void CombinedMotorWidget::update() { #ifdef A_KOVAN publish(); #endif int port = ui->motors->currentIndex(); ui->position->setText(QString::number(get_motor_position_counter(port))); ui->positionStop->setEnabled(get_motor_done(port) ? false : true); ui->go->setEnabled(get_motor_done(port) ? true : false); }
/* * Class: Motor * Method: get_motor_done * Signature: (I)I */ JNIEXPORT jint JNICALL Java_cbccore_low_Motor_get_1motor_1done(JNIEnv* env, jobject obj, jint motor) { #ifdef CBC return get_motor_done(motor); #else printf("Java_cbccore_low_Motor_get_motor_done stub\n"); return -1; #endif }
/** * Move a motor * * Used to move the arm up and down */ int move_motor (int number, int power, int position) { int loop_done = 0; move_to_position (number, power, position); while(! loop_done) { if (get_motor_done (number)) { loop_done = 1; } msleep(100); } }
void main () { int loop_done = 0; int task_A_done = 0; int task_B_done = 0; int angle0 = 0; //get_create_total_ angle (.1); //create_drive_direct (left speed, right speed)\ //move_to_position (motor #, motor power(-for backwards), end position) //get_motor_done (motor#) //clear_motor_position_counter (motor#) //msleep (seconds) //i'll probably use this often create_connect (); clear_motor_position_counter (0); angle0 = get_create_total_angle (.1); create_drive_direct (150,-150); move_to_position (0, -900, -1550); while(! loop_done) { printf("a0: %d, a: %d, d: %d\n", angle0, get_create_total_angle (.1), task_A_done); if (angle0 - get_create_total_angle (.1) < 90) { create_drive_direct (150,-150); } else { task_A_done = 1; } if (get_motor_done (0)) { } else { task_B_done = 1; } if (task_A_done && task_B_done) { loop_done = 1; } msleep(0.1); } create_stop (); create_disconnect (); //put specific commands to control robot in here // loop_done = 0; // task_A_done = 0; // task_B_done = 0; // while(! loop_done) // { // if (/*task A is not done*/) // { // //continue doing task A // } // else // { // task_A_done = 1; // } // if (/*task B is not done*/) // { // //continue doing task B // } // else // { // task_B_done = 1; // } // if (task_A_done && task_B_done) // { // loop_done = 1; // } // } }
void main (int argc, char ** argv) { int loop_done = 0; int task_A_done = 0; int task_B_done = 0; int angle = 0; int dangle = 0; int angle0 = 0; int distance0 = 0; int distance = 0 ; int ddistance = 0; // float lf_args[20]; // read inputs // printf("Args: %d\n", argc); // for (i = 2; i < argc; i++) // { // scanf("%lf%, argv[i] // } //get_create_total_ angle (.1); //create_drive_direct (left speed, right speed)\ //move_to_position (motor #, motor power(-for backwards), end position) //get_motor_done (motor#) //clear_motor_position_counter (motor#) //msleep (seconds) //i'll probably use this often create_connect (); clear_motor_position_counter (0); enable_servo (0); set_servo_position (0 ,1300); //set_servo_position (1800); // ------------------------------------------------------------------------ //step:1 aim the arm to knock over the box //raise arm printf("-----Step 1-----\n"); move_to_position (0, -900, -1200); while(! loop_done) { if (get_motor_done (0)) { loop_done = 1; } msleep(100); } create_stop (); loop_done = 0; angle0 = get_create_total_angle (.05); create_drive_direct (50,-50); while(! loop_done) { printf("a0: %d, a: %d, d: %d\n", angle0, get_create_total_angle (.05), task_A_done); if (angle0 - get_create_total_angle (.05) >= 20) { loop_done = 1; create_stop (); } msleep(100); } loop_done = 0; create_stop (); task_A_done = 0; task_B_done = 0; angle0 = get_create_total_angle (.05); create_drive_direct (-50,50); while(! loop_done) { printf("a0: %d, a: %d, d: %d\n", angle0, get_create_total_angle (.05), task_A_done); if (angle0 - get_create_total_angle (.05) <= -20) { loop_done = 1; create_stop (); } msleep(100); } loop_done = 0; create_stop (); task_A_done = 0; task_B_done = 0; // ------------------------------------------------------------------------ //step:2 knock over box and turn //lift arm //turn 90 printf("-----Step 2-----\n"); move_to_position (0, -900, -3100); msleep (900); angle0 = get_create_total_angle (.05); angle = angle0; dangle = abs (angle0 - angle); printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done); create_drive_direct (-178,-648); while(! loop_done) { if (dangle >= 125) { create_drive_direct (-120, -181); } if (dangle >= 155) { task_A_done = 1; create_stop (); } if (get_motor_done (0)) { task_B_done = 1; } if (task_A_done && task_B_done) { loop_done = 1; } msleep(100); angle = get_create_total_angle (.05); dangle = abs (angle0 - angle); printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done); } loop_done = 0; create_stop (); task_A_done = 0; task_B_done = 0; // ------------------------------------------------------------------------ //step:4 aim claw to point of botguy //turn 20 //lower arm printf("-----Step 4-----\n"); angle0 = 0; angle0 = get_create_total_angle (.05); create_drive_direct (70, -70); printf("a0: %d, a: %d\n", angle0, get_create_total_angle(0.05)); //while(angle0 - get_create_total_angle (.05) < 4) if (0) { printf("a0: %d, a: %d\n", angle0, get_create_total_angle(0.05)); msleep(50); } move_to_position (0, 400, -900); distance0 = get_create_distance (.05); create_drive_direct (20, 20); while (! loop_done) { if (get_create_distance (.05) - distance0 > 50) { loop_done = 1; create_stop (); } } set_servo_position (0 ,400); loop_done = 0; task_A_done = 0; task_B_done = 0; create_drive_straight (-20); move_to_position (0, 600, -300); while (! get_motor_done (0)) { msleep (50); } create_drive_straight (-50); msleep (2000); //while (! loop_done) if (0) { if (digital (10)) { create_stop (); loop_done = 1; } if (get_create_distance (.05) - distance0 < -100) { create_stop (); loop_done = 1; } } loop_done = 0; // ------------------------------------------------------------------------ //step:5 grab botguy and lift him up (not complete) printf("-----Step 5-----\n"); create_drive_direct (60, -60); while(angle0 - get_create_total_angle (.05) < 3) { msleep(50); } create_stop (); set_servo_position (0, 1510); move_to_position (0, -1000, -3000); msleep (5000); // ------------------------------------------------------------------------ //step:6 move backwards untill the bumper hits the transport (not completed) printf("-----Step 6-----\n"); create_drive_direct (130, 280); distance0 = get_create_distance (.05); while (! loop_done) { printf("d0: %d, d: %d, d: %d\n", distance0, get_create_distance (.05), loop_done); if (get_create_distance (.05) - distance0 > 700) { loop_done = 1; } msleep(50); } loop_done = 0; move_to_position (0, -900, -500); create_drive_straight (-100); msleep (1000); set_servo_position (0, 200); create_disconnect (); printf("-----Step 6-B-----\n"); create_drive_direct (-400, -150); distance0 = get_create_distance (.05); while(! loop_done) { printf("d0: %d, d: %d, d: %d\n", distance0, get_create_distance (.05), loop_done); if (get_create_distance (.05) - distance0 < -100) { loop_done = 1; create_stop (); } msleep(50); } loop_done = 0; // ------------------------------------------------------------------------ //step:7 drop botguy. printf("-----Step 7-----\n"); move_to_position (0, -900, -300); msleep (6000); set_servo_position (0, 200); create_disconnect (); }
