caperren/osurc_mars_rover_2017_2018
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Merge branch 'master' of https://github.com/OSURoboticsClub/Rover_2017_2018

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Corwin Perren
2018-08-07 05:19:06 -07:00
parent 501b24e795 0c2d7a9930
commit 82f02eef66
1 changed files with 14 additions and 4 deletions
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18
software/firmware/gripper/gripper.ino
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@@ -176,6 +176,8 @@ long curr_millis = 0;
// Local modbus variables // Local modbus variables
bool global_home = false; bool global_home = false;
bool global_home_started = false;
bool pinch_home_started = false;
uint16_t global_state = 0; uint16_t global_state = 0;
uint16_t modbus_position = 0; uint16_t modbus_position = 0;
bool modbus_light_state = false; bool modbus_light_state = false;
@@ -318,6 +320,7 @@ void poll_modbus(){
global_state = modbus_data[MODBUS_REGISTERS::MODE]; global_state = modbus_data[MODBUS_REGISTERS::MODE];
modbus_position = modbus_data[MODBUS_REGISTERS::FINGER_POSITION]; modbus_position = modbus_data[MODBUS_REGISTERS::FINGER_POSITION];
global_home = modbus_data[MODBUS_REGISTERS::HOME]; global_home = modbus_data[MODBUS_REGISTERS::HOME];
global_home_started = global_home;
modbus_light_state = modbus_data[MODBUS_REGISTERS::LIGHT_STATE]; modbus_light_state = modbus_data[MODBUS_REGISTERS::LIGHT_STATE];
// when shit dies // when shit dies
@@ -405,13 +408,20 @@ void home_routine(){
if (global_home){ if (global_home){
// need to home all axis // need to home all axis
// home 2 / 3 / 4 first // home 2 / 3 / 4 first
motor_groups[MG_INDEX::FOREFINGER].IS_HOMING = true; if (global_home_started){
motor_groups[MG_INDEX::THUMB].IS_HOMING = true; motor_groups[MG_INDEX::FOREFINGER].IS_HOMING = true;
motor_groups[MG_INDEX::MIDDLEFINGER].IS_HOMING = true; motor_groups[MG_INDEX::THUMB].IS_HOMING = true;
motor_groups[MG_INDEX::MIDDLEFINGER].IS_HOMING = true;
global_home_started = false;
pinch_home_started = true;
}
// wait till done // wait till done
if (!motor_groups[MG_INDEX::FOREFINGER].IS_HOMING && !motor_groups[MG_INDEX::THUMB].IS_HOMING && !motor_groups[MG_INDEX::MIDDLEFINGER].IS_HOMING){ if (!motor_groups[MG_INDEX::FOREFINGER].IS_HOMING && !motor_groups[MG_INDEX::THUMB].IS_HOMING && !motor_groups[MG_INDEX::MIDDLEFINGER].IS_HOMING){
// home 1 // home 1
motor_groups[MG_INDEX::PINCH].IS_HOMING = true; if (pinch_home_started){
motor_groups[MG_INDEX::PINCH].IS_HOMING = true;
pinch_home_started = false;
}
} }
// reset // reset
if (!motor_groups[MG_INDEX::FOREFINGER].IS_HOMING && !motor_groups[MG_INDEX::THUMB].IS_HOMING && !motor_groups[MG_INDEX::MIDDLEFINGER].IS_HOMING && !motor_groups[MG_INDEX::PINCH].IS_HOMING){ if (!motor_groups[MG_INDEX::FOREFINGER].IS_HOMING && !motor_groups[MG_INDEX::THUMB].IS_HOMING && !motor_groups[MG_INDEX::MIDDLEFINGER].IS_HOMING && !motor_groups[MG_INDEX::PINCH].IS_HOMING){