Mercurial > tote-had
changeset 3:f8bffeb4f945
Update the PCB and controller code
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Thu, 10 Mar 2016 23:08:15 +0100 |
| parents | c694cfc44d91 |
| children | d279d961c91b |
| files | controller/controller.ino controller/i2c.h controller/i2c.ino doc/scad/tote.png doc/scad/tote.scad fritzing/pcb-had.fzz fritzing/pcb-had.zip |
| diffstat | 7 files changed, 31 insertions(+), 9 deletions(-) [+] |
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--- a/controller/controller.ino Sun Mar 06 22:15:50 2016 +0100 +++ b/controller/controller.ino Thu Mar 10 23:08:15 2016 +0100 @@ -5,10 +5,10 @@ void setup() { servo_setup(); - i2c_setuo(); + i2c_setup(); } void loop() { delay(100); - i2c_loop() + i2c_loop(); }
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/controller/i2c.h Thu Mar 10 23:08:15 2016 +0100 @@ -0,0 +1,2 @@ +void i2c_setup(void); +void i2c_loop(void);
--- a/controller/i2c.ino Sun Mar 06 22:15:50 2016 +0100 +++ b/controller/i2c.ino Thu Mar 10 23:08:15 2016 +0100 @@ -1,16 +1,36 @@ #include <Wire.h> +#include "leg.h" const int SLAVE_ADDRESS = 0x09; +const int MAX_REGS = 16; +volatile int8_t regs[MAX_REGS] = {}; +volatile uint8_t address; void i2c_setup() { Wire.begin(SLAVE_ADDRESS); - Wire.onReceive(receiveEvent); + Wire.onReceive(receive); } -void receiveEvent(int bytes) { +void receive(int bytes) { + address = Wire.read(); + while (Wire.available()) { + regs[address] = Wire.read(); + ++address; + if (address >= MAX_REGS) { + return; + } + } } void i2c_loop() { + for (int leg = 0; leg < 3; ++leg) { + if (regs[leg * 4]) { + move_leg(leg, regs[leg * 4 + 1], + regs[leg * 4 + 2], + regs[leg * 4 + 3]); + regs[leg * 4] = 0; + } + } }
--- a/doc/scad/tote.scad Sun Mar 06 22:15:50 2016 +0100 +++ b/doc/scad/tote.scad Thu Mar 10 23:08:15 2016 +0100 @@ -3,7 +3,7 @@ module leg(hip, knee, ankle, explode) { SG90_single_horn(); translate([0, 0, explode]) SG90_horn_screw(); - translate([0, 0, -explode * 2]) rotate(hip - 50 - 90) { + translate([0, 0, -explode * 2]) rotate(hip - 40) { rotate(0) SG90(); translate([18, -22 - explode, -28.75]) rotate([90, 180, 90]) { SG90(); @@ -105,16 +105,16 @@ } module robot(explode) { - translate([20.75, 20.75, -2.1 + explode]) rotate(175) mirror([0, 1, 0]) { + translate([20.75, 20.75, -2.1 + explode]) rotate(175) { leg(0, 0, 0, explode); } - translate([-20.75, -20.75, -2.1 + explode]) rotate(-5) mirror([0, 1, 0]) { + translate([-20.75, -20.75, -2.1 + explode]) rotate(-5) { leg(0, 0, 0, explode); } - translate([20.75, -20.75, -2.1 + explode]) rotate(-175) { + translate([20.75, -20.75, -2.1 + explode]) rotate(-175) mirror([0, 1, 0]) { leg(0, 0, 0, explode); } - translate([-20.75, 20.75, -2.1 + explode]) rotate(5) { + translate([-20.75, 20.75, -2.1 + explode]) rotate(5) mirror([0, 1, 0]) { leg(0, 0, 0, explode); } body(explode);