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LAPTOP-HS5NB06S\29019 2020-06-16 11:12:47 +08:00
parent 737b3ce532
commit 1ea005d398
1 changed files with 6 additions and 3 deletions
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9
arduino/arduino/moveo_moveit/move_moveit/move_moveit.ino
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@ -28,6 +28,7 @@
#include <AccelStepper.h> #include <AccelStepper.h>
#include <MultiStepper.h> #include <MultiStepper.h>
// Joint 1 // Joint 1
#define E1_STEP_PIN 53 #define E1_STEP_PIN 53
#define E1_DIR_PIN 51 #define E1_DIR_PIN 51
@ -58,6 +59,8 @@
#define E0_ENABLE_PIN 24 #define E0_ENABLE_PIN 24
// EG X-Y position bed driven by 2 steppers
// Alas its not possible to build an array of these with different pins for each :-(
AccelStepper joint1(1,E1_STEP_PIN, E1_DIR_PIN); AccelStepper joint1(1,E1_STEP_PIN, E1_DIR_PIN);
AccelStepper joint2(1,Z_STEP_PIN, Z_DIR_PIN); AccelStepper joint2(1,Z_STEP_PIN, Z_DIR_PIN);
AccelStepper joint3(1,Y_STEP_PIN, Y_DIR_PIN); AccelStepper joint3(1,Y_STEP_PIN, Y_DIR_PIN);
@ -74,7 +77,7 @@ ros::NodeHandle nh;
std_msgs::Int16 msg; std_msgs::Int16 msg;
//instantiate publisher (for debugging purposes) //instantiate publisher (for debugging purposes)
//ros::Publisher steps("joint_steps_feedback",&msg); ros::Publisher steps("joint_steps_feedback",&msg);
void arm_cb(const moveo_moveit::ArmJointState& arm_steps){ void arm_cb(const moveo_moveit::ArmJointState& arm_steps){
joint_status = 1; joint_status = 1;
@ -138,8 +141,8 @@ void loop() {
positions[4] = -joint_step[4]; positions[4] = -joint_step[4];
// Publish back to ros to check if everything's correct // Publish back to ros to check if everything's correct
//msg.data=positions[4]; msg.data=positions[4];
//steps.publish(&msg); steps.publish(&msg);
steppers.moveTo(positions); steppers.moveTo(positions);
nh.spinOnce(); nh.spinOnce();