c1c0-precision-arm

Code to control precision arm on c1c0.

PreciseArmMain

Code to control precise arm

PreciseArmNoJetson

Code to control precise arm without jetson communication. Used to make sure motors are working.

blue_arm_main

Code to control blue arm if precise arm is unavailable. Should receive commands same way as precision arm.

libs/MovingEncoderLib

Library to control encoders placed on precise arm over SPI

libs/MovingSteppersLib

Library to control stepper motors on precise arm. We don't really use this anymore.

Notes:

Place arduino code in a folder that has the same name as the arduino file.

Wiring Tip:

1. Every stepper object takes in three pin inputs: step pin, direction pin, encoder pin
2. Driver Wiring reference: powered with 24V PUL+ and DIR+ are connected to arduino +5V PUL- and DIR- are connected to control signal
3. Encoder wiring reference: blue: sclock (52) blue white: MOSI (51) green: GND (arduino) green white: 5V (arduino) orange: MISO (50) orange white: Chip Select
4. Steppers: J1, J2, J3, J4: A+: black A-: green B+: red B-: blue J5: A+: red A-: grey B+: yellow B-: green J6: A+: red A-: green B+: yellow B-: blue

Direction Pin: For J3: When dirPin is HIGH, motor rotates counterclockwise when looking down at shaft.