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#include <ax12.h> //Include ArbotiX DYNAMIXEL library
const int SERVO_ID[] = {1, 2, 3, 4};
const int servo_count = sizeof(SERVO_ID) / sizeof(*SERVO_ID);
int repetitions;
double Speed;
int m = 100; //columns
int pos2[] = {1750, 400, 1500, 1330}; //rest position of the dynamixel motors
#include <SPI.h>
#include <SD.h>
File myFile;
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]);
}
Serial.print("Iniciando SD ...");
if (!SD.begin(4)) {
Serial.println("No se pudo inicializar");
return;
}
Serial.println("inicializacion exitosa");
delay(1000);
}
void loop()
{
Serial.println(F("How many times do you want to repeat the sequence?"));
while (Serial.available() == 0) {}
repetitions = Serial.parseInt();
Serial.print(F("repetitions = "));
Serial.println(repetitions);
delay(3000);
Serial.println(F("How fast do you want to repeat the sequence?"));
Serial.println(F(" 1 = Slow 2 = Normal 3 = Fast"));
while (Serial.available() == 0) {}
Speed = Serial.parseInt();
if (Speed <= 0 || Speed >= 4)
{
Serial.println(F("You have entered a wrong value"));
return;
}
if (Speed == 1)
{
Speed = 1000;
}
else if (Speed == 2)
{
Speed = 700;
}
else if (Speed == 3)
{
Speed = 400;
}
Serial.print(F("Speed = "));
Serial.print(Speed, 0);
Serial.println(F(" microseconds"));
delay(3000);
Serial.print(F("Positions vector "));
Serial.print(F(": ["));
int positionn[servo_count][m]; //Matrix of movements
String dataString = ""; //vacia el string para evitar problemas
myFile[servo_count] = { SD.open("Prueba0.txt", FILE_WRITE), SD.open("Prueba1.txt", FILE_WRITE), SD.open("Prueba2.txt", FILE_WRITE), SD.open("Prueba3.txt", FILE_WRITE)};
for(const File &f : myFile)
{
if(f)
Serial.println("file is open");
else
Serial.println("Error opening the file");
}
for (int i = 0; i < m; i++) // structure to create columns
{
for (int j = 0; j < servo_count; j++) // structure to create columns
{
int pos = dxlGetPosition(SERVO_ID[j]);
myFile[j].println(pos); //read and save the actual position
Serial.print(pos); //Display the vector
Serial.print(F(", "));
}
delay(10);
}
Serial.print(F("]\n"));
delay(5000);
myFile.close(); //close the file
Serial.println(F("The servos will move to the initial position."));
/***The servos will move according to registered movements***/
myFile[servo_count] = { SD.open("Prueba0.txt", FILE_READ), SD.open("Prueba1.txt", FILE_READ), SD.open("Prueba2.txt", FILE_READ), SD.open("Prueba3.txt", FILE_READ)};
for (int a = 0; a < repetitions; a++) //Repetition of the process (a = number of sequences)
{
Serial.print(F("SEQUENCE "));
Serial.println(a + 1);
int pos_from_file[servo_count]; // Note
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++)
{
pos_from_file[i] = myFile[i].parseInt(); // Note
current[i] = pos_from_file[i];
position[i] = current[i];
turns[i] = 0;
pos1[i] = dxlGetPosition(SERVO_ID[i]); //Actual servo position
pos2[i] = position[i]; //Initial position of the movement (objective)
}
for (int servo = 0; servo < servo_count; ++servo)
{
go_to_position(pos1, pos2, servo); //Function that moves the robot to the initial position
}
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 (pos_from_file[servo] != current[servo])
{
int next_pos = 1;
if (pos_from_file[servo] < current[servo]) // Note
next_pos = -1;
while (pos_from_file[servo] != current[servo]) // Note
{
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]--;
}
}
}
pos_from_file[servo] = myFile[servo].parseInt();
}
}
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(" ");
}
}
myFile.close(); //close the file
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("END!"));
}
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);
}
}
}
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