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MicroPede robot controller 🤖🖥👾

Home Page: https://micropede.de

License: MIT License

C++ 19.38% C 78.38% Makefile 0.01% Shell 0.09% CMake 0.60% Objective-C 1.55%

robotics robot robotic-arm controller arduino teensy

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Kinematik Bibliothek in Python übersetzt

https://gist.github.com/Markus-Schwer/69ca54a52e8e7d3cfef87e8bda6fc5d6

Better explanation of Geometry array

Can you please better explain what do the values in the geometry array present.

float geometry[5][3] = { { 4.2, 0, 8.5 }, { 0, 0, 9.5 }, { 1, 0, 1.85 }, { 14.8, 0, 0 }, { 0, 0, -2.2 } };
Thank you!

I've tried to run your library on my UNO and it says that program size (70250 bytes) is way too high then I can handle (32kb).
Is it possible to reduce it to 32kb or I need to buy another arduino version?

P.S. Even Teensy 3.1 won't fit your lib with it 64kb and you mentioned it in .ini file.

platformio run ends with error

Sorry i am new to platformio could you please help me out

Processing megaatmega2560 (platform: atmelavr; board: megaatmega2560; framework: arduino)
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Verbose mode can be enabled via `-v, --verbose` option
CONFIGURATION: https://docs.platformio.org/page/boards/atmelavr/megaatmega2560.html
PLATFORM: Atmel AVR > Arduino Mega or Mega 2560 ATmega2560 (Mega 2560)
HARDWARE: ATMEGA2560 16MHz 8KB RAM (248KB Flash)
Library Dependency Finder -> http://bit.ly/configure-pio-ldf
LDF MODES: FINDER(chain) COMPATIBILITY(soft)
Collected 11 compatible libraries
Scanning dependencies...
Dependency Graph
|-- <SPI> 1.0
|-- <TimerOne>
|-- <Adafruit SSD1306> 1.1.2

|   |-- <SPI> 1.0
|   |-- <Wire> 1.0
|   |-- <Adafruit GFX Library> 1.1.5
|-- <Adafruit GFX Library> 1.1.5
|-- <Wire> 1.0
|-- <Servo> 1.1.3
|-- <EEPROM> 2.0
Compiling .pioenvs\megaatmega2560\src\EEPromStorage.cpp.o
Compiling .pioenvs\megaatmega2560\src\IOLogic.cpp.o
Compiling .pioenvs\megaatmega2560\src\Kinematic.cpp.o
Compiling .pioenvs\megaatmega2560\src\Logger.cpp.o
Compiling .pioenvs\megaatmega2560\src\MRCPParser.cpp.o
Compiling .pioenvs\megaatmega2560\src\MRILParser.cpp.o
Compiling .pioenvs\megaatmega2560\src\RingBuffer.cpp.o
Compiling .pioenvs\megaatmega2560\src\RobotController.cpp.o
src\EEPromStorage.cpp: In member function 'void EEPromStorage::appendMessage(char*, char)':
src\EEPromStorage.cpp:27:26: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for (size_t i = 0; i < length; i++) {
^
src\EEPromStorage.cpp:34:19: warning: array subscript has type 'char' [-Wchar-subscripts]
message[length] = 0;
^
src\EEPromStorage.cpp: In member function 'char EEPromStorage::getMessage(unsigned int, char*)':
src\EEPromStorage.cpp:54:26: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for (size_t i = 0; i < messageLength; i++) {
^
src\IOLogic.cpp: In member function 'void IOLogic::addCondition(unsigned int, unsigned int)':
src\IOLogic.cpp:17:22: error: 'INPUT_PULLDOWN' was not declared in this scope
pinMode(pin, INPUT_PULLDOWN);
src\IOLogic.cpp: In member function 'void IOLogic::setOutput(unsigned int, unsigned int)':
src\IOLogic.cpp:32:20: warning: invalid conversion from 'unsigned int' to 'const char*' [-fpermissive]
logger.info(pin);
^
In file included from src\IOLogic.cpp:4:0:
src\Logger.h:30:10: note:   initializing argument 1 of 'void Logger::info(const char*, bool)'
void info(const char *text,
^
src\IOLogic.cpp:34:22: warning: invalid conversion from 'unsigned int' to 'const char*' [-fpermissive]
logger.info(state);
^
In file included from src\IOLogic.cpp:4:0:
src\Logger.h:30:10: note:   initializing argument 1 of 'void Logger::info(const char*, bool)'
void info(const char *text,
^

