Hello, we are three students from a school and we are doing an Arduino project.
We currently have all the machinery manufactured and assembled, but when it comes to running the Arduino program we have certain problems that we do not know how to solve.
Could you help us with our issues and make our project work?
We share you the website of the creator of this project, in case you would like to download the arduino code and review it.
Thank you!
Our Project
Our Arduino program problems:
Think you'll find most here need to know what your issues are.
Oh, I see now...posting errors should be in proper arrangement.
We're trying to run the arduino program that project creator shares in his website, but we didnt have any success running it.
¿Could you please check his video and his arduino program and help us?
Thank you!
Post your annotated schematic showing exactly how you wired it, show all connections, power, ground, power sources and note any wire over 10"25cm. From that and your code posted using code tags you should get a good answer.
I didn't see any code to down,lad in the time I spent there, at least not a "here's all the code in a complete it compiles you can run it" link.
It looks like you can't even yet compile the code you are working with.
So you shoukd be the one to see if there is indeed anything like a complete sketch for this wonderful little machine, and post it here, along with any error messages.
Don't post pictures.
Post code using the <CODE/> button in the message composition toolbar and
type or paste code here
do what it says.
a7
Thank you for your reply, i attach you all the code in .Zip format.
You can download it from Wetransfer website.
Thank you!
I see no one welcomed you, so welcome to the forum!
You will find that very few here will download the file. That limits the number of helpful people. If you're okay with that, then continue to post links for downloading. Otherwise, please post the contents as code. If there are multiple files, use multiple code blocks.
This will help you understand how to get along here; read, and you will understand:
Hello I attach you the CODE of our project.
Thank you for your replys.
*/
#include <AccelStepper.h>
#include <Servo.h>
#include <math.h>
#define limitSwitch1 11
#define limitSwitch2 10
#define limitSwitch3 9
#define limitSwitch4 A3
// Define the stepper motors and the pins the will use
AccelStepper stepper1(1, 2, 5); // (Type:driver, STEP, DIR)
AccelStepper stepper2(1, 3, 6);
AccelStepper stepper3(1, 4, 7);
AccelStepper stepper4(1, 12, 13);
Servo gripperServo; // create servo object to control a servo
double x = 10.0;
double y = 10.0;
double L1 = 228; // L1 = 228mm
double L2 = 136.5; // L2 = 136.5mm
double theta1, theta2, phi, z;
int stepper1Position, stepper2Position, stepper3Position, stepper4Position;
const float theta1AngleToSteps = 44.444444;
const float theta2AngleToSteps = 35.555555;
const float phiAngleToSteps = 10;
const float zDistanceToSteps = 100;
byte inputValue[5];
int k = 0;
String content = "";
int data[10];
int theta1Array[100];
int theta2Array[100];
int phiArray[100];
int zArray[100];
int gripperArray[100];
int positionsCounter = 0;
void setup() {
Serial.begin(115200);
pinMode(limitSwitch1, INPUT_PULLUP);
pinMode(limitSwitch2, INPUT_PULLUP);
pinMode(limitSwitch3, INPUT_PULLUP);
pinMode(limitSwitch4, INPUT_PULLUP);
// Stepper motors max speed
stepper1.setMaxSpeed(4000);
stepper1.setAcceleration(2000);
stepper2.setMaxSpeed(4000);
stepper2.setAcceleration(2000);
stepper3.setMaxSpeed(4000);
stepper3.setAcceleration(2000);
stepper4.setMaxSpeed(4000);
stepper4.setAcceleration(2000);
gripperServo.attach(A0, 600, 2500);
// initial servo value - open gripper
data[6] = 180;
gripperServo.write(data[6]);
delay(1000);
data[5] = 100;
homing();
}
void loop() {
if (Serial.available()) {
content = Serial.readString(); // Read the incomding data from Processing
// Extract the data from the string and put into separate integer variables (data[] array)
for (int i = 0; i < 10; i++) {
int index = content.indexOf(","); // locate the first ","
data[i] = atol(content.substring(0, index).c_str()); //Extract the number from start to the ","
content = content.substring(index + 1); //Remove the number from the string
}
/*
