Merge branch 'astronomer80-softstart'

README.adoc

@@ -1,6 +1,9 @@
 = Braccio Library for Arduino =
 
-The library offers easy access to the data from the onboard Arduino Braccio, and provides moves the Arduino Braccio.
+The library offers easy access to the data from the onboard TinkerKit Braccio, and provides moves for the Braccio.
+
+- Upgrades:
+Soft-Start: Used with the Braccio Shield V4 create perform a soft start for the TinkerKit Braccio. It protects the servo motors and the junctions from damages
 
 For more information about this library please visit us at
 http://www.arduino.org/products/tinkerkit/17-arduino-tinkerkit/arduino-tinkerkit-braccio

examples/braccioOfUnoWiFi/braccioOfUnoWiFi.ino

@@ -0,0 +1,265 @@
+/*
+
+ braccioOfUnoWifi.ino
+ 
+ Based on Arduino Uno WiFi Rest Server example
+
+ This example for the Arduino Uno WiFi shows how to 
+ control a TinkerKit Braccio through REST calls. 
+ You can create your how mobile app or your 
+ browser app to control the Braccio in wireless mode
+ 
+ Note that with the Braccio shield version less than V4
+ you need to disconnect the pin A4 from the shield to the board
+
+ Possible commands created in this shetch:
+
+ * "/arduino/custom/base/value:80"	-> Moves the base of the Braccio at 80 degrees
+ * "/arduino/custom/shoulder/value:150"	-> Moves the shoulder of the Braccio at 150 degrees
+ * "/arduino/custom/elbow/value:45"	-> Moves the elbow of the Braccio at 45 degrees
+ * "/arduino/custom/wristv/value:10"	-> Moves the wristv of the Braccio at 10 degrees
+ * "/arduino/custom/wristr/value:120"	-> Moves the wristr of the Braccio at 120 degrees
+ * "/arduino/custom/gripper/value:73"	-> Close the gripper
+ * "/arduino/custom/ledon"		-> Turn ON the LED 13
+ * "/arduino/custom/ledoff"		-> Turn OFF the LED 13
+ * "/arduino/custom/servo:3/value:73"	-> Moves the servo to the pin 3 at 73 degrees
+ * "/arduino/custom/sayciao"		-> Run the function sayciao(). The Braccio say "Ciao" with the gripper
+ * "/arduino/custom/takesponge"		-> Run the function takesponge(). The Braccio take the big sponge you can find in the its box
+ * "/arduino/custom/showsponge"		-> Run the function showsponge(). The Braccio show the sponge to the user
+ * "/arduino/custom/throwsponge"	-> Run the function throwsponge(). The Braccio throw away the sponge
+
+ This example code is part of the public domain
+
+ http://labs.arduino.org/RestServer+and+RestClient
+ http://www.arduino.org/products/tinkerkit/arduino-tinkerkit-braccio
+
+*/
+
+#include <Wire.h>
+#include <ArduinoWiFi.h>
+#include <Servo.h>
+#include <Braccio.h>
+
+//Initial Value for each Motor
+int m1 = 0;
+int m2 = 45;
+int m3 = 180;
+int m4 = 180;
+int m5 = 90;
+int m6 = 0;
+
+boolean moveBraccio = false;
+
+Servo base;
+Servo shoulder;
+Servo elbow;
+Servo wrist_rot;
+Servo wrist_ver;
+Servo gripper;
+
+
+void setup() {
+  //Intitialization of Braccio
+  Braccio.begin();
+  //Intitialization of the Uno WiFi
+  Wifi.begin();
+  Wifi.println("REST Server is up");
+}
+
+void loop() {
+  //Wait until the board receives HTTP commands
+  while (Wifi.available()) {
+    process(Wifi);
+  }
+  delay(50);
+}
+
+/**
+Parse Command from REST
+It parse a command like: /arduino/custom/base/value:45