*** [.pioenvs\megaatmega2560\src\IOLogic.cpp.o] Error 1
src\MRCPParser.cpp: In member function 'void MRCPParser::parseCommand(char*, unsigned int)':
src\MRCPParser.cpp:83:36: warning: invalid conversion from 'char' to 'const char*' [-fpermissive]
logger.info((char)buffer[0]);
^
In file included from src\MRCPR.h:9:0,
from src\MRILParser.h:10,
from src\MRCPParser.h:6,
from src\MRCPParser.cpp:1:
src\Logger.h:30:10: note:   initializing argument 1 of 'void Logger::info(const char*, bool)'
void info(const char *text,
^
src\MRCPParser.cpp: In member function 'void MRCPParser::process()':
src\MRCPParser.cpp:164:20: warning: enumeration value 'HALT' not handled in switch [-Wswitch]
switch (this->mrcpMode) {
^
src\MRCPParser.cpp:164:20: warning: enumeration value 'EXECUTE' not handled in switch [-Wswitch]
In file included from src\MRCPR.h:9:0,
from src\MRILParser.h:10,
from src\MRILParser.cpp:1:
src\Logger.h: In member function 'void MRILParser::parse(char*, unsigned int)':
src\Logger.h:24:10: note:   initializing argument 1 of 'void Logger::warning(String, bool)'
void warning(String text,
^
src\MRILParser.cpp:254:42: error: no matching function for call to 'Logger::warning(float&)'
_logger.warning(value);
^
In file included from src\MRCPR.h:9:0,
from src\MRILParser.h:10,
from src\MRILParser.cpp:1:
src\Logger.h:24:10: note: candidate: void Logger::warning(String, bool)
void warning(String text,
^
src\Logger.h:24:10: note:   no known conversion for argument 1 from 'float' to 'String'
src\Logger.h:24:10: note:   initializing argument 1 of 'void Logger::warning(String, bool)'
*** [.pioenvs\megaatmega2560\src\MRILParser.cpp.o] Error 1
In file included from src\RobotController.cpp:2:0:
src\RobotController.h: In constructor 'RobotController::RobotController(VarSpeedServo**, Kinematic&, float (*)[2], void (*)(float*), void (*)(float*))':
src\RobotController.h:119:28: warning: 'RobotController::Servos' will be initialized after [-Wreorder]
VarSpeedServo *Servos[6];
^
src\RobotController.h:118:16: warning:   'Kinematic& RobotController::_Kinematic' [-Wreorder]
Kinematic &_Kinematic;
^
src\RobotController.cpp:47:1: warning:   when initialized here [-Wreorder]

RobotController::RobotController(VarSpeedServo *servos[],
^
In file included from src\RobotController.cpp:2:0:
src\RobotController.h:118:16: warning: 'RobotController::_Kinematic' will be initialized after [-Wreorder]
Kinematic &_Kinematic;
^
src\RobotController.h:95:32: warning:   'float RobotController::logicalAngleLimits [6][2]' [-Wreorder]
float logicalAngleLimits[6][2];
^
src\RobotController.cpp:47:1: warning:   when initialized here [-Wreorder]
RobotController::RobotController(VarSpeedServo *servos[],
^
src\RobotController.cpp: In member function 'void RobotController::process()':
src\RobotController.cpp:384:49: warning: invalid conversion from 'unsigned int' to 'const char*' [-fpermissive]
logger.info(currentInterpolationStep);
^
In file included from src\RobotController.cpp:3:0:
src\Logger.h:30:10: note:   initializing argument 1 of 'void Logger::info(const char*, bool)'
void info(const char *text,
^
src\RobotController.cpp:385:48: warning: invalid conversion from 'unsigned int' to 'const char*' [-fpermissive]
logger.info(totalInterpolationSteps);
^
In file included from src\RobotController.cpp:3:0:
src\Logger.h:30:10: note:   initializing argument 1 of 'void Logger::info(const char*, bool)'
void info(const char *text,
^
src\RobotController.cpp:480:16: warning: enumeration value 'CIRCULAR' not handled in switch [-Wswitch]
switch (this->movementMethod) {
^
src\RobotController.cpp:596:27: error: no matching function for call to 'Logger::info(float&)'
logger.info(dx);
^
In file included from src\RobotController.cpp:3:0:
src\Logger.h:27:10: note: candidate: void Logger::info(String, bool)
void info(String text,
^
src\Logger.h:27:10: note:   no known conversion for argument 1 from 'float' to 'String'
src\Logger.h:30:10: note: candidate: void Logger::info(const char*, bool)
void info(const char *text,
^
src\Logger.h:30:10: note:   no known conversion for argument 1 from 'float' to 'const char*'

