Code for the Microcontrolers project at URV university
This is a small scale Delta robot. It's intented to play chess even though the servo accuracy its not the best. Me and my class partner will try to mitigate the problems associated with the cheap servos we are using (MG995 and MG996) and be able to get a decend accuraty and repeatability to finally beat someone at chess.
We work both with an Arduino Uno and a PIC24FJ128GA010 so to avoid typing the same code twice we writed some code to integrate the arduino files into the PIC24. Some features have to be tweeked a little bit, but overall it works.
The current features of the code:
- Joystick
Delta angles and XYZ axis moved by a joystick
- Calibration
Calibrate duty cycles with potentiometer and buttons
- SerialCom
Communicate with a simulator through serial commands
- EaseServos
Eased servos and syncronized servo movement
- Sequence
Store a sequence and make it repeat
