Esquirio/re frame codes

examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino

@@ -0,0 +1,117 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include <Braccio++.h>
+
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
+#define BUTTON_SELECT  3
+#define BUTTON_ENTER   6
+#define TIME_DELAY     2000
+
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+static float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+
+static auto gripper    = Braccio.get(1);
+static auto wristRoll  = Braccio.get(2);
+static auto wristPitch = Braccio.get(3);
+static auto elbow      = Braccio.get(4);
+static auto shoulder   = Braccio.get(5);
+static auto base       = Braccio.get(6);
+
+float angles[6];
+
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
+void setup() {
+  if (Braccio.begin())
+  {
+    /* Warning: keep a safe distance from the robot and watch out for the robot's
+       movement. It could be speedy and hit someone. */
+    /* Move to home position. */
+    Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
+    delay(TIME_DELAY);
+  }
+}
+
+void loop() {
+  int pressedKey = Braccio.getKey();
+
+  if (pressedKey == BUTTON_ENTER)
+  {
+    // Pinch movement
+    gripper.move().to(230.0f);         delay(TIME_DELAY);
+    gripper.move().to(HOME_POS[0]);    delay(TIME_DELAY);
+
+    // // Wrist Roll movement
+    wristRoll.move().to(0.0f);          delay(TIME_DELAY);
+    wristRoll.move().to(HOME_POS[1]);   delay(TIME_DELAY);
+    wristRoll.move().to(315.0f);        delay(TIME_DELAY);
+    wristRoll.move().to(HOME_POS[1]);   delay(TIME_DELAY);
+
+    // // Wrist Pitch movement
+    wristPitch.move().to(70.0f);       delay(TIME_DELAY);
+    wristPitch.move().to(HOME_POS[2]); delay(TIME_DELAY);
+    wristPitch.move().to(260.0f);      delay(TIME_DELAY);
+    wristPitch.move().to(HOME_POS[2]); delay(TIME_DELAY);
+
+    // Elbow movement
+    for(float i=HOME_POS[3]; i >= 70.0; i-=5)
+        { elbow.move().to(i);          delay(TIME_DELAY/2000); }
+    elbow.move().to(HOME_POS[3]);      delay(TIME_DELAY);
+    for(float i=HOME_POS[3]; i <= 260.0; i+=5)
+        { elbow.move().to(i);          delay(TIME_DELAY/2000); }
+    elbow.move().to(HOME_POS[3]);      delay(TIME_DELAY);
+
+    // Shoulder movement
+    shoulder.move().to(120.0f);       delay(TIME_DELAY/2);
+    shoulder.move().to(90.0f);        delay(TIME_DELAY/2);
+    shoulder.move().to(120.0f);       delay(TIME_DELAY/2);
+    shoulder.move().to(HOME_POS[4]);  delay(TIME_DELAY);
+    shoulder.move().to(200.0f);       delay(TIME_DELAY/2);
+    shoulder.move().to(230.0f);       delay(TIME_DELAY/2);
+    shoulder.move().to(200.0f);       delay(TIME_DELAY/2);
+    shoulder.move().to(HOME_POS[4]);  delay(TIME_DELAY);
+
+    // Base movement
+    base.move().to(0.0f);              delay(TIME_DELAY);
+    base.move().to(HOME_POS[5]);       delay(TIME_DELAY);
+    base.move().to(315.0f);            delay(TIME_DELAY);
+    base.move().to(HOME_POS[5]);       delay(TIME_DELAY);
+
+    while(pressedKey == BUTTON_ENTER) { pressedKey = Braccio.getKey(); }
+  }
+
+  if (pressedKey == BUTTON_SELECT)
+  {
+    // Fetch the joints positions
+    Braccio.positions(angles);
+
+    // Print the joint angles
+    Serial.println("************* Joints Angles *************");
+    Serial.println("|\tMotor ID\t|\tAngle\t|");
+    Serial.println("----------------------------------------");
+    Serial.print("| 1 - Gripper\t\t|\t" + String(angles[0]) + "\t|\n" + 
+                 "| 2 - Wrist Rotation\t|\t" + String(angles[1]) + "\t|\n" +
+                 "| 3 - Wrist Vertical\t|\t" + String(angles[2]) + "\t|\n" + 
+                 "| 4 - Elbow\t\t|\t" + String(angles[3]) + "\t|\n" + 
+                 "| 5 - Shoulder\t\t|\t" + String(angles[4]) + "\t|\n" + 
+                 "| 6 - Base\t\t|\t" + String(angles[5]) + "\t|\n" +
+                 "*****************************************\n\n\n\n\n");
+
+    while(pressedKey == BUTTON_SELECT) { pressedKey = Braccio.getKey(); }
+
+  }
+}

examples/Platform_Tutorials/lessons/03-important-programming-concepts/Navigating_the_display_menu/Navigating_the_display_menu.ino