src\RobotController.cpp:597:27: error: no matching function for call to 'Logger::info(float&)'
logger.info(dy);
^
In file included from src\RobotController.cpp:3:0:
src\Logger.h:27:10: note: candidate: void Logger::info(String, bool)
void info(String text,
^
src\Logger.h:27:10: note:   no known conversion for argument 1 from 'float' to 'String'
src\Logger.h:30:10: note: candidate: void Logger::info(const char*, bool)
void info(const char *text,
^
src\Logger.h:30:10: note:   no known conversion for argument 1 from 'float' to 'const char*'
src\RobotController.cpp:598:27: error: no matching function for call to 'Logger::info(float&)'
logger.info(dz);
^
In file included from src\RobotController.cpp:3:0:
src\Logger.h:27:10: note: candidate: void Logger::info(String, bool)
void info(String text,
^
src\Logger.h:27:10: note:   no known conversion for argument 1 from 'float' to 'String'
src\Logger.h:30:10: note: candidate: void Logger::info(const char*, bool)
void info(const char *text,
^
src\Logger.h:30:10: note:   no known conversion for argument 1 from 'float' to 'const char*'
src\RobotController.cpp:599:27: error: no matching function for call to 'Logger::info(float&)'
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src\RobotController.cpp:645:53: error: no matching function for call to 'Logger::info(float&, bool)'
logger.info(tmpTargetPose[4],      false);
^
In file included from src\RobotController.cpp:3:0:

src\Logger.h:27:10: note: candidate: void Logger::info(String, bool)
void info(String text,
^
src\Logger.h:27:10: note:   no known conversion for argument 1 from 'float' to 'String'
src\Logger.h:30:10: note: candidate: void Logger::info(const char*, bool)
void info(const char *text,
^
src\Logger.h:30:10: note:   no known conversion for argument 1 from 'float' to 'const char*'
src\RobotController.cpp:646:53: error: no matching function for call to 'Logger::info(float&, bool)'
logger.info(tmpTargetPose[5],      false);
^
In file included from src\RobotController.cpp:3:0:
src\Logger.h:27:10: note: candidate: void Logger::info(String, bool)
void info(String text,
^
src\Logger.h:27:10: note:   no known conversion for argument 1 from 'float' to 'String'
src\Logger.h:30:10: note: candidate: void Logger::info(const char*, bool)
void info(const char *text,
^
src\Logger.h:30:10: note:   no known conversion for argument 1 from 'float' to 'const char*'
src\RobotController.cpp: In member function 'float RobotController::getCurrentPose(RobotController::POSITION)':
src\RobotController.cpp:161:1: warning: control reaches end of non-void function [-Wreturn-type]
}
^
src\RobotController.cpp: In member function 'float RobotController::getTargetPose(RobotController::POSITION)':
src\RobotController.cpp:274:1: warning: control reaches end of non-void function [-Wreturn-type]
}
^
*** [.pioenvs\megaatmega2560\src\RobotController.cpp.o] Error 1

Position from g-code

Hi,
I am working with UR5 as a 6DOF robot and I connect to UR_modern driver trough ROS Kinetic. Actually, I need to translate a g-code file to robot positions. Hence, I tried to find out your g-code insertion method in order to combine it with my robot controller, but I couldn't distinguish it. I would be thankful if you could make this step of your program (g-code interpreting) more clear?

Config for R-C

Is there any configuration for the mp-robot-c wich can be used out-of-the-box (like with the https://github.com/glumb/mrc/blob/master/config/mp-robot-d.h) ?

If yes - can you please uplad it to this repository ?

MRC

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glumb / mrc Goto Github PK

mrc's People

Contributors

Stargazers

Watchers

Forkers

mrc's Issues

Kinematik Bibliothek in Python übersetzt

Images

Better explanation of Geometry array

Program size is way too high

platformio run ends with error

Position from g-code

Config for R-C

MRC

Recommend Projects

React

Vue.js

Typescript

TensorFlow

Django

Laravel

D3

Recommend Topics

javascript

web

server

Machine learning

Visualization

Game

Recommend Org

Facebook

Microsoft

Google

Alibaba

D3

Tencent