4. Software

4.3. operations header


#ifndef OPERATIONS
#define OPERATIONS

#include 
#include 
#include 

// Struct for handling a servo's information. Positions are in terms of pulse width (0 to 4096)
typedef struct Customservo {
  uint8_t index;		// PWM output pin number (Adafruit servo shield)
  uint16_t minpos;		// Minimum position
  uint16_t maxpos;		// Maximum position
  uint16_t pos;			// Current position
  uint16_t startpos;		// Predetermined "safe" initial position
  uint16_t measure_start;	// Starting position for speed measurement (used only for small, standard, and large servos)
  byte led;			// PWM output pin number for the servo's LED
  float arm_length;		// Length of the servo's arm (used only for small, standard, and large servos)
  String* info;			// List containing the servo's information
} c_servo;

// Function declarations
void servo_speed_test(c_servo& servo, Adafruit_PWMServoDriver& pwm, LiquidCrystal_I2C lcd, volatile uint8_t& counter, volatile unsigned long& end_time);
void servo_force_measurement(c_servo& servo, Adafruit_PWMServoDriver& pwm, LiquidCrystal_I2C lcd, HX711 scale, uint16_t avg);
void servo_feedback_handling(c_servo& servo, Adafruit_PWMServoDriver& pwm, LiquidCrystal_I2C lcd, byte feedback_pin, uint16_t avg);
void servo_continuous_drive(c_servo& servo, Adafruit_PWMServoDriver& pwm, LiquidCrystal_I2C lcd, uint16_t avg);
void move_to_start(Adafruit_PWMServoDriver& pwm, c_servo& servo);
void display_info(c_servo& servo, LiquidCrystal_I2C& lcd, byte pin);
void init_view(byte operation_mode, LiquidCrystal_I2C lcd);


#endif