data[0] - SAVE button status
data[1] - RUN button status
data[2] - Joint 1 angle
data[3] - Joint 2 angle
data[4] - Joint 3 angle
data[5] - Z position
data[6] - Gripper value
data[7] - Speed value
data[8] - Acceleration value
*/
// If SAVE button is pressed, store the data into the appropriate arrays
if (data[0] == 1) {
theta1Array[positionsCounter] = data[2] * theta1AngleToSteps; //store the values in steps = angles * angleToSteps variable
theta2Array[positionsCounter] = data[3] * theta2AngleToSteps;
phiArray[positionsCounter] = data[4] * phiAngleToSteps;
zArray[positionsCounter] = data[5] * zDistanceToSteps;
gripperArray[positionsCounter] = data[6];
positionsCounter++;
}
// clear data
if (data[0] == 2) {
// Clear the array data to 0
memset(theta1Array, 0, sizeof(theta1Array));
memset(theta2Array, 0, sizeof(theta2Array));
memset(phiArray, 0, sizeof(phiArray));
memset(zArray, 0, sizeof(zArray));
memset(gripperArray, 0, sizeof(gripperArray));
positionsCounter = 0;
}
}
// If RUN button is pressed
while (data[1] == 1) {
stepper1.setSpeed(data[7]);
stepper2.setSpeed(data[7]);
stepper3.setSpeed(data[7]);
stepper4.setSpeed(data[7]);
stepper1.setAcceleration(data[8]);
stepper2.setAcceleration(data[8]);
stepper3.setAcceleration(data[8]);
stepper4.setAcceleration(data[8]);
// execute the stored steps
for (int i = 0; i <= positionsCounter - 1; i++) {
if (data[1] == 0) {
break;
}
stepper1.moveTo(theta1Array[i]);
stepper2.moveTo(theta2Array[i]);
stepper3.moveTo(phiArray[i]);
stepper4.moveTo(zArray[i]);
while (stepper1.currentPosition() != theta1Array[i] || stepper2.currentPosition() != theta2Array[i] || stepper3.currentPosition() != phiArray[i] || stepper4.currentPosition() != zArray[i]) {
stepper1.run();
stepper2.run();
stepper3.run();
stepper4.run();
}
if (i == 0) {
gripperServo.write(gripperArray[i]);
}
else if (gripperArray[i] != gripperArray[i - 1]) {
gripperServo.write(gripperArray[i]);
delay(800); // wait 0.8s for the servo to grab or drop - the servo is slow
}
//check for change in speed and acceleration or program stop
if (Serial.available()) {
content = Serial.readString(); // Read the incomding data from Processing
// Extract the data from the string and put into separate integer variables (data[] array)
for (int i = 0; i < 10; i++) {
int index = content.indexOf(","); // locate the first ","
data[i] = atol(content.substring(0, index).c_str()); //Extract the number from start to the ","
content = content.substring(index + 1); //Remove the number from the string
}
if (data[1] == 0) {
break;
}
// change speed and acceleration while running the program
stepper1.setSpeed(data[7]);
stepper2.setSpeed(data[7]);
stepper3.setSpeed(data[7]);
stepper4.setSpeed(data[7]);
stepper1.setAcceleration(data[8]);
stepper2.setAcceleration(data[8]);
stepper3.setAcceleration(data[8]);
stepper4.setAcceleration(data[8]);
}
}
/*
// execute the stored steps in reverse
for (int i = positionsCounter - 2; i >= 0; i--) {
if (data[1] == 0) {
break;
}
stepper1.moveTo(theta1Array[i]);
stepper2.moveTo(theta2Array[i]);
stepper3.moveTo(phiArray[i]);
stepper4.moveTo(zArray[i]);
while (stepper1.currentPosition() != theta1Array[i] || stepper2.currentPosition() != theta2Array[i] || stepper3.currentPosition() != phiArray[i] || stepper4.currentPosition() != zArray[i]) {
stepper1.run();
stepper2.run();
stepper3.run();
stepper4.run();
}
gripperServo.write(gripperArray[i]);
if (Serial.available()) {
content = Serial.readString(); // Read the incomding data from Processing
// Extract the data from the string and put into separate integer variables (data[] array)
for (int i = 0; i < 10; i++) {
int index = content.indexOf(","); // locate the first ","
data[i] = atol(content.substring(0, index).c_str()); //Extract the number from start to the ","
content = content.substring(index + 1); //Remove the number from the string
}
if (data[1] == 0) {
break;
}
}
}
*/
}
stepper1Position = data[2] * theta1AngleToSteps;
stepper2Position = data[3] * theta2AngleToSteps;
stepper3Position = data[4] * phiAngleToSteps;
stepper4Position = data[5] * zDistanceToSteps;
stepper1.setSpeed(data[7]);
stepper2.setSpeed(data[7]);
stepper3.setSpeed(data[7]);
stepper4.setSpeed(data[7]);
stepper1.setAcceleration(data[8]);
stepper2.setAcceleration(data[8]);
