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#include <ax12.h> //Include ArbotiX DYNAMIXEL library
const int SERVO_ID[] = {1, 2, 3, 4}; // const correct / You might want to use just one for testing...
const int servo_count = sizeof(SERVO_ID) / sizeof(*SERVO_ID); // Let the compiler calculate the amount of servos, so that you can change it easily
int a, b, z, y, interrupt_state;
int Speed = 700;
int m = 400; //columns
#include <avr/interrupt.h>
#define PULSADOR_EMERGENCIA (PINB&0x02)
int pos2[] = {3820, 400, 230, 2395}; //rest position of the dynamixel motors
void setup()
{
dxlInit(1000000); //start dynamixel library at 1mbps to communicate with the servos
Serial.begin(9600); //start serial at 9600 for reporting data.
for (int i = 0; i < servo_count; ++i)
{
Relax(SERVO_ID[i]);
Serial.print(F("ID: "));
Serial.println(SERVO_ID[i]);
}
PORTB |= 0x1E;
PCICR |= (1 << PCIE1);
PCMSK1 |= 0x1E;
interrupt_state = 0;
interrupts();
delay(1000);
}
void loop()
{
int positionn[servo_count][m]; //Matrix of movements
while (Serial.read() != 'a') {}
Serial.print(F("a = Ready "));
delay(2000);
Serial.println(F("Positions vector "));
Serial.print(F(": ["));
for (int i = 0; i < m; i++) // structure to create columns
{
for (int j = 0; j < servo_count; j++) // structure to create columns
{
positionn[j][i] = dxlGetPosition(SERVO_ID[j]); //read and save the actual position
}
delay(10);
for (int j = 0; j < servo_count; j++) // structure to create columns
{
Serial.print(positionn[j][i]); //Display the vector
Serial.print(F(", "));
}
}
Serial.print(F("]\n"));
delay(5000);
/***The servos will move according to registered movements***/
for (int e = 0; e < 1; e++) //Repetition of the process (e = number of sequences)
{
Serial.print(F("SEQUENCE "));
Serial.println(a + 1);
int position[servo_count];
int turns[servo_count];
int pos1[servo_count];
int pos2[servo_count];
int current[servo_count];
for (int i = 0; i < servo_count; i++)
{
current[i] = positionn[i][0];
position[i] = positionn[i][0];
turns[i] = 0;
pos1[i] = dxlGetPosition(SERVO_ID[i]); //Actual servo position
pos2[i] = positionn[i][0]; //Initial position of the movement (objective)
}
Serial.println(F("The servos will move to the initial position."));
for (int servo = 0; servo < servo_count; ++servo)
{
go_to_position(pos1, pos2, servo); //Function that moves the robot to the initial position
}
while (Serial.read() != 'b') {}
Serial.println(F("b = do the sequence "));
delay(2000);
v:;
Serial.println(F("Now the servos will do the registered movements."));
delay(2000);
for (int movement = 0; movement < m; movement++)
{
for (int servo = 0; servo < servo_count; servo++)
{
if (positionn[servo][movement] != current[servo])
{
int next_pos = 1;
if (positionn[servo][movement] < current[servo])
next_pos = -1;
while (positionn[servo][movement] != current[servo])
{
dxlSetGoalPosition(SERVO_ID[servo], current[servo]);
current[servo] += next_pos;
delayMicroseconds(Speed);
if (current[servo] == position[servo] + MX_MAX_POSITION_VALUE)
{
position[servo] = current[servo];
turns[servo]++;
}
else if (current[servo] == position[servo] - MX_MAX_POSITION_VALUE)
{
position[servo] = current[servo];
turns[servo]--;
}
}
}
}
}
for (int i = 0; i < servo_count; i++)
{
Serial.print(F("Turns engine "));
Serial.print(i + 1);
Serial.print(F(": "));
Serial.println(turns[i]);
Serial.println(" ");
}
}
delay(3000);
/****REST POSITION****/
Serial.println(F("The robot will move to the resting position."));
int pos1[servo_count];
for (int i = 0; i < servo_count; i++)
{
pos1[i] = dxlGetPosition(SERVO_ID[i]); //Actual servo position
}
for (int servo = 0; servo < servo_count; ++servo)
{
go_to_position(pos1, pos2, servo); //Function that moves the robot to the initial position
}
delay(1000);
dxlTorqueOffAll();
Serial.println(F("z"));
while (Serial.read() != 'y');
Serial.println("y");
goto v
while (Serial.read() != 'w');
Serial.println("w");
}
void go_to_position(int pos1[], int pos2[], int servo)//function
{
while (pos1[servo] != pos2[servo])
{
if (pos2[servo] < pos1[servo])
{
dxlSetGoalPosition(SERVO_ID[servo], pos1[servo]);
pos1[servo]--;
delayMicroseconds(800);
}
else if (pos2[servo] > pos1[servo])
{
dxlSetGoalPosition(SERVO_ID[servo], pos1[servo]);
pos1[servo]++;
delayMicroseconds(800);
}
}
}
ISR(PCINT1_vect) {
interrupt_state = (PINB & 0x02) >> 1;
Serial.println("EMERGENCY BUTTON!");
}
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