UofA-SPEAR/arm_code

The code that runs on the Arduino Uno to control the arm

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?