Arm Code Overview

Basics

Stepper motors are controlled by A4988 Driver. StepperC (stepper custom) is source code from the original Arduino Stepper library. StepperC is to be re-written with the assumption that stepper motors are being controlled by the A4988 Driver. The stepper class will have functions to allow for radian control of motors.

Dependencies

• amis-30543-arduino library from https://github.com/pololu/amis-30543-arduino included as AMIS30543.h
• FastPID library from https://github.com/mike-matera/FastPID included as FastPID.h and FastPID.cpp

motor class

• top and bottom bounds for radian
• polymorph to allow DC motor
• when given an angle, motors perform all required calculations to get there

Arm class

• 5 instances of motor class
  • base stepper
  • elbow stepper
  • wrist stepper
  • etc
• write armTo function, considering bounds

Possible Problems

• stepper code might not work after an hour (micros() max value)
• only one motor will move at a time
• delay into step motor might not be correct?