Merge branch 'dev'

Author: sergiotomasello

library.properties

@@ -1,5 +1,5 @@
 name=Braccio
-version=2.0
+version=2.0.1
 author=Andrea Martino
 maintainer=Andrea <[email protected]>
 sentence=For Arduino braccio only.

src/Braccio.cpp

@@ -9,12 +9,12 @@
 
  This library is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.	See the GNU
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  Lesser General Public License for more details.
 
  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
- Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA	02110-1301	USA
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
  */
 
 #include "Braccio.h"
@@ -32,7 +32,7 @@ extern int step_elbow = 180;
 extern int step_wrist_rot = 180;
 extern int step_wrist_ver = 90;
 extern int step_gripper = 10;
-
+ 
 
 _Braccio Braccio;
 
@@ -43,8 +43,8 @@ _Braccio::_Braccio() {
 /**
  * Braccio initialization and set intial position
  * Modifing this function you can set up the initial position of all the
- * servo motors of	Braccio
- * @param soft_start_level: from -10 to +10, default value is 0 (SOFT_START_DEFAULT)
+ * servo motors of Braccio
+ * @param soft_start_level: default value is 0 (SOFT_START_DEFAULT)
  * You should set begin(SOFT_START_DISABLED) if you are using the Arm Robot shield V1.6
  * SOFT_START_DISABLED disable the Braccio movements
  */
@@ -62,8 +62,8 @@ unsigned int _Braccio::begin(int soft_start_level) {
 	wrist_rot.attach(6);
 	wrist_ver.attach(5);
 	gripper.attach(3);
-
-				//For each step motor this set up the initial degree
+        
+	//For each step motor this set up the initial degree
 	base.write(0);
 	shoulder.write(40);
 	elbow.write(180);
@@ -78,9 +78,8 @@ unsigned int _Braccio::begin(int soft_start_level) {
 	step_wrist_rot = 0;
 	step_gripper = 73;
 
-
 	if(soft_start_level!=SOFT_START_DISABLED)
-		_softStart(soft_start_level);
+    		_softStart(soft_start_level);
 	return 1;
 }
 
@@ -93,29 +92,29 @@ void _Braccio::_softwarePWM(int high_time, int low_time){
 	digitalWrite(SOFT_START_CONTROL_PIN,HIGH);
 	delayMicroseconds(high_time);
 	digitalWrite(SOFT_START_CONTROL_PIN,LOW);
-	delayMicroseconds(low_time);
+	delayMicroseconds(low_time); 
 }
 
 /*
 * This function, used only with the Braccio Shield V4 and greater,
 * turn ON the Braccio softly and save it from brokes.
 * The SOFT_START_CONTROL_PIN is used as a software PWM
-* @param soft_start_level: from -10 to +10, default value is 0 (SOFT_START_DEFAULT)
+* @param soft_start_level: the minimum value is -70, default value is 0 (SOFT_START_DEFAULT)
 */
-void _Braccio::_softStart(int soft_start_level){
+void _Braccio::_softStart(int soft_start_level){      
 	long int tmp=millis();
 	while(millis()-tmp < LOW_LIMIT_TIMEOUT)
-		_softwarePWM(30+soft_start_level, 500 - soft_start_level);
+		_softwarePWM(80+soft_start_level, 450 - soft_start_level);   //the sum should be 530usec	
 
 	while(millis()-tmp < HIGH_LIMIT_TIMEOUT)
-		_softwarePWM(25 + soft_start_level, 480 - soft_start_level);
+		_softwarePWM(75 + soft_start_level, 430 - soft_start_level); //the sum should be 505usec
 
 	digitalWrite(SOFT_START_CONTROL_PIN,HIGH);
 }
 
 /**
  * This functions allow you to control all the servo motors
- *
+ * 
  * @param stepDelay The delay between each servo movement
  * @param vBase next base servo motor degree
  * @param vShoulder next shoulder servo motor degree
@@ -127,7 +126,7 @@ void _Braccio::_softStart(int soft_start_level){
 int _Braccio::ServoMovement(int stepDelay, int vBase, int vShoulder, int vElbow,int vWrist_ver, int vWrist_rot, int vgripper) {
 