stepper3.setAcceleration(data[8]);
stepper4.setAcceleration(data[8]);
stepper1.moveTo(stepper1Position);
stepper2.moveTo(stepper2Position);
stepper3.moveTo(stepper3Position);
stepper4.moveTo(stepper4Position);
while (stepper1.currentPosition() != stepper1Position || stepper2.currentPosition() != stepper2Position || stepper3.currentPosition() != stepper3Position || stepper4.currentPosition() != stepper4Position) {
stepper1.run();
stepper2.run();
stepper3.run();
stepper4.run();
}
delay(100);
gripperServo.write(data[6]);
delay(300);
}
void serialFlush() {
while (Serial.available() > 0) { //while there are characters in the serial buffer, because Serial.available is >0
Serial.read(); // get one character
}
}
void homing() {
// Homing Stepper4
while (digitalRead(limitSwitch4) != 1) {
stepper4.setSpeed(1500);
stepper4.runSpeed();
stepper4.setCurrentPosition(17000); // When limit switch pressed set position to 0 steps
}
delay(20);
stepper4.moveTo(10000);
while (stepper4.currentPosition() != 10000) {
stepper4.run();
}
// Homing Stepper3
while (digitalRead(limitSwitch3) != 1) {
stepper3.setSpeed(-1100);
stepper3.runSpeed();
stepper3.setCurrentPosition(-1662); // When limit switch pressed set position to 0 steps
}
delay(20);
stepper3.moveTo(0);
while (stepper3.currentPosition() != 0) {
stepper3.run();
}
// Homing Stepper2
while (digitalRead(limitSwitch2) != 1) {
stepper2.setSpeed(-1300);
stepper2.runSpeed();
stepper2.setCurrentPosition(-5420); // When limit switch pressed set position to -5440 steps
}
delay(20);
stepper2.moveTo(0);
while (stepper2.currentPosition() != 0) {
stepper2.run();
}
// Homing Stepper1
while (digitalRead(limitSwitch1) != 1) {
stepper1.setSpeed(-1200);
stepper1.runSpeed();
stepper1.setCurrentPosition(-3955); // When limit switch pressed set position to 0 steps
}
delay(20);
stepper1.moveTo(0);
while (stepper1.currentPosition() != 0) {
stepper1.run();
}
}
The code shows no reference to the function mentioned in the compiler error..
My best guess is that you have installed incompatible libraries...
Post 1, it would appear you have a problem with "void controlEvent()".
Post #9 does not include such a problem, nor does it include "void controlEvent()".
So, I have to ask, does your code compile?
If not, what error message do you get?
If it does, then what symptoms are you having problems with, or is this actually your final, successful code?
Your ability to communicate with us is essential to resolving any problems.
Thank you.
The code did not matched the snapshot of error you attached, current code is different than error you shared. I think your code have multiple files and you share the incomplete code.
Hello guys,
We have those two codes in our project and no one compiles correctly. I attach you both:
SCARA_ROBOT "CODE"
/*
Arduino based SCARA Robot
by Dejan, www.HowToMechatronics.com
AccelStepper: http://www.airspayce.com/mikem/arduino/AccelStepper/index.html
*/
#include <AccelStepper.h>
#include <Servo.h>
#include <math.h>
#define limitSwitch1 11
#define limitSwitch2 10
#define limitSwitch3 9
#define limitSwitch4 A3
// Define the stepper motors and the pins the will use
AccelStepper stepper1(1, 2, 5); // (Type:driver, STEP, DIR)
AccelStepper stepper2(1, 3, 6);
AccelStepper stepper3(1, 4, 7);
AccelStepper stepper4(1, 12, 13);
Servo gripperServo; // create servo object to control a servo
double x = 10.0;
double y = 10.0;
double L1 = 228; // L1 = 228mm
double L2 = 136.5; // L2 = 136.5mm
double theta1, theta2, phi, z;
int stepper1Position, stepper2Position, stepper3Position, stepper4Position;
const float theta1AngleToSteps = 44.444444;
const float theta2AngleToSteps = 35.555555;
const float phiAngleToSteps = 10;
const float zDistanceToSteps = 100;
byte inputValue[5];
int k = 0;
String content = "";
int data[10];
int theta1Array[100];
int theta2Array[100];
int phiArray[100];
int zArray[100];
int gripperArray[100];
int positionsCounter = 0;
void setup() {
Serial.begin(115200);
pinMode(limitSwitch1, INPUT_PULLUP);
pinMode(limitSwitch2, INPUT_PULLUP);
pinMode(limitSwitch3, INPUT_PULLUP);
pinMode(limitSwitch4, INPUT_PULLUP);
// Stepper motors max speed
stepper1.setMaxSpeed(4000);
stepper1.setAcceleration(2000);
stepper2.setMaxSpeed(4000);
stepper2.setAcceleration(2000);
