Uarm Arduino Demo Code
/************************************************************************ * File Name : MotionDemo * Author : Evan * Updated : Evan * Version : V0.0.2 * Date : 9 June, 2014 * Description : * License : * Copyright(C) 2014 UFactory Team. All right reserved. *************************************************************************/ #include#include UF_uArm uarm; // initialize the uArm library void setup() { uarm.init(); // initialize the uArm position uarm.setServoSpeed(SERVO_R, 50); // 0=full speed, 1-255 slower to faster uarm.setServoSpeed(SERVO_L, 50); // 0=full speed, 1-255 slower to faster uarm.setServoSpeed(SERVO_ROT, 50); // 0=full speed, 1-255 slower to faster delay(500); } void loop() { motion(); motionReturn(); } void motion() { uarm.setPosition(60, 0, 0, 0); // stretch out delay(400); uarm.setPosition(60, -45, 0, 0); // down uarm.gripperCatch(); // catch delay(400); uarm.setPosition(60, 0, 0, 0); // up delay(400); uarm.setPosition(60, 0, 25, 0); // rotate delay(400); uarm.setPosition(60, -45, 25, 0); // down delay(400); uarm.gripperRelease(); // release delay(100); uarm.setPosition(60, 0, 25, 0); // up delay(400); uarm.setPosition(0, 0, 25, 0); delay(400); uarm.gripperDirectDetach(); // direct detach delay(500); } void motionReturn() { uarm.setPosition(60, 0, 25, 0); // stretch out delay(400); uarm.setPosition(60, -45, 25, 0); // down uarm.gripperCatch(); // catch delay(400); uarm.setPosition(60, 0, 25, 0); // up delay(400); uarm.setPosition(60, 0, 0, 0); // rotate delay(400); uarm.setPosition(60, -45, 0, 0); // down delay(400); uarm.gripperRelease(); // release delay(100); uarm.setPosition(60, 0, 0, 0); // up delay(400); uarm.setPosition(0, 0, 0, 0); // original position delay(400); uarm.gripperDirectDetach(); // direct detach delay(500); }