ank/pick-n-place
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final path

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This commit is contained in:
Andy Killorin 2024-05-22 17:54:44 -05:00
parent d6614af693
commit c60cad55de
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 51 additions and 17 deletions
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68
src/main.rs
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@ -3,7 +3,7 @@
#![feature(abi_avr_interrupt, cell_update)]
use arduino_hal::{delay_ms, hal::port::PD5, pac::tc1::OCR1A, port::{mode::{Input, PullUp}, Pin}};
use arduino_hal::{delay_ms, hal::port::PD5, pac::tc1::{OCR1A, OCR1B}, port::{mode::{Input, PullUp}, Pin}};
use avr_device::interrupt;
use encoder::{rotations, setup_encoder, COUNTS};
use panic_halt as _;
@ -44,38 +44,58 @@ fn main() -> ! {
let switch = pins.d5.into_pull_up_input();
const CONVEYOR: f32 = 0.37;
const SPINNER: f32 = 0.75;
const LIDS: f32 = 0.05;
const OUT: f32 = 0.89;
piston.set_high();
uwriteln!(serial, "homing").unwrap();
home(carriage, &switch);
uwriteln!(serial, "homed").unwrap();
move_to(&carriage, 0.125);
uwriteln!(serial, "start").unwrap();
loop {
claw.set_speed(-0.2); // close
uwriteln!(serial, "close").unwrap();
delay_ms(1000);
claw.set_speed(0.0);
// get jar
move_to(&carriage, CONVEYOR);
open(&claw);
piston.set_low();
delay_ms(1000);
close(&claw);
piston.set_high(); // up
delay_ms(1000);
move_to(&carriage, 0.5); // go
delay_ms(1000); // rise
// drop jar
move_to(&carriage, SPINNER);
piston.set_low(); // down
delay_ms(1000);
open(&claw);
piston.set_high(); // up
delay_ms(1000); // rise
claw.set_speed(0.2); // open
// get cap
piston.set_high(); // up
delay_ms(1000); // rise
move_to(&carriage, LIDS);
piston.set_low(); // down
delay_ms(1000);
claw.set_speed(0.0);
close(&claw);
piston.set_high(); // up
delay_ms(1000); // rise
move_to(&carriage, SPINNER);
piston.set_low(); // down
delay_ms(1_000); // TODO: spin caps
//piston.set_high(); // up
//delay_ms(1000); // rise
//move_to(&carriage, OUT);
open(&claw);
piston.set_high(); // up
delay_ms(1000);
move_to(&carriage, 0.125); // initial
piston.set_low(); //down
delay_ms(1000);
delay_ms(10_000);
}
}
@ -146,3 +166,17 @@ fn home(carriage: &OCR1A, switch: &Pin<Input<PullUp>, PD5>) {
interrupt::free(|cs| COUNTS.borrow(cs).set(0));
}
fn close(claw: &OCR1B) {
claw.set_speed(-0.2); // close
delay_ms(1000);
claw.set_speed(0.0);
delay_ms(1000);
}
fn open(claw: &OCR1B) {
claw.set_speed(0.2); // close
delay_ms(1000);
claw.set_speed(0.0);
delay_ms(1000);
}