Arm Code Overview
Basics
Stepper motors are controlled by A4988 Driver. StepperC (stepper custom) is source code from the original Arduino Stepper library. StepperC is to be re-written with the assumption that stepper motors are being controlled by the A4988 Driver. The stepper class will have functions to allow for radian control of motors.
Dependencies
- amis-30543-arduino library from https://github.com/pololu/amis-30543-arduino included as AMIS30543.h
- FastPID library from https://github.com/mike-matera/FastPID included as FastPID.h and FastPID.cpp
motor class
- top and bottom bounds for radian
- polymorph to allow DC motor
- when given an angle, motors perform all required calculations to get there
Arm class
- 5 instances of motor class
- base stepper
- elbow stepper
- wrist stepper
- etc
- write armTo function, considering bounds
Possible Problems
- stepper code might not work after an hour (micros() max value)
- only one motor will move at a time
- delay into step motor might not be correct?