New Grip Test and Examples

examples/GLC_GripAndMoveSomething/GLC_GripAndMoveSomething.ino

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+/* 12/24/2016
+ *  
+ *  Using the Gobbit robot with line sensor and gripper on pin A0, this program will...
+ *  
+ *   1) Drive Forward along a line
+ *   2) Stop at the end of the line (or any found intersection)
+ *   3) Close the gripper to grab something that was placed there
+ *   4) Turn around and drive the other direction
+ *   5) Stop at the end of the line (or any found intersection)
+ *   6) Open the gripper to release the something
+ *   7) Backup a little away from the something
+ *   8) Wait there forever
+ *   
+*/
+
+// If the Adafruit motor shield v2.3 is to be used...
+  // M1 and M2 terminals will be used.  Right motor on M1, Left on M2.
+  // UnComment the next line if you are using the Adafruit shield
+//#define ADAFRUIT_MS 
+
+#include <GobbitLineCommand.h>
+
+GobbitLineCommand MyBot;
+
+void setup() {
+
+  // attaches the servo on pin 14 which is A0 and sets the angles for Open and Closed Postions
+  MyBot.setGripPinOpenClosed(A0,180,70);  
+
+  // initialize the robot
+  MyBot.beginGobbit();
+
+  // open gripper
+  MyBot.gripOpen();
+
+  // calibrate the line sensor on the line
+  MyBot.calibrateLineSensor(0); 
+
+}
+
+void loop() {
+
+  // Drive Forward
+  MyBot.drive('F');
+
+  // Stop at next end or intersection
+  MyBot.drive('S');
+
+  // close gripper
+  MyBot.gripClose();
+
+  // Make a U-Turn and drive the other direction
+  MyBot.drive('U');
+
+  // Stop at next end or intersection
+  MyBot.drive('S');
+
+  // open gripper
+  MyBot.gripOpen();
+
+  // backup a little (speed 0-100, milliseconds to drive before stopping)
+  MyBot.backup(65,300); 
+
+  // wait forever
+  while(1);
+}

examples/GLC_GripperDoNothing/GLC_GripperDoNothing.ino

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+/* 12/24/2016
+ *  
+ *  Using the Gobbit robot with line sensor and gripper on pin A0, 
+ *  on a simple line course with a 90 degree X where an object is at
+ *  the end of three of the line ends, and the robot is at the other
+ *  facing the middle of the X, this program will perpetually shift
+ *  the objects around the X.
+ *  
+ *  The program will...
+ *  
+ *   One time in setup:
+ *   1) Drive Forward along a line
+ *   2) Turn right at the intersection and continue driving
+ *   3) Stop at the end of the line (or any found intersection)
+ *   4) Close the gripper to grab something that was placed there
+ *   5) Turn around and drive the other direction
+ *   6) Turn left at the intersection and continue driving 
+ *   7) Stop at the end of the line (or any found intersection)
+ *   8) Open the gripper to release the something
+ *   9) Backup a little away from the something
+ *   
+ *   Then do this over and over:
+ *   1) Turn around and drive the other direction
+ *   2) Drive Forward at the next intersection along the line
+ *   3) Stop at the end of the line (or any found intersection)
+ *   4) Close the gripper to grab something that was placed there
+ *   5) Turn around and drive the other direction
+ *   6) Turn left at the intersection and continue driving 
+ *   7) Stop at the end of the line (or any found intersection)
+ *   8) Open the gripper to release the something
+ *   9) Backup a little away from the something
+ *   
+*/
+
+// If the Adafruit motor shield v2.3 is to be used...
+  // M1 and M2 terminals will be used.  Right motor on M1, Left on M2.
+  // UnComment the next line if you are using the Adafruit shield
+//#define ADAFRUIT_MS 
+
+
+#include <GobbitLineCommand.h>
+
+GobbitLineCommand MyBot;
+
+void setup() {
+
+  // attaches the servo on pin 14 which is A0 and sets the angles for Open and Closed Postions
+  MyBot.setGripPinOpenClosed(A0,180,70);  
+
+  // initialize the robot
+  MyBot.beginGobbit();
+
+  // open gripper
+  MyBot.gripOpen();
+
+  // calibrate the line sensor on the line
+  MyBot.calibrateLineSensor(0); 
+
+  // Start move begins from the leg of X with no object, 
+  // with the robot facing middle of X.
+  // This will get and move the first something into a sequence
+  // for the main loop to repeat.
+
+  MyBot.drive('F');
+  MyBot.drive('R');
+  MyBot.drive('S');
+  MyBot.gripClose();
+  MyBot.drive('U');
+  MyBot.drive('L');
+  MyBot.drive('S');
+  MyBot.gripOpen();
+  MyBot.backup(65,300);
+
+}
+
+void loop() {
+
+  // This will repeat forever, just moving the three objects
+  // one by one around the legs of the X perpetually.
+
+  MyBot.drive('U');
+  MyBot.drive('F');
+  MyBot.drive('S');
+  MyBot.gripClose();
+  MyBot.drive('U');
+  MyBot.drive('L');
+  MyBot.drive('S');
+  MyBot.gripOpen();
+  MyBot.backup(65,300);
+}

examples/GLC_GripperTest/GLC_GripperTest.ino

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+/*  12/24/2016
+ *  
+ *  This program will help you setup and test the gripper with the Gobbit robot.
+ *  We will use the GobbitLineCommand library, but you can also directly
+ *  use the gripper with the standard servo library.
+ *  
+ *  When this runs, the gripper should 
+ *  
+ *    Open
+ *    Close a little bit
+ *    Close all the way
+ *    Open a little bit
+ *    Repeat
+ *    
+ *  Read the comments at each step below to determine if your gripper is properly setup.
+ *  
+*/
+
+#include <GobbitLineCommand.h>
+
+// Declare an object name for your robot.  Here we are calling ours MyBot.
+GobbitLineCommand MyBot;
+
+void setup() {
+
+  // Setup the gripper.
+  // The first variable is the pin the servo is attached (we are using A0 here), 
+  // the next variable is the angle for the Open position (start with 180), 
+  // then the angle for the Closed Postion (start around 85).
+  // The Closed position may vary between about 70 and 85, depending on where you set
+  // the drving gripper arm.
+  MyBot.setGripPinOpenClosed(A0,180,85);  
+
+}
+
+void loop() {
+
+  // Open gripper.
+  MyBot.gripOpen();
+
+  // Wait 1.5 seconds (1500 milliseconds)
+  delay(1500);
+
+  // Set the gripper to 98% open to see if the chosen degree for the open position is good.
+  // If it is, the gripper should just barely close a little.
+  // If not, you need to make the open angle you set with MyBot.setGripPinOpenClosed smaller.
+  MyBot.gripPercentOpen(98);
+
+  // Wait 1 second (1000 milliseconds)
+  delay(1000);
+
+  // Close gripper.
+  // If the gripper is not all the way closed, you will need 
+  // to make the close angle you set with MyBot.setGripPinOpenClosed smaller.
+  MyBot.gripClose();
+
+  // Wait 1.5 seconds (1500 milliseconds)
+  delay(1500);
+
+  // Set the gripper 2% open to see if the chosen degree for the closed position is good.
+  // If it is, the gripper should just barely open a little.
+  // If not, you need to make the close angle you set with MyBot.setGripPinOpenClosed bigger.
+  MyBot.gripPercentOpen(2);
+
+  // Wait 1 second (1000 milliseconds)
+  delay(1000);
+
+}