stepper3.setMaxSpeed(4000);
stepper3.setAcceleration(2000);
stepper4.setMaxSpeed(4000);
stepper4.setAcceleration(2000);
gripperServo.attach(A0, 600, 2500);
// initial servo value - open gripper
data[6] = 180;
gripperServo.write(data[6]);
delay(1000);
data[5] = 100;
homing();
}
void loop() {
if (Serial.available()) {
content = Serial.readString(); // Read the incomding data from Processing
// Extract the data from the string and put into separate integer variables (data[] array)
for (int i = 0; i < 10; i++) {
int index = content.indexOf(","); // locate the first ","
data[i] = atol(content.substring(0, index).c_str()); //Extract the number from start to the ","
content = content.substring(index + 1); //Remove the number from the string
}
/*
data[0] - SAVE button status
data[1] - RUN button status
data[2] - Joint 1 angle
data[3] - Joint 2 angle
data[4] - Joint 3 angle
data[5] - Z position
data[6] - Gripper value
data[7] - Speed value
data[8] - Acceleration value
*/
// If SAVE button is pressed, store the data into the appropriate arrays
if (data[0] == 1) {
theta1Array[positionsCounter] = data[2] * theta1AngleToSteps; //store the values in steps = angles * angleToSteps variable
theta2Array[positionsCounter] = data[3] * theta2AngleToSteps;
phiArray[positionsCounter] = data[4] * phiAngleToSteps;
zArray[positionsCounter] = data[5] * zDistanceToSteps;
gripperArray[positionsCounter] = data[6];
positionsCounter++;
}
// clear data
if (data[0] == 2) {
// Clear the array data to 0
memset(theta1Array, 0, sizeof(theta1Array));
memset(theta2Array, 0, sizeof(theta2Array));
memset(phiArray, 0, sizeof(phiArray));
memset(zArray, 0, sizeof(zArray));
memset(gripperArray, 0, sizeof(gripperArray));
positionsCounter = 0;
}
}
// If RUN button is pressed
while (data[1] == 1) {
stepper1.setSpeed(data[7]);
stepper2.setSpeed(data[7]);
stepper3.setSpeed(data[7]);
stepper4.setSpeed(data[7]);
stepper1.setAcceleration(data[8]);
stepper2.setAcceleration(data[8]);
stepper3.setAcceleration(data[8]);
stepper4.setAcceleration(data[8]);
// execute the stored steps
for (int i = 0; i <= positionsCounter - 1; i++) {
if (data[1] == 0) {
break;
}
stepper1.moveTo(theta1Array[i]);
stepper2.moveTo(theta2Array[i]);
stepper3.moveTo(phiArray[i]);
stepper4.moveTo(zArray[i]);
while (stepper1.currentPosition() != theta1Array[i] || stepper2.currentPosition() != theta2Array[i] || stepper3.currentPosition() != phiArray[i] || stepper4.currentPosition() != zArray[i]) {
stepper1.run();
stepper2.run();
stepper3.run();
stepper4.run();
}
if (i == 0) {
gripperServo.write(gripperArray[i]);
}
else if (gripperArray[i] != gripperArray[i - 1]) {
gripperServo.write(gripperArray[i]);
delay(800); // wait 0.8s for the servo to grab or drop - the servo is slow
}
//check for change in speed and acceleration or program stop
if (Serial.available()) {
content = Serial.readString(); // Read the incomding data from Processing
// Extract the data from the string and put into separate integer variables (data[] array)
for (int i = 0; i < 10; i++) {
int index = content.indexOf(","); // locate the first ","
data[i] = atol(content.substring(0, index).c_str()); //Extract the number from start to the ","
content = content.substring(index + 1); //Remove the number from the string
}
if (data[1] == 0) {
break;
}
// change speed and acceleration while running the program
stepper1.setSpeed(data[7]);
stepper2.setSpeed(data[7]);
stepper3.setSpeed(data[7]);
stepper4.setSpeed(data[7]);
stepper1.setAcceleration(data[8]);
stepper2.setAcceleration(data[8]);
stepper3.setAcceleration(data[8]);
stepper4.setAcceleration(data[8]);
}
}
/*
// execute the stored steps in reverse
for (int i = positionsCounter - 2; i >= 0; i--) {
if (data[1] == 0) {
break;
}
stepper1.moveTo(theta1Array[i]);
stepper2.moveTo(theta2Array[i]);
stepper3.moveTo(phiArray[i]);
stepper4.moveTo(zArray[i]);
while (stepper1.currentPosition() != theta1Array[i] || stepper2.currentPosition() != theta2Array[i] || stepper3.currentPosition() != phiArray[i] || stepper4.currentPosition() != zArray[i]) {
stepper1.run();
stepper2.run();
stepper3.run();
stepper4.run();
}
gripperServo.write(gripperArray[i]);
if (Serial.available()) {
content = Serial.readString(); // Read the incomding data from Processing
