Robotic Arm Source Code Documentation

This section contains Definitions for the code base supplied in the:

GitHub link: https://github.com/UniOfGreenwich/GEEN1064_RoboticArm
- Header file RoboticArm.h
- Source file RoboticArm.cpp

Functions:

void initialiseRoboticArm()

void homePosition()

void printPosition()

void roboticArmBegin()

void roboticArmMovement(int stepDelay, int vBase, int vShoulder, int vElbow, int vWrist_ver, int vWrist_rot, int vgripper)

void processCommand()

int whichMotor(String l_Command, String l_Motor)

void moveServo(Servo &servo, int &currentPosition, int targetPosition, int stepDelay, int minPosition, int maxPosition, const char *servoName)

void moveBase(int stepDelay, int vBase)

void moveShoulder(int stepDelay, int vShoulder)

void moveElbow(int stepDelay, int vElbow)

void moveWrist_Ver(int stepDelay, int vWrist_Ver)

void moveWrist_Rot(int stepDelay, int vWrist_rot)

void moveGripper(int stepDelay, int vgripper)

Functions Documentation:

Function: `void initialiseRoboticArm()`

Code

void initialiseRoboticArm()

Important:

initialiseRoboticArm invokes the roboticArmBegin() function and displays operational information to user via the command line

Function: `void homePosition()`

Code

void homePosition()

Important

This function sets arm to the home position.

Function: `void printPosition()`

Code

void printPosition()

Important

This function gets the lastest servo position provided by the user.

Function: `void roboticArmBegin()`

Important:

Braccio initialization and set intial position. Modifing this function you can set up the initial position of all the servo motors of Braccio.

Function : `void roboticArmMovement(int stepDelay, int vBase, int vShoulder, int vElbow, int vWrist_ver, int vWrist_rot, int vgripper)`

Code

void roboticArmMovement(int stepDelay, int vBase, int vShoulder, int vElbow, int vWrist_ver, int vWrist_rot, int vgripper)

Important:

This functions allows you to control all the servo motors. Function moves the servos in the following order:

Robotic Arm moves in this order base -> shoulder -> elbow -> wrist vertical -> wrist rotation -> gripper

Parameters:

stepDelay The delay between each servo movement
vBase next base servo motor degree
vShoulder next shoulder servo motor degree
vElbow next elbow servo motor degree
vWrist_ver next wrist rotation servo motor degree
vWrist_rot next wrist vertical servo motor degree
vgripper next gripper servo motor degree

Function: `void processCommand()`

Code

void processCommand()

Important:

processCommand actions the String l_Command by finding the indentifier and then the angle ie B60

Function: `int whichMotor(String l_Command, String l_Motor)`

Code

int whichMotor(String l_Command, String l_Motor)

Indetifies the supplied motor to move by searching the String Command and checking against the input motor

Important:

Indetifies the supplied motor to move by searching the String Command and checking against the input motor

Parameters:

l_Command is the Command received from the serail montior
l_motor is the motor indentifier that must match parent condition.

Return:

param angle is the new angle the identified motor will position to.

Function: `void moveServo(Servo &servo, int &currentPosition, int targetPosition, int stepDelay, int minPosition, int maxPosition, const char *servoName)`

Code

void moveServo(Servo &servo, int &currentPosition, int targetPosition, int stepDelay, int minPosition, int maxPosition, const char *servoName)

Moves a servo to a specified target position with controlled delay and position constraints.

Parameters:

servo The servo motor object to be controlled.
currentPosition A reference to the current position variable of the servo.
targetPosition The desired target angle for the servo.
stepDelay Delay in milliseconds between each step, used to control movement speed.
minPosition The minimum allowed position for the servo, typically between 0 and 180.
maxPosition The maximum allowed position for the servo, typically between 0 and 180.
servoName A character string used for debugging output to identify which servo is being moved.