450)) && (ax12a.readLoad(ID2)<1400)){
-    Serial.print("Servo 1:  ");
-Serial.println(ax12a.readLoad(ID1));
- Serial.print("Servo 2:  ");
- Serial.println(ax12a.readLoad(ID2));
-    ax12a.move(ID1,max_angle);
-    ax12a.move(ID2,min_angle);
-    }
-  
-  ax12a.move(ID1,ax12a.readPosition(ID1)+10);
-  ax12a.move(ID2,ax12a.readPosition(ID2)-10);
-  }
-  
-
-void setup() {
-  Serial.begin(9600);
-  Serial.setTimeout(1);
-
-  ax12a.begin(BaudRate, DirectionPin, &Serial3);
-  ax12a.setEndless(ID1, OFF);
-  ax12a.setEndless(ID2, OFF);
-  ax12a.setMaxTorque(ID1, 1000);
-  ax12a.setMaxTorque(ID2, 1000);
-
-  servoSerial.begin(115200);
-
-  ax12a.move(ID1,512);
-  ax12a.move(ID2,512);
-  servo1.setPosition(512, playtime);
-
-  pinMode(button_oben,INPUT_PULLUP);
-  pinMode(button_unten,INPUT_PULLUP);
-
-  attachInterrupt(digitalPinToInterrupt(button_oben),interrupt1, LOW);
-  attachInterrupt(digitalPinToInterrupt(button_unten),interrupt2,LOW);
-}
-void loop() {
-   //Serial.print("Servo 1:  ");
- //Serial.println(ax12a.readLoad(ID1));
- //Serial.print("Servo 2:  ");
- //Serial.println(ax12a.readLoad(ID2));
- //delay(300);
- if (Serial.available()){
-   //Serial.print(test);
-   for(int n = 0; n < 10 ; n++){
-    val[n] = Serial.readString().toInt();
-
-   }
-   position = 0 ;
-   for(int i = 2; i < 5;i++){
-     position = position * 10 + val[i];
-   }
-   choice = val[0];
-   Serial.print("Motor: ");
-   Serial.print(choice);
-   Serial.print(" position: ");
-   Serial.print(position);
-  switch(val[0]){
-    case 1:
-    ax12_1(position);
-    Serial.print("Ready");
-    break;
-    case 2:
-    a116(position);
-    Serial.print("Ready");
-    break;
-    case 3:
-    ax12_2(position);
-    Serial.print("Ready");
-    break;
-    case 4:
-    motor(position,val[1]);
-    Serial.print("Ready");
-    break;
-    case 5:
-    auto_close();
-    Serial.print("Ready");
-    break;
-  }
- }
-}
-
-void interrupt1(){
-    //Serial.println("interrupt button oben");
-     digitalWrite(36,HIGH);
-    motor(254,1);
-    motor(0,1);
-       digitalWrite(36,LOW);
-  }
-void interrupt2(){
-    //Serial.println("interrupt button unten");
-    
-    digitalWrite(36,HIGH);
-    motor(254,0);
-    motor(0,0);
-    digitalWrite(36,LOW);
-    }