Latest revision as of 18:01, 8 December 2015

Notes :

• The codes below are for controller; Robot code is same as Generation 1.
• Micro-controller, Pro-mini, is used for the second generation arm controller.
• Each Pro-mini has 8 analog pin, therefore 3 Pro-mini is used.

Micro-controller_1

• 8 potentiometers are connected, and has id number 1 through 6 of arm(analog pin 3 to 8 respectively)
• Tx of Micro_controller_1 connects to Rx of Micro-controller_2

int pos[8];
char str[16];
char Base_36_Table[36] = {'0','1','2','3','4','5','6','7','8','9','a','b','c','d','e','f','g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v','w','x','y','z'}; 
void setup() {
    Serial.begin(250000);
    delay(100);
} 
void loop() {
  int i=0;
  int id = 0;
  for (int i=0; i<8; i++){
    pos[i] = analogRead(i);
    str[id++] = Base_36_Table[pos[i]/36];
    str[id++] = Base_36_Table[pos[i]%36];
  }
  for(int i=0; i<16; i++){
    Serial.write(str[i]);
  }
  Serial.println("");
  delay(80);
}

Micro-controller_2

• 6 potentiometers are connected, and has id number 7 through 12 of arm(analog pin 1 to 6 respectively)
• Rx of Micro_controller_2 connects to Tx of Micro-controller_1
• Tx of Micro_controller_2 connects to Rx of Micro-controller_3

int pos[8];
char str[40];
char Base_36_Table[36] = {'0','1','2','3','4','5','6','7','8','9','a','b','c','d','e','f','g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v','w','x','y','z'};
void setup() {
Serial.begin(250000);
}
void loop() {
  int i=0;
  if(Serial.available()){
    while(Serial.available()){
      str[i++] = Serial.read();
      delay(1);
    }
  }  
  i=0;
  int id = 16;
  for (int i=0; i<6; i++){
    pos[i] = analogRead(i);
    str[id++] = Base_36_Table[pos[i]/36];
    str[id++] = Base_36_Table[pos[i]%36];
  }
  for(int i=0; i<28; i++){
    Serial.write(str[i]);
  }
  Serial.println("");
  delay(80);
}

Micro-controller_3

• This Micro-controller connects to field computer using FTDI-device
• 6 potentiometers are connected, and has id number 13 through 18 of arm(analog pin 1 to 6 respectively)
• Rx of Micro_controller_3 connects to Tx of Micro-controller_2

 int pos[8];
 char str[40];
 char Base_36_Table[36] = {'0','1','2','3','4','5','6','7','8','9','a','b','c','d','e','f','g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v','w','x','y','z'};
 void setup() {
 Serial.begin(250000);
 }
 void loop() {
   int i=0;
   if(Serial.available()){
     while(Serial.available()){
       str[i++] = Serial.read();
       delay(1);
     }
   }
   i=0;
   int id = 28;
   for (int i=0; i<6; i++){
     pos[i] = analogRead(i);
     str[id++] = Base_36_Table[pos[i]/36];
     str[id++] = Base_36_Table[pos[i]%36];
   }  
   for(int i=0; i<40; i++){
     Serial.write(str[i]);
   }
   //Serial.println("");
   delay(80);
 }