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Braccio.h
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Braccio.h
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//
// Created by Robin Matzner on 09/11/2018.
//
#ifndef NUNCHUCK_BRACCIO_H
#define NUNCHUCK_BRACCIO_H
#endif //NUNCHUCK_BRACCIO_H
/*
Braccio.h - board library Version 2.0
Written by Andrea Martino and Angelo Ferrante
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifndef BRACCIO_H_
#define BRACCIO_H_
#include <Arduino.h>
#include <Servo.h>
// You should set begin(SOFT_START_DISABLED) if you are using the Arm Robot shield V1.6
#define SOFT_START_DISABLED -999
//The default value for the soft start
#define SOFT_START_DEFAULT 0
//The software PWM is connected to PIN 12. You cannot use the pin 12 if you are using
//a Braccio shield V4 or newer
#define SOFT_START_CONTROL_PIN 12
//Low and High Limit Timeout for the Software PWM
#define LOW_LIMIT_TIMEOUT 2000
#define HIGH_LIMIT_TIMEOUT 6000
class _Braccio {
public:
_Braccio();
/**
* Braccio initializations and set intial position
* Modifing this function you can set up the initial position of all the
* servo motors of Braccio
*@param soft_start_level: the minimum value is -70, default value is 0 (SOFT_START_DEFAULT)
* You should set begin(SOFT_START_DISABLED) if you are using the Arm Robot shield V1.6
*/
unsigned int begin(int soft_start_level=SOFT_START_DEFAULT);
/**
* This function allow the user to control all the servo motors in the Braccio
*/
int ServoMovement(int delay, int Vbase,int Vshoulder, int Velbow, int Vwrist_ver, int Vwrist_rot, int Vgripper);
private:
/*
* This function, used only with the Braccio Shield V4 and greater,
* turn ON the Braccio softly and save Braccio from brokes.
* The SOFT_START_CONTROL_PIN is used as a software PWM
* @param soft_start_level: the minimum value is -70, , default value is 0 (SOFT_START_DEFAULT)
*/
void _softStart(int soft_start_level);
/*
* Software implementation of the PWM for the SOFT_START_CONTROL_PIN,HIGH
* @param high_time: the time in the logic level high
* @param low_time: the time in the logic level low
*/
void _softwarePWM(int high_time, int low_time);
};
extern _Braccio Braccio;
#endif // BRACCIO_H_