+@param command: The message to parse
+@param type: the key for parsing
+@return the value for the key 
+*/
+int parseCommand(String command, String type) {
+  int typeIndex = command.indexOf(type);
+  int dotsIndex = command.indexOf(':', typeIndex + type.length());
+
+  int idxtmp = dotsIndex + 4;
+  if ((dotsIndex + 4) > command.length()) idxtmp = command.length();
+  String tmp = command.substring(dotsIndex + 1, idxtmp);
+
+  return tmp.toInt();
+}
+
+/**
+It process data from the HTTP protocol
+*/
+void process(WifiData client) {
+  // read the command
+  String command = client.readString();
+  command.toUpperCase();
+
+  if(command.indexOf("CUSTOM")==-1){
+    client.println("Invalid command: " + command + "");
+    return;
+  }
+
+  //The message from sender
+  String message = command.substring(16);
+  //client.println(message); //Debug 
+
+  /*
+  For each message perform the proper command
+  */
+  if (message == "LEDON") {
+    //Turn ON Led 13
+    digitalWrite(13, HIGH);
+    //Return message to the sender (Eg: the browser)
+    client.println("alert('Led D13 ON');");
+  }
+  else if (message == "LEDOFF") {
+    digitalWrite(13, LOW);
+    client.println("alert('Led D13 OFF');");
+  }
+  //This command allow you to move a desired servo motor giving the
+  //PWM pin where is connected
+  //eg: http://192.168.240.1/arduino/custom/servo:3/value:45 or http://192.168.240.1/arduino/custom/base/value:45
+  else if (message.startsWith("SERVO")) {
+    //Parse the message to retrive what is the servo to move
+    int servo = parseCommand(message, "SERVO");
+    //Parse the message to retrive what is the value for the servo
+    int value = parseCommand(message, "VALUE");
+
+    client.println("Message:" + String(message) + "SERVO: " + String(servo) + " " + String(value));
+
+    moveBraccio=true;
+  }
+  //http://192.168.240.1/arduino/custom/base:45 or http://192.168.240.1/arduino/custom/base/value:45
+  //Command for the base of the braccio (M1)
+  else if (message.startsWith("BASE")) {
+    m1 = parseCommand(message, "VALUE");
+    moveBraccio = true;
+    client.println("BASE: " + String(m1));
+  }
+  //Command for the shoulder of the braccio (M2)
+  else if (message.startsWith("SHOULDER")) {
+    m2 = parseCommand(message, "VALUE");
+    moveBraccio = true;
+    client.println("SHOULDER: " + String(m2));
+  }
+  //Command for the elbow of the braccio (M3)
+  else if (message.startsWith("ELBOW")) {
+    m3 = parseCommand(message, "VALUE");
+    moveBraccio = true;
+    client.println("ELBOW: " + String(m3));
+  }
+  //Command for the wrist of the braccio to move it up and down (M4)
+  else if (message.startsWith("WRISTV")) {
+    m4 = parseCommand(message, "VALUE");
+    moveBraccio = true;
+    client.println("WRISTV: " + String(m4));
+  }
+  //Command for the wrist of the braccio to rotate it  (M5)
+  else if (message.startsWith("WRISTR")) {
+    m5 = parseCommand(message, "VALUE");
+    moveBraccio = true;
+    client.println("WRISTR: " + String(m5));
+  }
+  //Command for the GRIPPER of the braccio to open and close it (M6)
+  else if (message.startsWith("GRIPPER")) {
+    m6 = parseCommand(message, "VALUE");
+    moveBraccio = true;
+    client.println("GRIPPER: " + String(m6));
+  }
