Full Group Meeting (11/19)- Little Bit of Everything

Summary: Assembling the body, finishing designs, and started coding.

We finished assembling our prototype body:

 Modeled more of the components:

We worked on finishing our slides for the presentation. See the Google Drive.

We began writing some demo code for the lifting mechanism, right now the motors do not turn in unison. I think it is because the first runs for 200 steps before the second one starts, but this is a start:

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#include <Wire.h>

#include <Adafruit_MotorShield.h>

#include "utility/Adafruit_PWMServoDriver.h"

Adafruit_MotorShield AFMS = Adafruit_MotorShield();

// Motor on M1 and M2

Adafruit_StepperMotor *BMotor = AFMS.getStepper(200, 1);

// Motor on M3 and M4

Adafruit_StepperMotor *FMotor = AFMS.getStepper(200, 2);

int UP = FORWARD;

int DOWN = BACKWARD;

int SPEED = 50;

void setup() {

 

  AFMS.begin();

}

void loop() {

 

  //Lift Up 

  BMotor->setSpeed(SPEED);

  FMotor->setSpeed(SPEED);

 

  BMotor->step(200,UP,DOUBLE);

  FMotor->step(200,UP,DOUBLE);

 

  delay(2000);

 

  //Hold Position

  BMotor->setSpeed(0);

  FMotor->setSpeed(0);

 

  delay(2000);

 

  //Lower Down

  BMotor->setSpeed(SPEED);

  FMotor->setSpeed(SPEED);

 

  BMotor->step(200,DOWN,DOUBLE);

  FMotor->step(200,DOWN,DOUBLE);

 

  delay(2000);

 

  //Hold Position

  BMotor->setSpeed(0);

  FMotor->setSpeed(0);

 

  delay(2000);

}

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(NOTE: You need the libraries I added to the Google Drive in order for this to work, unzip and place the whole folder inside C:\Users\Name\Documents\Arduino\libraries, this also contains a great example for using multiple motorshields together.)