homing_script.py File Reference

Homes robot. More...

Functions
def	homing_script.homing ()
	homes robot from which our inverse kinematics are with respect to More...

Variables
	homing_script.pinC3 = pyb.Pin (pyb.Pin.board.PC3, pyb.Pin.IN)
	homing_script.pinC2 = pyb.Pin (pyb.Pin.board.PC2, pyb.Pin.IN)
	homing_script.enc1 = EncoderReader.EncoderReader(1)
	homing_script.enc2 = EncoderReader.EncoderReader(2)
	homing_script.ENA = pyb.Pin (pyb.Pin.board.PA10, pyb.Pin.OUT_PP)
	homing_script.IN1 = pyb.Pin (pyb.Pin.board.PB4, pyb.Pin.OUT_PP)
	homing_script.IN2 = pyb.Pin (pyb.Pin.board.PB5, pyb.Pin.OUT_PP)
	homing_script.tim3 = pyb.Timer (3, freq=20000)
	homing_script.ENB = pyb.Pin (pyb.Pin.board.PC1, pyb.Pin.OUT_PP)
	homing_script.IN3 = pyb.Pin (pyb.Pin.board.PA0, pyb.Pin.OUT_PP)
	homing_script.IN4 = pyb.Pin (pyb.Pin.board.PA1, pyb.Pin.OUT_PP)
	homing_script.tim5 = pyb.Timer (5, freq=20000)
	homing_script.mot1 = motor_drv.MotorDriver(ENA, IN1, IN2, tim3)
	homing_script.mot2 = motor_drv.MotorDriver(ENB, IN3, IN4, tim5)
int	homing_script.limit_trigger1 = 0
int	homing_script.limit_trigger2 = 0

Detailed Description

Homes robot.

The robot spins each axis one at a time until the limit switch is hit. This physical contact on the first arm disables the motor then spins the second arm until it has reached its respective limit switch.

Author

Jeremy Baechler

Kendall Chappell

Matthew Wimberley

Date

5-March-2022

Function Documentation

homing()

def homing_script.homing

(

)

homes robot from which our inverse kinematics are with respect to

This function moves one robot arm at a time until the limit switch is reached, thus breaking out of the loop and activating the second motor arm. Once the home is reached, confirmation statements are printed to the screen.