marc-roig/delta-robot

Code of a parallel delta robot implemented both in Arduino and a PIC24F. Includes a 3d simulator made with Processing to visualize data and make the experience of programming this robot easier.

DELTA PROJECT

Code for the Microcontrolers project at URV university

This is a small scale Delta robot. It's intented to play chess even though the servo accuracy its not the best. Me and my class partner will try to mitigate the problems associated with the cheap servos we are using (MG995 and MG996) and be able to get a decend accuraty and repeatability to finally beat someone at chess.

We work both with an Arduino Uno and a PIC24FJ128GA010 so to avoid typing the same code twice we writed some code to integrate the arduino files into the PIC24. Some features have to be tweeked a little bit, but overall it works.

The current features of the code:

Joystick:	Delta angles and XYZ axis moved by a joystick
Calibration:	Calibrate duty cycles with potentiometer and buttons
SerialCom:	Communicate with a simulator through serial commands
EaseServos:	Eased servos and syncronized servo movement
Sequence:	Store a sequence and make it repeat

CALIBRATION