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Hola tengo un problema. Tengo 2 sketch que funcionan bien por separado, pero no consigo hacer que funcionen bien juntos. Estoy intentado clasificar piezas con un brazo robotico de arduino (Braccio) según su peso. He hecho una bascula con arduino y peso las piezas y me da un valor correcto. Por otra parte consigo que el robot ponga las piezas en distintos cajones dependiendo del valor que le asigno a cada pieza. Pero no consigo hacer que el valor de cada pieza venga determinado por el peso de la balanza.
Os dejo los códigos de cada parte por separado y el que intento que funcione en común.
Código de la balanza
Código:
//-------------------------------------------------------------------------------------
// HX711_ADC.h
// Arduino master library for HX711 24-Bit Analog-to-Digital Converter for Weigh Scales
// Olav Kallhovd sept2017
// Tested with : HX711 asian module on channel A and YZC-133 3kg load cell
// Tested with MCU : Arduino Nano
//-------------------------------------------------------------------------------------
// This is an example sketch on how to use this library
// Settling time (number of samples) and data filtering can be adjusted in the HX711_ADC.h file
#include <HX711_ADC.h>
//HX711 constructor (dout pin, sck pin)
HX711_ADC LoadCell(6, 7);
long t;
void setup() {
Serial.begin(9600);
Serial.println("Wait...");
LoadCell.begin();
long stabilisingtime = 2000; // tare preciscion can be improved by adding a few seconds of stabilising time
LoadCell.start(stabilisingtime);
LoadCell.setCalFactor(9000.0); // user set calibration factor (float)
Serial.println("Startup + tare is complete");
}
void loop() {
//update() should be called at least as often as HX711 sample rate; >10Hz@10SPS, >80Hz@80SPS
//longer delay in scetch will reduce effective sample rate (be carefull with delay() in loop)
LoadCell.update();
//get smoothed value from data set + current calibration factor
if (millis() > t + 250) {
float i = LoadCell.getData();
Serial.print("Load_cell output val: ");
Serial.println(i);
t = millis();
}
//receive from serial terminal
if (Serial.available() > 0) {
float i;
char inByte = Serial.read();
if (inByte == 't') LoadCell.tareNoDelay();
}
//check if last tare operation is complete
if (LoadCell.getTareStatus() == true) {
Serial.println("Tare complete");
}
}
Codigo Braccio
Código:
/*
takethesponge.ino
This example commands to the Braccio to take a sponge from the table and it shows to the user
Created on 18 Nov 2015
by Andrea Martino
This example is in the public domain.
*/
#include <Braccio.h>
#include <Servo.h>
Servo base;
Servo shoulder;
Servo elbow;
Servo wrist_rot;
Servo wrist_ver;
Servo gripper;
void setup() {
//Initialization functions and set up the initial position for Braccio
//All the servo motors will be positioned in the "safety" position:
//Base (M1):90 degrees
//Shoulder (M2): 45 degrees
//Elbow (M3): 180 degrees
//Wrist vertical (M4): 180 degrees
//Wrist rotation (M5): 90 degrees
//gripper (M6): 10 degrees
Braccio.begin();
Serial.begin(9600);
}
void loop (){
/*
Step Delay: a milliseconds delay between the movement of each servo. Allowed values from 10 to 30 msec.
M1=base degrees. Allowed values from 0 to 180 degrees
M2=shoulder degrees. Allowed values from 15 to 165 degrees
M3=elbow degrees. Allowed values from 0 to 180 degrees
M4=wrist vertical degrees. Allowed values from 0 to 180 degrees
M5=wrist rotation degrees. Allowed values from 0 to 180 degrees
M6=gripper degrees. Allowed values from 10 to 73 degrees. 10: the toungue is open, 73: the gripper is closed.
*/
//Starting position
//(step delay M1 , M2 , M3 , M4 , M5 , M6);
Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 10);
//Wait 2 second
delay(1000);
//The braccio moves to the sponge. Only the M2 servo will moves
Braccio.ServoMovement(20, 0, 90, 180, 180, 90, 10);
// wait 2 second
delay(2000);
//Close the gripper to take the sponge. Only the M6 servo will moves
Braccio.ServoMovement(10, 0, 90, 180, 180, 90, 73 );
//Brings the sponge upwards.
Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 70);
//Show the sponge. Only the M1 servo will moves
Braccio.ServoMovement(20, 90, 45, 180, 180, 90, 70);
// Wait 1 second
delay(1000);
//Open the gripper
Braccio.ServoMovement(20, 90, 45, 180, 180, 90, 10 );
//Return to the start position.
Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 10);
//Open the gripper
Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 10 );
}[size=undefined]
Y el que intento que sea el codigo para separar por peso.
Código:
/*
takethesponge.ino
This example commands to the Braccio to take a sponge from the table and it shows to the user
Created on 18 Nov 2015
by Andrea Martino
This example is in the public domain.
*/
#include <Braccio.h>
#include <Servo.h>
#include <HX711_ADC.h>
//HX711 constructor (dout pin, sck pin)
HX711_ADC LoadCell(6, 7);
long t;
int pieza1=0;
float c;
Servo base;
Servo shoulder;
Servo elbow;
Servo wrist_rot;
Servo wrist_ver;
Servo gripper;
void setup() {
//Initialization functions and set up the initial position for Braccio
//All the servo motors will be positioned in the "safety" position:
//Base (M1):90 degrees
//Shoulder (M2): 45 degrees
//Elbow (M3): 180 degrees
//Wrist vertical (M4): 180 degrees
//Wrist rotation (M5): 90 degrees
//gripper (M6): 10 degrees
Serial.begin(9600);
Serial.println("Wait...");
LoadCell.begin();
long stabilisingtime = 1000; // tare preciscion can be improved by adding a few seconds of stabilising time
LoadCell.start(stabilisingtime);
LoadCell.setCalFactor(9000.0); // user set calibration factor (float)
Serial.println("Startup + tare is complete");
Braccio.begin();
}
void loop (){
/*
Step Delay: a milliseconds delay between the movement of each servo. Allowed values from 10 to 30 msec.
M1=base degrees. Allowed values from 0 to 180 degrees
M2=shoulder degrees. Allowed values from 15 to 165 degrees
M3=elbow degrees. Allowed values from 0 to 180 degrees
M4=wrist vertical degrees. Allowed values from 0 to 180 degrees
M5=wrist rotation degrees. Allowed values from 0 to 180 degrees
M6=gripper degrees. Allowed values from 10 to 73 degrees. 10: the toungue is open, 73: the gripper is closed.
*/
LoadCell.update();
//get smoothed value from data set + current calibration factor
if (millis() > t + 250) {
float c = LoadCell.getData();
Serial.print("Load_cell output val: ");
Serial.println©;
t = millis();
}
if (c>175) pieza1=1;
delay(2000);
//Starting position
//(step delay M1 , M2 , M3 , M4 , M5 , M6);
Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 10);
//Wait 2 second
delay(1000);
if (pieza1=1)
{
//The braccio moves to the sponge. Only the M2 servo will moves
Braccio.ServoMovement(20, 0, 90, 180, 180, 90, 10);
// wait 2 second
delay(2000);
//Close the gripper to take the sponge. Only the M6 servo will moves
Braccio.ServoMovement(10, 0, 90, 180, 180, 90, 73 );
//Brings the sponge upwards.
Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 70);
//Show the sponge. Only the M1 servo will moves
Braccio.ServoMovement(20, 90, 45, 180, 180, 90, 70);
// Wait 1 second
delay(1000);
//Open the gripper
Braccio.ServoMovement(20, 90, 45, 180, 180, 90, 10 );
//Return to the start position.
Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 10);
//Open the gripper
Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 10 );}
if (pieza1=0)
{
//The braccio moves to the sponge. Only the M2 servo will moves
Braccio.ServoMovement(20, 0, 90, 180, 180, 90, 10);
// wait 2 second
delay(2000);
//Close the gripper to take the sponge. Only the M6 servo will moves
Braccio.ServoMovement(10, 0, 90, 180, 180, 90, 73 );
//Brings the sponge upwards.
Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 70);
//Show the sponge. Only the M1 servo will moves
Braccio.ServoMovement(20, 90, 45, 180, 180, 90, 70);
// Wait 1 second
delay(1000);
//Open the gripper
Braccio.ServoMovement(20, 120, 45, 180, 180, 90, 10 );
//Return to the start position.
Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 10);
//Open the gripper
Braccio.ServoMovement(20, 0, 45, 180, 180, 90, 10 );}
}[size=undefined]
Mi problema es que la bascula no me da lecturas de peso correctas, entra como en un bucle en el que se va incrementando el peso de forma constante.
A ver si alguien me puede ayudar. Gracias[/size]
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¡Hola, Invitado!