@@ -0,0 +1,81 @@
+#include <Braccio++.h>
+
+#define MARGIN_LEFT   0
+#define MARGIN_TOP    0
+
+// Arduino Colors
+#define COLOR_TEAL       0x00878F
+#define COLOR_LIGHT_TEAL 0x62AEB2
+#define COLOR_ORANGE     0xE47128
+#define COLOR_YELLOW     0xE5AD24
+#define COLOR_WHITE      0xFFFFFF
+
+static const char * btnm_map[] = {"Option 1", "Option 2", "\n",
+                                  "Option 3", "Option 4", "\n",
+                                  "Option 5", "Option 6", "\0"
+                                 };
+
+void setup() {
+  if (!Braccio.begin(customMenu)) {
+    if (Serial) Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
+}
+
+void loop() {
+  // Let here empty.
+}
+
+void customMenu(){
+  Braccio.lvgl_lock();
+
+  static lv_style_t style_bg;
+  lv_style_init(&style_bg);
+  lv_style_set_bg_color(&style_bg, lv_color_hex(COLOR_WHITE));
+
+  static lv_style_t style_btn;
+  lv_style_init(&style_btn);
+  lv_style_set_bg_color(&style_btn, lv_color_hex(COLOR_YELLOW));
+  lv_style_set_border_color(&style_btn, lv_color_hex(COLOR_LIGHT_TEAL));
+  lv_style_set_border_width(&style_btn, 2);
+  lv_style_set_text_color(&style_btn, lv_color_hex(COLOR_TEAL));
+
+
+  lv_obj_t * btnm = lv_btnmatrix_create(lv_scr_act());
+  lv_btnmatrix_set_map(btnm, btnm_map);
+  lv_obj_align(btnm, LV_ALIGN_CENTER, MARGIN_LEFT, MARGIN_TOP);
+
+  lv_obj_add_style(btnm, &style_bg, 0);
+  lv_obj_add_style(btnm, &style_btn, LV_PART_ITEMS);
+
+  lv_btnmatrix_set_btn_ctrl(btnm, 0, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 1, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 2, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 3, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 4, LV_BTNMATRIX_CTRL_CHECKABLE);
+  lv_btnmatrix_set_btn_ctrl(btnm, 5, LV_BTNMATRIX_CTRL_CHECKABLE);
+
+  lv_btnmatrix_set_one_checked(btnm, true);
+
+  lv_obj_add_event_cb(btnm, eventHandler, LV_EVENT_ALL, NULL);
+
+  Braccio.lvgl_unlock();
+
+  Braccio.connectJoystickTo(btnm);
+}
+
+static void eventHandler(lv_event_t * e){
+  Braccio.lvgl_lock();
+
+  lv_event_code_t code = lv_event_get_code(e);
+  lv_obj_t * obj = lv_event_get_target(e);
+  if (code == LV_EVENT_CLICKED) {
+    uint32_t id = lv_btnmatrix_get_selected_btn(obj);
+    const char * txt = lv_btnmatrix_get_btn_text(obj, id);
+
+    LV_LOG_USER("%s was selected\n", txt);
+    Serial.println(String(txt) + " was selected.");
+  }
+
+  Braccio.lvgl_unlock();
+}

examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino

@@ -1,6 +1,19 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
 #include <Braccio++.h>
 
-// Variables
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
+#define TIME_DELAY     1000
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+
 // Braccio ++ joints
 auto gripper    = Braccio.get(1);
 auto wristRoll  = Braccio.get(2);
@@ -9,28 +22,28 @@ auto elbow      = Braccio.get(4);
 auto shoulder   = Braccio.get(5);
 auto base       = Braccio.get(6);
 
