bcmi-labs / arduino-library-braccio Goto Github PK

It'd be great to use the Braccio with an Ardunio/Genuino 101 - is this something that would be possible?

Looking at the code:

https://github.com/arduino-org/arduino-library-braccio/blob/ef272af7f3e707e937d23300ab5c7d4fe257721d/src/Braccio.cpp#L191

Is this correct? It seems that the wrist_rot and wrist_ver servos are kind of mixed up?

Would it be possible to support other pins than the default one?

I see that the function you use to begin the Braccio is

In Braccio.cpp

unsigned int _Braccio::begin(int soft_start_level) {

In Braccio.h

unsigned int begin(int soft_start_level=SOFT_START_DEFAULT);

In the code I see

#define SOFT_START_CONTROL_PIN 12
base.attach(11);
shoulder.attach(10);
elbow.attach(9);
wrist_rot.attach(6);
wrist_ver.attach(5);
gripper.attach(3);

Would it be possible to have

In Braccio.cpp

unsigned int _Braccio::begin(int soft_start_level, int pinStart=12, int pinbase=11,int pinShoulder=10, int pinElbow=9, int pinWrist_ver=5, int pinWrist_rot=6, int pinGripper=3) {

In Braccio.h

unsigned int begin(int soft_start_level=SOFT_START_DEFAULT, int pinStart, int pinbase,int pinShoulder, int pinElbow, int pinWrist_ver, int pinWrist_rot, int pinGripper);

Would it be possible to support a "PIN_DISABLED" field to support things like

_Braccio.begin(SOFT_START_DEFAULT, 12, PIN_DISABLED,PIN_DISABLED, 9, 5 PIN_DISABLED, 3) {

That could be used to avoid the initial setting of the arm.

Would it be possible to support a "DONT_CHANGE" field to support things like

Braccio.ServoMovement(20, 0, DONT_CHANGE, 180, DONT_CHANGE, 0, DONT_CHANGE);

Could you describe in the readme the pins that are used? :)

In particular these pins :) It's not obvious for people that want to know a bit more that just connecting it to an aruino uno.

#define SOFT_START_CONTROL_PIN 12
base.attach(11);
shoulder.attach(10);
elbow.attach(9);
wrist_rot.attach(6);
wrist_ver.attach(5);
gripper.attach(3);

Do you support 3.3v as an input for the pins 12, 11, 10, 9, 6, 5, 3 ?

It seams to work :)