// Extract the data from the string and put into separate integer variables (data[] array)
for (int i = 0; i < 10; i++) {
int index = content.indexOf(","); // locate the first ","
data[i] = atol(content.substring(0, index).c_str()); //Extract the number from start to the ","
content = content.substring(index + 1); //Remove the number from the string
}
if (data[1] == 0) {
break;
}
}
}
*/
}
stepper1Position = data[2] * theta1AngleToSteps;
stepper2Position = data[3] * theta2AngleToSteps;
stepper3Position = data[4] * phiAngleToSteps;
stepper4Position = data[5] * zDistanceToSteps;
stepper1.setSpeed(data[7]);
stepper2.setSpeed(data[7]);
stepper3.setSpeed(data[7]);
stepper4.setSpeed(data[7]);
stepper1.setAcceleration(data[8]);
stepper2.setAcceleration(data[8]);
stepper3.setAcceleration(data[8]);
stepper4.setAcceleration(data[8]);
stepper1.moveTo(stepper1Position);
stepper2.moveTo(stepper2Position);
stepper3.moveTo(stepper3Position);
stepper4.moveTo(stepper4Position);
while (stepper1.currentPosition() != stepper1Position || stepper2.currentPosition() != stepper2Position || stepper3.currentPosition() != stepper3Position || stepper4.currentPosition() != stepper4Position) {
stepper1.run();
stepper2.run();
stepper3.run();
stepper4.run();
}
delay(100);
gripperServo.write(data[6]);
delay(300);
}
void serialFlush() {
while (Serial.available() > 0) { //while there are characters in the serial buffer, because Serial.available is >0
Serial.read(); // get one character
}
}
void homing() {
// Homing Stepper4
while (digitalRead(limitSwitch4) != 1) {
stepper4.setSpeed(1500);
stepper4.runSpeed();
stepper4.setCurrentPosition(17000); // When limit switch pressed set position to 0 steps
}
delay(20);
stepper4.moveTo(10000);
while (stepper4.currentPosition() != 10000) {
stepper4.run();
}
// Homing Stepper3
while (digitalRead(limitSwitch3) != 1) {
stepper3.setSpeed(-1100);
stepper3.runSpeed();
stepper3.setCurrentPosition(-1662); // When limit switch pressed set position to 0 steps
}
delay(20);
stepper3.moveTo(0);
while (stepper3.currentPosition() != 0) {
stepper3.run();
}
// Homing Stepper2
while (digitalRead(limitSwitch2) != 1) {
stepper2.setSpeed(-1300);
stepper2.runSpeed();
stepper2.setCurrentPosition(-5420); // When limit switch pressed set position to -5440 steps
}
delay(20);
stepper2.moveTo(0);
while (stepper2.currentPosition() != 0) {
stepper2.run();
}
// Homing Stepper1
while (digitalRead(limitSwitch1) != 1) {
stepper1.setSpeed(-1200);
stepper1.runSpeed();
stepper1.setCurrentPosition(-3955); // When limit switch pressed set position to 0 steps
}
delay(20);
stepper1.moveTo(0);
while (stepper1.currentPosition() != 0) {
stepper1.run();
}
}
And "GUI_for_SCARA_Robot"
/*
Arduino based SCARA Robot GUI
by Dejan, www.HowToMechatronics.com AccelStepper: http://www.airspayce.com/mikem/arduino/AccelStepper/index.html
*/
import processing.serial.*;
import controlP5.*;
import static processing.core.PApplet.*;
Serial myPort;
ControlP5 cp5; // controlP5 object
int j1Slider = 0;
int j2Slider = 0;
int j3Slider = 0;
int zSlider = 100;
int j1JogValue = 0;
int j2JogValue = 0;
int j3JogValue = 0;
int zJogValue = 0;
int speedSlider = 500;
int accelerationSlider = 500;
int gripperValue = 180;
int gripperAdd=180;
int positionsCounter = 0;
int saveStatus = 0;
int runStatus = 0;
int slider1Previous = 0;
int slider2Previous = 0;
int slider3Previous = 0;
int sliderzPrevious = 100;
int speedSliderPrevious = 500;
int accelerationSliderPrevious = 500;
int gripperValuePrevious = 100;
boolean activeIK = false;
int xP=365;
int yP=0;
int zP=100;
float L1 = 228; // L1 = 228mm
float L2 = 136.5; // L2 = 136.5mm
float theta1, theta2, phi, z;
String[] positions = new String[100];
String data;
void setup() {
size(960, 800);
//myPort = new Serial(this, "COM3", 115200);
cp5 = new ControlP5(this);
PFont pfont = createFont("Arial", 25, true); // use true/false for smooth/no-smooth
ControlFont font = new ControlFont(pfont, 22);
ControlFont font2 = new ControlFont(pfont, 25);
//J1 controls
cp5.addSlider("j1Slider")
.setPosition(110, 190)
.setSize(270, 30)
.setRange(-90, 266) // Slider range, corresponds to Joint 1 or theta1 angle that the robot can move to
.setColorLabel(3269c2)
.setFont(font)
.setCaptionLabel("")
;
cp5.addButton("j1JogMinus")