 	// Check values, to avoid dangerous positions for the Braccio
-	if (stepDelay > 30) stepDelay = 30;
+    	if (stepDelay > 30) stepDelay = 30;
 	if (stepDelay < 10) stepDelay = 10;
 	if (vBase < 0) vBase=0;
 	if (vBase > 180) vBase=180;
@@ -139,17 +138,17 @@ int _Braccio::ServoMovement(int stepDelay, int vBase, int vShoulder, int vElbow,
 	if (vWrist_ver > 180) vWrist_ver=180;
 	if (vWrist_rot > 180) vWrist_rot=180;
 	if (vWrist_rot < 0) vWrist_rot=0;
-	if (vgripper < 10) vgripper = 10;
+    	if (vgripper < 10) vgripper = 10;
 	if (vgripper > 73) vgripper = 73;
 
 	int exit = 1;
 
 	//Until the all motors are in the desired position
-	while (exit)
-	{
-		//For each servo motor if next degree is not the same of the previuos than do the movement
-		if (vBase != step_base)
-		{
+	while (exit) 
+	{			
+		//For each servo motor if next degree is not the same of the previuos than do the movement		
+		if (vBase != step_base) 
+		{			
 			base.write(step_base);
 			//One step ahead
 			if (vBase > step_base) {
@@ -161,7 +160,7 @@ int _Braccio::ServoMovement(int stepDelay, int vBase, int vShoulder, int vElbow,
 			}
 		}
 
-		if (vShoulder != step_shoulder)
+		if (vShoulder != step_shoulder)  
 		{
 			shoulder.write(step_shoulder);
 			//One step ahead
@@ -175,7 +174,7 @@ int _Braccio::ServoMovement(int stepDelay, int vBase, int vShoulder, int vElbow,
 
 		}
 
-		if (vElbow != step_elbow)
+		if (vElbow != step_elbow)  
 		{
 			elbow.write(step_elbow);
 			//One step ahead
@@ -189,12 +188,12 @@ int _Braccio::ServoMovement(int stepDelay, int vBase, int vShoulder, int vElbow,
 
 		}
 
-		if (vWrist_ver != step_wrist_rot)
+		if (vWrist_ver != step_wrist_rot) 
 		{
 			wrist_rot.write(step_wrist_rot);
 			//One step ahead
 			if (vWrist_ver > step_wrist_rot) {
-				step_wrist_rot++;
+				step_wrist_rot++;				
 			}
 			//One step beyond
 			if (vWrist_ver < step_wrist_rot) {
@@ -227,11 +226,11 @@ int _Braccio::ServoMovement(int stepDelay, int vBase, int vShoulder, int vElbow,
 				step_gripper--;
 			}
 		}
-
+		
 		//delay between each movement
 		delay(stepDelay);
-
-		//It checks if all the servo motors are in the desired position
+		
+		//It checks if all the servo motors are in the desired position 
 		if ((vBase == step_base) && (vShoulder == step_shoulder)
 				&& (vElbow == step_elbow) && (vWrist_ver == step_wrist_rot)
 				&& (vWrist_rot == step_wrist_ver) && (vgripper == step_gripper)) {

src/Braccio.h

@@ -45,8 +45,8 @@ class _Braccio {
   /**
   * Braccio initializations and set intial position
   * Modifing this function you can set up the initial position of all the
-  * servo motors of the Braccio 
-  *@param soft_start_level: from -10 to +10, default value is 0 (SOFT_START_DEFAULT)
+  * servo motors of Braccio 
+  *@param soft_start_level: the minimum value is -70, default value is 0 (SOFT_START_DEFAULT)
   * You should set begin(SOFT_START_DISABLED) if you are using the Arm Robot shield V1.6
   */
   unsigned int begin(int soft_start_level=SOFT_START_DEFAULT); 
@@ -62,7 +62,7 @@ class _Braccio {
   * This function, used only with the Braccio Shield V4 and greater,
   * turn ON the Braccio softly and save Braccio from brokes.
   * The SOFT_START_CONTROL_PIN is used as a software PWM
-  * @param soft_start_level: from -10 to +10, default value is 0 (SOFT_START_DEFAULT)
+  * @param soft_start_level: the minimum value is -70, , default value is 0 (SOFT_START_DEFAULT)
   */
   void _softStart(int soft_start_level);