-float initialGripper = 160.0;
 float initialBase = 90.0;
-float initialAngle = 150.0;
+float initialAngle = 157.5;
+
 float angles[6];
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
-  Braccio.begin();
-  delay(500); // Waits for the Braccio initialization
-
-  // Send motors initial angle
-  gripper.move().to(initialGripper);
-  delay(100);
-  wristRoll.move().to(initialAngle);
-  delay(100);
-  wristPitch.move().to(initialAngle);
-  delay(100);
-  elbow.move().to(initialAngle);
-  delay(100);
-  shoulder.move().to(initialAngle);
-  delay(100);
-  base.move().to(initialBase); 
-  delay(100);
+  if (Braccio.begin()){
+    /* Warning: keep a safe distance from the robot and watch out for the robot's
+       movement. It could be speedy and hit someone. */
+
+    /* Move to home position. */
+    gripper.move().to(initialAngle);       delay(TIME_DELAY);
+    wristRoll.move().to(initialAngle);     delay(TIME_DELAY);
+    wristPitch.move().to(initialAngle);    delay(TIME_DELAY);
+    elbow.move().to(initialAngle);         delay(TIME_DELAY);
+    shoulder.move().to(initialAngle);      delay(TIME_DELAY);
+    base.move().to(initialBase);           delay(TIME_DELAY);
+  }
 
   Serial.begin(115200);
   while(!Serial){}
@@ -53,5 +66,5 @@ void loop() {
   Serial.println("*****************************************\n\n\n\n\n");
   Serial.println("\n\n\n\n");
 
-  delay(1000);
+  delay(TIME_DELAY);
 }

examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino

@@ -1,7 +1,27 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
 #include <Braccio++.h>
 
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
 #define BUTTON_ENTER   6
+#define TIME_DELAY     1000
+
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
+float const WAVE_POS[6] = {180.0, 260.0, 157.5, 157.5, 157.5, 180.0};
 
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+
 // Braccio ++ joints
 auto gripper    = Braccio.get(1);
 auto wristRoll  = Braccio.get(2);
@@ -10,41 +30,41 @@ auto elbow      = Braccio.get(4);
 auto shoulder   = Braccio.get(5);
 auto base       = Braccio.get(6);
 
-/* Variables */
-// initialAngles[6] = {gripper, wristRoll, wristPitch, elbow, shoulder, base}
-float homePos[6] = {160.0, 150.0, 220.0, 220.0, 100.0, 180.0};
-float wavePos[6] = {180.0, 250.0, 145.0, 150.0, 150.0, 90.0};
-
 bool movement = false; // Flag to initialize joints' movements
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
-  Braccio.begin();
-  delay(500); // Waits for the Braccio initialization
+  if (Braccio.begin()){
+    /* Warning:
+       Keep a safe distance from the robot until you make sure the code is properly
+       working. Be mindful of the robot’s movement prior to that, as it could be
+       speedy and accidentally hit someone.
+    */
 
-  // Set motors initial angle
-  // Should move all the motors at once
-  Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
-  delay(500);
+    /* Move to home position. */
+    Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
+    delay(TIME_DELAY);
+  }
 }
 
-// Waving whit Wrist pitch
+// Waving with Wrist pitch
 void loop() {
   int pressedKey = Braccio.getKey();
 
   if (pressedKey == BUTTON_ENTER)
     movement = true; // Trigger joints' movements
 
   if (movement) {
-    Braccio.moveTo(wavePos[0], wavePos[1], wavePos[2], wavePos[3], wavePos[4], wavePos[5]);
-    delay(1000);
-
-    for (int i = 1; i <= 10; i++) {
-      wristPitch.move().to(100.0f);
-      delay(300);
-      wristPitch.move().to(190.0f);
-      delay(600);
-      wristPitch.move().to(145.0f);
-      delay(300);
+    Braccio.moveTo(WAVE_POS[0], WAVE_POS[1], WAVE_POS[2], WAVE_POS[3], WAVE_POS[4], WAVE_POS[5]);
+    delay(TIME_DELAY);
+
+    for (int i = 1; i <= 5; i++) {
+      wristPitch.move().to(120.0f);         delay(TIME_DELAY);
+      wristPitch.move().to(200.0f);         delay(2*TIME_DELAY);
+      wristPitch.move().to(WAVE_POS[3]);
     }
 
     movement = false; // Stop joints' movements