.setPosition(110, 238)
.setSize(90, 40)
.setFont(font)
.setCaptionLabel("JOG-")
;
cp5.addButton("j1JogPlus")
.setPosition(290, 238)
.setSize(90, 40)
.setFont(font)
.setCaptionLabel("JOG+")
;
cp5.addNumberbox("j1JogValue")
.setPosition(220, 243)
.setSize(50, 30)
.setRange(0, 20)
.setFont(font)
.setMultiplier(0.1)
.setValue(1)
.setDirection(Controller.HORIZONTAL) // change the control direction to left/right
.setCaptionLabel("")
;
//J2 controls
cp5.addSlider("j2Slider")
.setPosition(110, 315)
.setSize(270, 30)
.setRange(-150, 150)
.setColorLabel(3269c2)
.setFont(font)
.setCaptionLabel("")
;
cp5.addButton("j2JogMinus")
.setPosition(110, 363)
.setSize(90, 40)
.setFont(font)
.setCaptionLabel("JOG-")
;
cp5.addButton("j2JogPlus")
.setPosition(290, 363)
.setSize(90, 40)
.setFont(font)
.setCaptionLabel("JOG+")
;
cp5.addNumberbox("j2JogValue")
.setPosition(220, 368)
.setSize(50, 30)
.setRange(0, 20)
.setFont(font)
.setMultiplier(0.1)
.setValue(1)
.setDirection(Controller.HORIZONTAL) // change the control direction to left/right
.setCaptionLabel("")
;
//J3 controls
cp5.addSlider("j3Slider")
.setPosition(110, 440)
.setSize(270, 30)
.setRange(-162, 162)
.setColorLabel(3269c2)
.setFont(font)
.setCaptionLabel("")
;
cp5.addButton("j3JogMinus")
.setPosition(110, 493)
.setSize(90, 40)
.setFont(font)
.setCaptionLabel("JOG-")
;
cp5.addButton("j3JogPlus")
.setPosition(290, 493)
.setSize(90, 40)
.setFont(font)
.setCaptionLabel("JOG+")
;
cp5.addNumberbox("j3JogValue")
.setPosition(220, 493)
.setSize(50, 30)
.setRange(0, 20)
.setFont(font)
.setMultiplier(0.1)
.setValue(1)
.setDirection(Controller.HORIZONTAL) // change the control direction to left/right
.setCaptionLabel("")
;
//Z controls
cp5.addSlider("zSlider")
.setPosition(110, 565)
.setSize(270, 30)
.setRange(0, 150)
.setColorLabel(3269c2)
.setFont(font)
.setCaptionLabel("")
;
cp5.addButton("zJogMinus")
.setPosition(110, 618)
.setSize(90, 40)
.setFont(font)
.setCaptionLabel("JOG-")
;
cp5.addButton("zJogPlus")
.setPosition(290, 618)
.setSize(90, 40)
.setFont(font)
.setCaptionLabel("JOG+")
;
cp5.addNumberbox("zJogValue")
.setPosition(220, 618)
.setSize(50, 30)
.setRange(0, 20)
.setFont(font)
.setMultiplier(0.1)
.setValue(1)
.setDirection(Controller.HORIZONTAL) // change the control direction to left/right
.setCaptionLabel("")
;
cp5.addTextfield("xTextfield")
.setPosition(530, 205)
.setSize(70, 40)
.setFont(font)
.setColor(255)
.setCaptionLabel("")
;
cp5.addTextfield("yTextfield")
.setPosition(680, 205)
.setSize(70, 40)
.setFont(font)
.setColor(255)
.setCaptionLabel("")
;
cp5.addTextfield("zTextfield")
.setPosition(830, 205)
.setSize(70, 40)
.setFont(font)
.setColor(255)
.setCaptionLabel("")
;
cp5.addButton("move")
.setPosition(590, 315)
.setSize(240, 45)
.setFont(font)
.setCaptionLabel("MOVE TO POSITION")
;
cp5.addButton("savePosition")
.setPosition(470, 520)
.setSize(215, 50)
.setFont(font2)
.setCaptionLabel("SAVE POSITION")
;
cp5.addButton("run")
.setPosition(725, 520)
.setSize(215, 50)
.setFont(font2)
.setCaptionLabel("RUN PROGRAM")
;
cp5.addButton("updateSA")
.setPosition(760, 590)
.setSize(150, 40)
.setFont(font)
.setCaptionLabel("(Update)")
;
cp5.addButton("clearSteps")
.setPosition(490, 650)
.setSize(135, 40)
.setFont(font)
.setCaptionLabel("(CLEAR)")
;
//Z controls
cp5.addSlider("speedSlider")
.setPosition(490, 740)
.setSize(180, 30)
.setRange(500, 4000)
.setColorLabel(3269c2)
.setFont(font)
.setCaptionLabel("")
;
cp5.addSlider("accelerationSlider")
.setPosition(720, 740)
.setSize(180, 30)
.setRange(500, 4000)
.setColorLabel(3269c2)
.setFont(font)
.setCaptionLabel("")
;
cp5.addSlider("gripperValue")
.setPosition(605, 445)
.setSize(190, 30)
.setRange(0, 100)
.setColorLabel(3269c2)
.setFont(font)
.setCaptionLabel("")
;
}
void draw() {
background(F2F2F2); // background black
textSize(26);
fill(33);
text("Forward Kinematics", 120, 135);
text("Inverse Kinematics", 590, 135);
textSize(40);
text("SCARA Robot Control", 260, 60);
textSize(45);
text("J1", 35, 250);
text("J2", 35, 375);
text("J3", 35, 500);
text("Z", 35, 625);
textSize(22);
text("Speed", 545, 730);
text("Acceleration", 745, 730);
//println("PREV: "+accelerationSlider);
fill(speedSlider);
fill(accelerationSlider);
fill(j1Slider);
fill(j2Slider);
fill(j3Slider);
fill(zSlider);
fill(j1JogValue);
