v1.7.1 rewrite attach & detach function set_servo_status

Author: altjz

HISTORY.md

@@ -1,5 +1,11 @@
 # uArm Arduino Library Release Note
 
+## [1.7.1] - 2016-06-28
+
+### Fix
+- Set Current angle after attach servo
+- rewrite set_servo_status replace attach_servo detach_servo
+
 ## [1.7.0] - 2016-06-24
 
 ### Fix

examples/Calibration/Calibration.ino

@@ -180,7 +180,10 @@ void manual_calibration_section()
 {
         int setLoop = 1;
 
-        uarm.detach_all_servos();
+        uarm.set_servo_status(false, SERVO_ROT_NUM);
+        uarm.set_servo_status(false, SERVO_LEFT_NUM);
+        uarm.set_servo_status(false, SERVO_RIGHT_NUM);
+        uarm.set_servo_status(false, SERVO_HAND_ROT_NUM);
 
         Serial.println("Put uarm in calibration posture (servo 1 to 3: 45, 130, 20 degree respectively), then input 1");
         while (setLoop) {

examples/GetXYZ/GetXYZ.ino

@@ -80,8 +80,21 @@ void loop() {
                 // Detach Servo
 
                 if (readSerial == 'd') {
-                        uarm.detach_all_servos();
+                    uarm.set_servo_status(false, SERVO_ROT_NUM);
+                    uarm.set_servo_status(false, SERVO_LEFT_NUM);
+                    uarm.set_servo_status(false, SERVO_RIGHT_NUM);
+                    uarm.set_servo_status(false, SERVO_HAND_ROT_NUM);
                 }
+                //----------------------------------  function a  ------------------------------------
+                // Detach Servo
+
+                if (readSerial == 'a') {
+                    uarm.set_servo_status(true, SERVO_ROT_NUM);
+                    uarm.set_servo_status(true, SERVO_LEFT_NUM);
+                    uarm.set_servo_status(true, SERVO_RIGHT_NUM);
+                    uarm.set_servo_status(true, SERVO_HAND_ROT_NUM);
+                }
+
                 //----------------------------------  function o  ------------------------------------
                 // Pump on
                 if (readSerial == 'o') {
@@ -97,7 +110,6 @@ void loop() {
                 // function below is for print current x,y,z absolute location
 
                 if (readSerial == 'g') {
-                        uarm.detach_all_servos();
                         uarm.get_current_xyz();
                         Serial.print("The current location is ");
                         Serial.print(uarm.get_current_x());

examples/GettingStarted/GettingStarted.ino

@@ -19,8 +19,8 @@
 #define UARM_FIRMATA_BUGFIX        2
 
 #define UARM_FIRMWARE_MAJOR_VERSION 1
-#define UARM_FIRMWARE_MINOR_VERSION 6
-#define UARM_FIRMWARE_BUGFIX        2
+#define UARM_FIRMWARE_MINOR_VERSION 7
+#define UARM_FIRMWARE_BUGFIX        1
 
 #define START_SYSEX             0xF0 // start a MIDI Sysex message
 #define END_SYSEX               0xF7 // end a MIDI Sysex message
@@ -37,7 +37,7 @@
 #define WRITE_ANALOG                (0X17)
 #define READ_EEPROM                 (0X1A)
 #define WRITE_EEPROM                (0X1B)
-#define DETACH_SERVO                (0X1C)
+#define SERVO_STATUS                (0X1C)
 #define PUMP_STATUS                 (0X1D)
 #define WRITE_STRETCH               (0X1E)
 #define WRITE_LEFT_RIGHT_ANGLE      (0X1F)
@@ -61,6 +61,7 @@ int sysexBytesRead;
 void setup()
 {
   Serial.begin(57600);
+  uarm.init();
 }
 
 void loop()
@@ -271,9 +272,12 @@ boolean handleSysex(byte command, byte argc, byte *argv)
         }
 
         // CMD 1C Servo Attach or Detach
-        if (uarmCommand == DETACH_SERVO)
+        if (uarmCommand == SERVO_STATUS)
         {
-            uarm.detach_all_servos();
+            // uarm.detach_all_servos();
+            byte servo_num = argv[1];
+            boolean servo_status = argv[2] == 0 ?  false : true;
+            uarm.set_servo_status(servo_status, servo_num);
             return true;
         }
 

examples/UArmProtocol/UArmProtocol.ino

@@ -167,7 +167,7 @@ String runCommand(String cmnd){
                 if(errorResponse.length() > 0) {return errorResponse; }
                 float values[1];
                 getCommandValues(cmnd, attachDetachParameters, 1, values);
-                if(values[0] == 1) {           uarm.g_servo_rot.attach(SERVO_ROT_PIN); }else if(values[0] == 2) {    uarm.g_servo_left.attach(SERVO_LEFT_PIN); }else if(values[0] == 3) {   uarm.g_servo_right.attach(SERVO_RIGHT_PIN); }else if(values[0] == 4) {uarm.g_servo_hand_rot.attach(SERVO_HAND_PIN); }else{ return F("[ERROR: Servo number does not exist]\n"); }
+                if(values[0] == 1) {           uarm.set_servo_status(true, SERVO_ROT_NUM); }else if(values[0] == 2) {     uarm.set_servo_status(true, SERVO_LEFT_NUM); }else if(values[0] == 3) {    uarm.set_servo_status(true, SERVO_RIGHT_NUM); }else if(values[0] == 4) { uarm.set_servo_status(true, SERVO_HAND_ROT_NUM); }else{ return F("[ERROR: Servo number does not exist]\n"); }
                 return ok + cmnd + endB;
         }
 
@@ -177,7 +177,7 @@ String runCommand(String cmnd){
                 if(errorResponse.length() > 0) {return errorResponse; }
                 float values[1];
                 getCommandValues(cmnd, attachDetachParameters, 1, values);
-                if(values[0] == 1) {      uarm.g_servo_rot.detach(); }else if(values[0] == 2) {uarm.g_servo_left.detach(); }else if(values[0] == 3) {uarm.g_servo_right.detach(); }else if(values[0] == 4) {uarm.g_servo_hand_rot.detach(); }else{ return "[ERROR: Servo number " + String(values[0]) + " does not exist]\n"; }
+                if(values[0] == 1) {      uarm.set_servo_status(false, SERVO_ROT_NUM); }else if(values[0] == 2) {uarm.set_servo_status(false, SERVO_LEFT_NUM); }else if(values[0] == 3) {uarm.set_servo_status(false, SERVO_RIGHT_NUM); }else if(values[0] == 4) {uarm.set_servo_status(false, SERVO_HAND_ROT_NUM); }else{ return "[ERROR: Servo number " + String(values[0]) + " does not exist]\n"; }
                 return ok + cmnd + endB;
         }