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scara-robotic-arm.ino
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scara-robotic-arm.ino
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#include <Arduino.h>
#include <Servo.h>
#include "ScaraRoboticArm.hpp"
#include <GCodeParser.h>
#include "Constants.hpp"
#define SEND_STATUS(...) \
Serial.print("$["); \
Serial.print(__VA_ARGS__); \
Serial.print("]");
GCodeParser GCode = GCodeParser();
ScaraRoboticArm arm;
enum {
READY = 0,
MOVEMENT_FAILED = 1,
} StatusCode;
void setup(void) {
Serial.begin(115200);
arm.gripperServo.setup(A0, 600, 2500);
SEND_STATUS(READY);
Serial.println();
}
void loop(void) {
// Serial.print(arm.joint_1.isOnLimit());
// Serial.print(" ");
// Serial.print(arm.joint_2.isOnLimit());
// Serial.print(" ");
// Serial.print(arm.joint_3.isOnLimit());
// Serial.print(" ");
// Serial.println(arm.joint_4.isOnLimit());
// delay(1000);
if (Serial.available() > 0) {
if (GCode.AddCharToLine(Serial.read())) {
GCode.ParseLine();
GCode.RemoveCommentSeparators();
if (GCode.HasWord('G')) {
// Serial.print("Process G code: ");
// Serial.println(GCode.line);
unsigned int gCodeFunction = GCode.GetWordValue('G');
// Serial.println(gCodeFunction);
switch (gCodeFunction) {
case 0:
{
double x = arm.x, y = arm.y, z = arm.z, t = arm.joint_4.getArticularPosition();
if (GCode.HasWord('X')) { x = GCode.GetWordValue('X'); }
if (GCode.HasWord('Y')) { y = GCode.GetWordValue('Y'); }
if (GCode.HasWord('Z')) { z = GCode.GetWordValue('Z'); }
if (GCode.HasWord('T')) { z = GCode.GetWordValue('T'); }
bool status = arm.goToCartesianPosition(x, y, z);
SEND_STATUS(status ? READY : MOVEMENT_FAILED);
Serial.print("XYZ:(");
Serial.print(arm.x);
Serial.print(",");
Serial.print(arm.y);
Serial.print(",");
Serial.print(arm.z);
Serial.print(");J1J2J3J4:(");
Serial.print(arm.joint_1.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_2.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_3.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_4.getArticularPosition());
Serial.println(")&");
break;
}
case 1:
{
double x = arm.x, y = arm.y, z = arm.z;
if (GCode.HasWord('X')) { x = GCode.GetWordValue('X'); }
if (GCode.HasWord('Y')) { y = GCode.GetWordValue('Y'); }
if (GCode.HasWord('Z')) { z = GCode.GetWordValue('Z'); }
arm.interpolateLine(x, y, z);
SEND_STATUS(READY);
Serial.print("XYZ:(");
Serial.print(arm.x);
Serial.print(",");
Serial.print(arm.y);
Serial.print(",");
Serial.print(arm.z);
Serial.print(");J1J2J3J4:(");
Serial.print(arm.joint_1.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_2.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_3.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_4.getArticularPosition());
Serial.println(")&");
break;
}
case 10:
{
arm.joint_2.goLimit(500);
arm.goLimitSimultaneous();
SEND_STATUS(READY);
Serial.print("XYZ:(");
Serial.print(arm.x);
Serial.print(",");
Serial.print(arm.y);
Serial.print(",");
Serial.print(arm.z);
Serial.print(");J1J2J3J4:(");
Serial.print(arm.joint_1.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_2.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_3.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_4.getArticularPosition());
Serial.println(")&");
break;
}
case 11:
{
double h = arm.joint_1.getArticularPosition(),
j = arm.joint_2.getArticularPosition(),
k = arm.joint_3.getArticularPosition(),
l = arm.joint_4.getArticularPosition();
if (GCode.HasWord('H')) { h = GCode.GetWordValue('H'); }
if (GCode.HasWord('J')) { j = GCode.GetWordValue('J'); }
if (GCode.HasWord('K')) { k = GCode.GetWordValue('K'); }
if (GCode.HasWord('L')) { l = GCode.GetWordValue('L'); }
bool status = arm.goToAbsoluteArticularPosition(h, j, k, l);
SEND_STATUS(status ? READY : MOVEMENT_FAILED);
Serial.print("XYZ:(");
Serial.print(arm.x);
Serial.print(",");
Serial.print(arm.y);
Serial.print(",");
Serial.print(arm.z);
Serial.print(");J1J2J3J4:(");
Serial.print(arm.joint_1.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_2.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_3.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_4.getArticularPosition());
Serial.println(")&");
break;
}
case 12:
{
double h = arm.joint_1.getArticularPosition(),
j = arm.joint_2.getArticularPosition(),
k = arm.joint_3.getArticularPosition(),
l = arm.joint_4.getArticularPosition();
if (GCode.HasWord('H')) { h = GCode.GetWordValue('H'); }
if (GCode.HasWord('J')) { j = GCode.GetWordValue('J'); }
if (GCode.HasWord('K')) { k = GCode.GetWordValue('K'); }
if (GCode.HasWord('L')) { l = GCode.GetWordValue('L'); }
arm.joint_1.setArticularPosition(h);
arm.joint_2.setArticularPosition(j);
arm.joint_3.setArticularPosition(k);
arm.joint_4.setArticularPosition(l);
arm.updateForwardKinematics();
SEND_STATUS(READY);
Serial.print("XYZ:(");
Serial.print(arm.x);
Serial.print(",");
Serial.print(arm.y);
Serial.print(",");
Serial.print(arm.z);
Serial.print(");J1J2J3J4:(");
Serial.print(arm.joint_1.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_2.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_3.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_4.getArticularPosition());
Serial.println(")&");
break;
}
case 20:
{
byte P = 255;
if (GCode.HasWord('P')) { P = GCode.GetWordValue('P'); }
arm.gripperServo.grab(P);
SEND_STATUS(READY);
Serial.print("XYZ:(");
Serial.print(arm.x);
Serial.print(",");
Serial.print(arm.y);
Serial.print(",");
Serial.print(arm.z);
Serial.print(");J1J2J3J4:(");
Serial.print(arm.joint_1.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_2.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_3.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_4.getArticularPosition());
Serial.println(")&");
break;
}
case 21:
{
arm.gripperServo.release();
SEND_STATUS(READY);
Serial.print("XYZ:(");
Serial.print(arm.x);
Serial.print(",");
Serial.print(arm.y);
Serial.print(",");
Serial.print(arm.z);
Serial.print(");J1J2J3J4:(");
Serial.print(arm.joint_1.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_2.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_3.getArticularPosition());
Serial.print(",");
Serial.print(arm.joint_4.getArticularPosition());
Serial.println(")&");
break;
}
default:
break;
}
}
}
}
}