+  //Command to say "Ciao"
+  else if (message.startsWith("SAYCIAO")) {
+    sayCiao();
+    client.println("SAYCIAO: " + String(m6));
+  }
+  //Command for take the sponge
+  else if (message.startsWith("TAKESPONGE")) {
+    takesponge();
+    client.println("TAKESPONGE: " + String(m6));
+  }
+  //Command for show the sponge
+  else if (message.startsWith("SHOWSPONGE")) {
+    showsponge();
+    client.println("SHOWSPONGE: " + String(m6));
+  }
+  //Command for throw away the sponge
+  else if (message.startsWith("THROWSPONGE")) {
+    throwsponge();
+    client.println("THROWSPONGE: " + String(m6));
+  }
+  else
+    client.println("command error: " + message);
+
+  //if flag moveBraccio is true fire the movement
+  if (moveBraccio) {
+    //client.println("moveBraccio");
+    Braccio.ServoMovement(20, m1, m2, m3, m4, m5, m6);
+    moveBraccio = false;
+  }
+
+  client.flush();
+}
+
+/**
+The braccio Say 'Ciao' with the GRIPPER
+*/
+void sayCiao() {
+  Braccio.ServoMovement(20,           90,  0, 180, 160,  0,  15);
+
+  for (int i = 0; i < 5; i++) {
+    Braccio.ServoMovement(10,           90,  0, 180, 160,  0,  15);
+    delay(500);
+
+    Braccio.ServoMovement(10,     90,  0,   180,   160,  0,   73);
+    delay(500);
+  }
+}
+
+/**
+Braccio take the Sponge
+*/
+void takesponge() {
+  //starting position
+  //(step delay  M1 , M2 , M3 , M4 , M5 , M6);
+  Braccio.ServoMovement(20,           0,  45, 180, 180,  90,  0);
+
+  //I move arm towards the sponge
+  Braccio.ServoMovement(20,           0,  90, 180, 180,  90,   0);
+
+  //the GRIPPER takes the sponge
+  Braccio.ServoMovement(20,           0,  90, 180, 180,  90,  60 );
+
+  //up the sponge
+  Braccio.ServoMovement(20,         0,   45, 180,  45,  0, 60);
+}
+
+
+/**
+Braccio show the sponge to the user
+*/
+void showsponge() {
+  for (int i = 0; i < 2; i++) {
+
+    //(step delay  M1 , M2 , M3 , M4 , M5 , M6 );
+    Braccio.ServoMovement(10,         0,   45, 180,  45,  180, 60);
+
+    Braccio.ServoMovement(10,         0,   45, 180,  45,  0, 60);
+  }
+}
+
+/**
+Braccio throw away the sponge
+*/
+void throwsponge() {
+  //(step delay  M1 , M2 , M3 , M4 , M5 , M6 );
+  Braccio.ServoMovement(20,         0,   45, 90,  45,  90, 60);
+
+  Braccio.ServoMovement(5,         0,   45, 135,  90,  90, 60);
+
+  Braccio.ServoMovement(5,         0,   90, 150,  90,  90, 0);
+}

examples/ciaoBraccio/ciaoBraccio.ino

@@ -45,9 +45,10 @@ Servo wrist_ver;
 Servo gripper;
 
 void setup() {
-  //Initialization functions for Ciao
+  //Initialization function for Ciao
   Ciao.begin();
-  //Initialization functions for Braccio
+  //Initialization function for Braccio
+  //You should set begin(SOFT_START_DISABLED) if you are using the Arm Robot shield V1.6
   Braccio.begin();
 }
 

keywords.txt

@@ -13,8 +13,6 @@ Braccio	KEYWORD3
 begin	KEYWORD2
 ServoMovement	KEYWORD2
 
-
-
 #######################################
 # Constants
 #######################################

library.properties

@@ -1,9 +1,9 @@
 name=Braccio
-version=1.0
+version=2.0
 author=Andrea Martino
 maintainer=Andrea <[email protected]>
 sentence=For Arduino braccio only.
 paragraph= Arduino Braccio
 category=Device Control
 url=www.arduino.org
-architectures=avr
+architectures=avr, samd, sam