This PR is kind of big because it's where we go from purely-C++ functions to full-fledged Arduino sketches that compile. The big source of complexity is the fact that the arm motors and the gripper motors will be separate, meaning they need two separate sketches that compile separately as well. To that end, several file-level changes are made:
Deleted all .ino files
Created Arm/Arm.ino to control the arm
Created Gripper/Gripper.ino to control the gripper
Created libraries/ to store shared code
each library follows the convention of BURT_arm_X, where X is the functionality.
Updated the README with details on compiling the library.
The two sketches are mostly similar, the main difference being Arm.ino uses IK whereas Gripper.ino does not. They share the same layout:
A list of variables for the motors
An empty setup function
A loop function that blocks while the motors are moving, checking if they have stalled since
A calibrate function that calibrates all the motors.
A parseCommand function to parse the command received from the controller
This PR is kind of big because it's where we go from purely-C++ functions to full-fledged Arduino sketches that compile. The big source of complexity is the fact that the arm motors and the gripper motors will be separate, meaning they need two separate sketches that compile separately as well. To that end, several file-level changes are made:
.inofilesArm/Arm.inoto control the armGripper/Gripper.inoto control the gripperlibraries/to store shared codeBURT_arm_X, whereXis the functionality.The two sketches are mostly similar, the main difference being
Arm.inouses IK whereasGripper.inodoes not. They share the same layout:setupfunctionloopfunction that blocks while the motors are moving, checking if they have stalled sincecalibratefunction that calibrates all the motors.parseCommandfunction to parse the command received from the controller