fill(j2JogValue);
fill(j3JogValue);
fill(zJogValue);
fill(gripperValue);
updateData();
//println(data);
saveStatus=0; // keep savePosition variable 0 or false. See, when button SAVE pressed it makes the value 1, which indicates to store the value in the arduino code
// If slider moved, calculate new position of X,Y and Z with forward kinematics
if (slider1Previous != j1Slider) {
if (activeIK == false) { // Check whether the inverseKinematics mode is active, Executre Forward kinematics only if inverseKinematics mode is off or false
theta1 = round(cp5.getController("j1Slider").getValue()); // get the value from the slider1
theta2 = round(cp5.getController("j2Slider").getValue());
forwardKinematics();
myPort.write(data);
}
}
slider1Previous = j1Slider;
if (slider2Previous != j2Slider) {
if (activeIK == false) { // Check whether the inverseKinematics mode is active, Executre Forward kinematics only if inverseKinematics mode is off or false
theta1 = round(cp5.getController("j1Slider").getValue()); // get the value from the slider1
theta2 = round(cp5.getController("j2Slider").getValue());
forwardKinematics();
myPort.write(data);
}
}
slider2Previous = j2Slider;
if (slider3Previous != j3Slider) {
if (activeIK == false) { // Check whether the inverseKinematics mode is active, Executre Forward kinematics only if inverseKinematics mode is off or false
theta1 = round(cp5.getController("j1Slider").getValue()); // get the value from the slider1
theta2 = round(cp5.getController("j2Slider").getValue());
forwardKinematics();
myPort.write(data);
}
}
slider3Previous = j3Slider;
if (sliderzPrevious != zSlider) {
if (activeIK == false) { // Check whether the inverseKinematics mode is active, Executre Forward kinematics only if inverseKinematics mode is off or false
zP = round(cp5.getController("zSlider").getValue());
myPort.write(data);
}
}
sliderzPrevious = zSlider;
if (gripperValuePrevious != gripperValue) {
if (activeIK == false) { // Check whether the inverseKinematics mode is active, Executre Forward kinematics only if inverseKinematics mode is off or false
gripperAdd = round(cp5.getController("gripperValue").getValue());
gripperValue=gripperAdd+50;
updateData();
println(data);
myPort.write(data);
}
}
gripperValuePrevious = gripperValue;
activeIK = false; // deactivate inverseKinematics so the above if statements can be executed the next interation
fill(33);
textSize(32);
text("X: ", 500, 290);
text(xP, 533, 290);
text("Y: ", 650, 290);
text(yP, 685, 290);
text("Z: ", 800, 290);
text(zP, 835, 290);
textSize(26);
text("Gripper", 650, 420);
text("CLOSE", 510, 470);
text("OPEN", 810, 470);
textSize(18);
if (positionsCounter >0 ) {
text(positions[positionsCounter-1], 460, 630);
text("Last saved position: No."+(positionsCounter-1), 460, 600);
} else {
text("Last saved position:", 460, 600);
text("None", 460, 630);
}
}
// FORWARD KINEMATICS
void forwardKinematics() {
float theta1F = theta1 * PI / 180; // degrees to radians
float theta2F = theta2 * PI / 180;
xP = round(L1 * cos(theta1F) + L2 * cos(theta1F + theta2F));
yP = round(L1 * sin(theta1F) + L2 * sin(theta1F + theta2F));
}
// INVERSE KINEMATICS
void inverseKinematics(float x, float y) {
theta2 = acos((sq(x) + sq(y) - sq(L1) - sq(L2)) / (2 * L1 * L2));
if (x < 0 & y < 0) {
theta2 = (-1) * theta2;
}
theta1 = atan(x / y) - atan((L2 * sin(theta2)) / (L1 + L2 * cos(theta2)));
theta2 = (-1) * theta2 * 180 / PI;
theta1 = theta1 * 180 / PI;
// Angles adjustment depending in which quadrant the final tool coordinate x,y is
if (x >= 0 & y >= 0) { // 1st quadrant
theta1 = 90 - theta1;
}
if (x < 0 & y > 0) { // 2nd quadrant
theta1 = 90 - theta1;
}
if (x < 0 & y < 0) { // 3d quadrant
theta1 = 270 - theta1;
phi = 270 - theta1 - theta2;
phi = (-1) * phi;
}
if (x > 0 & y < 0) { // 4th quadrant
theta1 = -90 - theta1;
}
if (x < 0 & y == 0) {
theta1 = 270 + theta1;
}
// Calculate "phi" angle so gripper is parallel to the X axis
phi = 90 + theta1 + theta2;
phi = (-1) * phi;
// Angle adjustment depending in which quadrant the final tool coordinate x,y is
if (x < 0 & y < 0) { // 3d quadrant
phi = 270 - theta1 - theta2;
}
if (abs(phi) > 165) {
phi = 180 + phi;
}
theta1=round(theta1);
theta2=round(theta2);
phi=round(phi);
cp5.getController("j1Slider").setValue(theta1);