void main (int argc, char ** argv) { int loop_done = 0; int task_A_done = 0; int task_B_done = 0; int angle = 0; int dangle = 0; int angle0 = 0; int distance0 = 0; int distance = 0 ; int ddistance = 0; // float lf_args[20]; // read inputs // printf("Args: %d\n", argc); // for (i = 2; i < argc; i++) // { // scanf("%lf%, argv[i] // } //get_create_total_ angle (.1); //create_drive_direct (left speed, right speed)\ //move_to_position (motor #, motor power(-for backwards), end position) //get_motor_done (motor#) //clear_motor_position_counter (motor#) //msleep (seconds) //i'll probably use this often //to start by light, do: //while(analog(1) > 200) if (0) { //we have seen the light msleep(100); if(analog(1) < 800){ shut_down_in(119); } } create_connect (); clear_motor_position_counter (0); enable_servo (0); set_servo_position (0 ,1300); //set_servo_position (1800); // ------------------------------------------------------------------------ //step:1 aim the arm to knock over the box //raise arm printf("-----Step 1-----\n"); move_motor (0, -900, -1200); // swing arm to hit the box, then get back to position spin (50, -50, 20); spin (-50, 50, 20); create_stop (); // ------------------------------------------------------------------------ //step:2 knock over box and turn //lift arm //turn 90 printf("-----Step 2-----\n"); move_to_position (0, -900, -2600); msleep (900); //turn create in a circular position and raise arm so it doesn't hit anything angle0 = get_create_total_angle (.05); angle = angle0; dangle = abs (angle0 - angle); printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done); create_drive_direct (-178,-648); while(! loop_done) { if (dangle >= 155) { task_A_done = 1; create_stop (); } else if (dangle >= 125) { create_drive_direct (-120, -181); } if (get_motor_done (0)) { task_B_done = 1; } if (task_A_done && task_B_done) { loop_done = 1; } msleep(100); angle = get_create_total_angle (.05); dangle = abs (angle0 - angle); printf("a0: %d, a: %d, da: %d, d: %d\n", angle0, get_create_total_angle (.05), dangle , task_A_done); } create_stop (); // ------------------------------------------------------------------------ //step:4 aim claw to point of botguy //turn 20 //lower arm printf("-----Step 4-----\n"); //--tweaking position so it gets in just the right position move_to_position (0, 400, -900); move (20, 20, 50); set_servo_position (0 ,400); create_drive_straight (-30); move_motor (0, 600, -300); create_drive_straight (-38);// at this point, botguy is in his palm //can't remember function to program msleep (3000); loop_done = 0; if (! loop_done) { create_stop (); if (! digital (10)) { move_motor (0, 400, -900); spin (20, -20, 5); move_motor (0, 600, -300); create_stop (); loop_done = 1; } else { loop_done = 1; } } // ------------------------------------------------------------------------ //step:5 grab botguy and lift him up (not complete) printf("-----Step 5-----\n"); move (-10, -10, 10); msleep (1300); //spin (60, -60, 5); //close arm and grab botguy set_servo_position (0, 1510); msleep (400); move_to_position (0, -1000, -3000); //wait for him to finish msleep (5000); // ------------------------------------------------------------------------ //step:6 move backwards till it's in position printf("-----Step 6-----\n"); //back up in an arc move (130, 280, 780); //move towards the center and lower drop height move_to_position (0, -900, -500); create_drive_straight (-20); msleep (3000); //drop botguy in transport set_servo_position (0, 200); create_stop (); //start moving towards the pipe move_motor (0, 500, -1200); spin (50, -50, 70); move (50, 50, 100); spin (-50, 50, 70); /* if (! loop_done) { if (get_object_count(2) == 1) { create_stop (); spin(-10, 10, 5); create_stop (); move(20, 20, 20); create_stop (); set_servo_position (0, 1400); loop_done = 1; } } loop_done = 0; spin (10, 10, 5); set_servo_position (0, 200); */ /* spin (50, -50, 85); move_motor (0, 400, -400); move (-100, -100, 50); loop_done = 0; //close arm on pipe set_servo_position (0, 1510); //turn arm to face the pole spin (-50, 50, 50); //up, forward, then drop pipe move_motor (0, 400, -2300); move (-100, -100, 100); set_servo_position (0, 200); ao (); */ create_disconnect (); }
void block_motor_done(int motor) { while(!get_motor_done(motor)); }