/* Warning, if you attach left servo & right servo without a movement, it might be caused a demage
*/
void uArmClass::attachAll()
{
attachServo(SERVO_ROT_NUM);
attachServo(SERVO_LEFT_NUM);
attachServo(SERVO_RIGHT_NUM);
attachServo(SERVO_HAND_ROT_NUM);
}
/* Write the left Servo & Right Servo in the same time (Avoid demage the Servo)
* servo_left_angle - left servo target angle
* servo_right_angle - right servo target angle
* writeWithoffset - True: with Offset, False: without Offset
*/
void uArmClass::writeLeftRightServoAngle(double servo_left_angle, double servo_right_angle, boolean writeWithoffset)
{
servo_left_angle = constrain(servo_left_angle,0,150);
servo_right_angle = constrain(servo_right_angle,0,120);
servo_left_angle = writeWithoffset ? round(inputToReal(SERVO_LEFT_NUM,servo_left_angle)) : round(servo_left_angle);
servo_right_angle = writeWithoffset ? round(inputToReal(SERVO_RIGHT_NUM,servo_right_angle)) : round(servo_right_angle);
if(servo_left_angle + servo_right_angle > 180) // if left angle & right angle exceed 180 degree, it might be caused damage
{
alert(1, 10, 0);
return;
}
attachServo(SERVO_LEFT_NUM);
attachServo(SERVO_RIGHT_NUM);
g_servo_left.write(servo_left_angle);
g_servo_right.write(servo_right_angle);
}
int main(int argc, char **argv)
{
setupUUGear();
setShowLogs(0);
/* replace the device id with yours (listed by lsuu) */
UUGearDevice dev = attachUUGearDevice ("UUGear-Arduino-9886-9947");
if (dev.fd != -1)
{
/* attach servo on pin 4 */
attachServo(&dev, 4);
/* move servo to 30 degrees */
writeServo(&dev, 4, 30);
/* give some time to move */
sleep(1);
/* move servo to 90 degrees */
writeServo(&dev, 4, 90);
/* give some time to move */
sleep(1);
/* detach servo */
detachServo(&dev, 4);
detachUUGearDevice (&dev);
}
else
{
printf("Can not open UUGear device.\n");
}
cleanupUUGear();
return 0;
}
/* Write the angle to Servo
* servo_number - SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM
* servo_angle - Servo target angle
* writeWithoffset - True: with Offset, False: without Offset
*/
void uArmClass::writeServoAngle(byte servo_number, double servo_angle, boolean writeWithoffset)
{
attachServo(servo_number);
servo_angle = writeWithoffset ? round(inputToReal(servo_number,servo_angle)) : round(servo_angle);
servo_angle = constrain(servo_angle,0,180);
switch(servo_number)
{
case SERVO_ROT_NUM: g_servo_rot.write(servo_angle);
cur_rot = servo_angle;
break;
case SERVO_LEFT_NUM: g_servo_left.write(servo_angle);
cur_left = servo_angle;
break;
case SERVO_RIGHT_NUM: g_servo_right.write(servo_angle);
cur_right = servo_angle;
break;
case SERVO_HAND_ROT_NUM: g_servo_hand_rot.write(servo_angle);
cur_hand = servo_angle;
break;
default: break;
}
}