cp5.getController("j2Slider").setValue(theta2);
cp5.getController("j3Slider").setValue(phi);
cp5.getController("zSlider").setValue(zP);
}
void controlEvent(ControlEvent theEvent) {
if (theEvent.isController()) {
println(theEvent.getController().getName());
}
}
public void xTextfield(String theText) {
//If we enter a value into the Textfield, read the value, convert to integer, set the inverseKinematics mode active
xP=Integer.parseInt(theText);
activeIK = true;
inverseKinematics(xP, yP); // Use inverse kinematics to calculate the J1(theta1), J2(theta2), and J3(phi) positions
//activeIK = false;
println("Test; theta1: "+theta1+" theta2: "+theta2);
}
public void yTextfield(String theText) {
yP=Integer.parseInt(theText);
activeIK = true;
inverseKinematics(xP, yP);
//activeIK = false;
}
public void zTextfield(String theText) {
zP=Integer.parseInt(theText);
activeIK = true;
inverseKinematics(xP, yP);
}
public void j1JogMinus() {
int a = round(cp5.getController("j1Slider").getValue());
a=a-j1JogValue;
cp5.getController("j1Slider").setValue(a);
}
//J1 control
public void j1JogPlus() {
int a = round(cp5.getController("j1Slider").getValue());
a=a+j1JogValue;
cp5.getController("j1Slider").setValue(a);
}
//J2 control
public void j2JogMinus() {
int a = round(cp5.getController("j2Slider").getValue());
a=a-j2JogValue;
cp5.getController("j2Slider").setValue(a);
}
public void j2JogPlus() {
int a = round(cp5.getController("j2Slider").getValue());
a=a+j2JogValue;
cp5.getController("j2Slider").setValue(a);
}
//J3 control
public void j3JogMinus() {
int a = round(cp5.getController("j3Slider").getValue());
a=a-j3JogValue;
cp5.getController("j3Slider").setValue(a);
}
public void j3JogPlus() {
int a = round(cp5.getController("j3Slider").getValue());
a=a+j3JogValue;
cp5.getController("j3Slider").setValue(a);
}
//J3 control
public void zJogMinus() {
int a = round(cp5.getController("zSlider").getValue());
a=a-zJogValue;
cp5.getController("zSlider").setValue(a);
}
public void zJogPlus() {
int a = round(cp5.getController("zSlider").getValue());
a=a+zJogValue;
;
cp5.getController("zSlider").setValue(a);
}
public void move() {
myPort.write(data);
println(data);
}
public void savePosition() {
// Save the J1, J2, J3 and Z position in the array
positions[positionsCounter]="J1="+str(round(cp5.getController("j1Slider").getValue()))
+"; J2=" + str(round(cp5.getController("j2Slider").getValue()))
+"; J3="+str(round(cp5.getController("j3Slider").getValue()))
+"; Z="+str(round(cp5.getController("zSlider").getValue()));
positionsCounter++;
saveStatus = 1;
updateData();
myPort.write(data);
saveStatus=0;
}
public void run() {
if (runStatus == 0) {
cp5.getController("run").setCaptionLabel("STOP");
cp5.getController("run").setColorLabel(e74c3c);
runStatus = 1;
} else if (runStatus == 1) {
runStatus = 0;
cp5.getController("run").setCaptionLabel("RUN PROGRAM");
cp5.getController("run").setColorLabel(255);
}
updateData();
myPort.write(data);
}
public void updateSA() {
myPort.write(data);
}
public void clearSteps() {
saveStatus = 2; // clear all steps / program
updateData();
myPort.write(data);
println("Clear: "+data);
positionsCounter=0;
saveStatus = 0;
}
public void updateData() {
data = str(saveStatus)
+","+str(runStatus)
+","+str(round(cp5.getController("j1Slider").getValue()))
+","+str(round(cp5.getController("j2Slider").getValue()))
+","+str(round(cp5.getController("j3Slider").getValue()))
+","+str(round(cp5.getController("zSlider").getValue()))
+","+str(gripperValue)
+","+str(speedSlider)
+","+str(accelerationSlider);
}
I wasn't joking. You indicate they don't compile. How about my second question? Most of us will not have your exact configuration, so we're left with visual inspection of your code as the only path forward; the exact wording of all error messages is essential for us to help you.
Sorry i forgot to answere your second question. My apologies.
When i try to compile the code i get this error:
The GUI_for_SCARA_Robot.pde file is processing code, that runs on your computer, not on the arduino. It is not intended to be compiled by the Arduino IDE.
@xurdo16 just to clarify: https://processing.org/
This topic was automatically closed 180 days after the last reply. New replies are no longer allowed.
