fix: removing the speed function from the codes

Author: Esquirio

examples/Platform_Tutorials/lessons/03-important-programming-concepts/Braccio_moving_range_angles/Braccio_moving_range_angles.ino

@@ -38,10 +38,8 @@ float angles[6];
 void setup() {
   if (Braccio.begin())
   {
-    /* Configure Braccio speed. */
     /* Warning: keep a safe distance from the robot and watch out for the robot's
        movement. It could be speedy and hit someone. */
-    Braccio.speed(speed_grade_t(1000)/*SLOW*/);
     /* Move to home position. */
     Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
     delay(TIME_DELAY);

examples/Platform_Tutorials/projects/p01-moving-braccio/01_aligning_braccio/01_aligning_braccio.ino

@@ -1,6 +1,19 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
 #include <Braccio++.h>
 
-// Variables
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
+#define TIME_DELAY     1000
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+
 // Braccio ++ joints
 auto gripper    = Braccio.get(1);
 auto wristRoll  = Braccio.get(2);
@@ -9,28 +22,28 @@ auto elbow      = Braccio.get(4);
 auto shoulder   = Braccio.get(5);
 auto base       = Braccio.get(6);
 
-float initialGripper = 160.0;
 float initialBase = 90.0;
-float initialAngle = 150.0;
+float initialAngle = 157.5;
+
 float angles[6];
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
-  Braccio.begin();
-  delay(500); // Waits for the Braccio initialization
-  
-  // Send motors initial angle
-  gripper.move().to(initialGripper);
-  delay(100);
-  wristRoll.move().to(initialAngle);
-  delay(100);
-  wristPitch.move().to(initialAngle);
-  delay(100);
-  elbow.move().to(initialAngle);
-  delay(100);
-  shoulder.move().to(initialAngle);
-  delay(100);
-  base.move().to(initialBase); 
-  delay(100);
+  if (Braccio.begin()){
+    /* Warning: keep a safe distance from the robot and watch out for the robot's
+       movement. It could be speedy and hit someone. */
+
+    /* Move to home position. */
+    gripper.move().to(initialAngle);       delay(TIME_DELAY);
+    wristRoll.move().to(initialAngle);     delay(TIME_DELAY);
+    wristPitch.move().to(initialAngle);    delay(TIME_DELAY);
+    elbow.move().to(initialAngle);         delay(TIME_DELAY);
+    shoulder.move().to(initialAngle);      delay(TIME_DELAY);
+    base.move().to(initialBase);           delay(TIME_DELAY);
+  }
 
   Serial.begin(115200);
   while(!Serial){}
@@ -53,5 +66,5 @@ void loop() {
   Serial.println("*****************************************\n\n\n\n\n");
   Serial.println("\n\n\n\n");
 
-  delay(1000);
+  delay(TIME_DELAY);
 }

examples/Platform_Tutorials/projects/p01-moving-braccio/02_waving_with_Braccio/02_waving_with_Braccio.ino

@@ -1,7 +1,27 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
 #include <Braccio++.h>
 
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
 #define BUTTON_ENTER   6
+#define TIME_DELAY     1000
+
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
+float const WAVE_POS[6] = {180.0, 260.0, 157.5, 157.5, 157.5, 180.0};
 
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
+ 
 // Braccio ++ joints
 auto gripper    = Braccio.get(1);
 auto wristRoll  = Braccio.get(2);
@@ -10,41 +30,41 @@ auto elbow      = Braccio.get(4);
 auto shoulder   = Braccio.get(5);
 auto base       = Braccio.get(6);
 
-/* Variables */
-// initialAngles[6] = {gripper, wristRoll, wristPitch, elbow, shoulder, base}
-float homePos[6] = {160.0, 150.0, 220.0, 220.0, 100.0, 180.0};
-float wavePos[6] = {180.0, 250.0, 145.0, 150.0, 150.0, 90.0};
-
 bool movement = false; // Flag to initialize joints' movements
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
-  Braccio.begin();
-  delay(500); // Waits for the Braccio initialization
+  if (Braccio.begin()){
+    /* Warning:
+       Keep a safe distance from the robot until you make sure the code is properly
+       working. Be mindful of the robot’s movement prior to that, as it could be
+       speedy and accidentally hit someone.
+    */
 
-  // Set motors initial angle
-  // Should move all the motors at once
-  Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
-  delay(500);
+    /* Move to home position. */
+    Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
+    delay(TIME_DELAY);
+  }
 }
 
-// Waving whit Wrist pitch
+// Waving with Wrist pitch
 void loop() {
   int pressedKey = Braccio.getKey();
 
   if (pressedKey == BUTTON_ENTER)
     movement = true; // Trigger joints' movements
 
   if (movement) {
-    Braccio.moveTo(wavePos[0], wavePos[1], wavePos[2], wavePos[3], wavePos[4], wavePos[5]);
-    delay(1000);
-
-    for (int i = 1; i <= 10; i++) {
-      wristPitch.move().to(100.0f);
-      delay(300);
-      wristPitch.move().to(190.0f);
-      delay(600);
-      wristPitch.move().to(145.0f);
-      delay(300);
+    Braccio.moveTo(WAVE_POS[0], WAVE_POS[1], WAVE_POS[2], WAVE_POS[3], WAVE_POS[4], WAVE_POS[5]);
+    delay(TIME_DELAY/10);
+
+    for (int i = 1; i <= 5; i++) {
+      wristPitch.move().to(120.0f);         delay(TIME_DELAY/2);
+      wristPitch.move().to(200.0f);         delay(TIME_DELAY);
+      wristPitch.move().to(WAVE_POS[3]);
     }
 
     movement = false; // Stop joints' movements

examples/Platform_Tutorials/projects/p01-moving-braccio/03_moving_challenge/03_moving_challenge.ino

@@ -1,6 +1,26 @@
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
 #include <Braccio++.h>
 
+/**************************************************************************************
+ * DEFINES
+ **************************************************************************************/
+
 #define BUTTON_ENTER    6
+#define TIME_DELAY      1000
+
+/**************************************************************************************
+ * CONSTANTS
+ **************************************************************************************/
+
+static float const HOME_POS[6] = {157.5, 157.5, 157.5, 157.5, 157.5, 90.0};
+static float const AGREE_POS[6] = {160.0, 160.0, 210.0, 240.0, 100.0, 180.0};
+
+/**************************************************************************************
+ * GLOBAL VARIABLES
+ **************************************************************************************/
 
 // Braccio ++ joints
 auto gripper    = Braccio.get(1);
@@ -10,20 +30,21 @@ auto elbow      = Braccio.get(4);
 auto shoulder   = Braccio.get(5);
 auto base       = Braccio.get(6);
 
-/* Variables */
-// initialAngles[6] = {gripper, wristRoll, wristPitch, elbow, shoulder, base}
-float homePos[6] = {160.0, 150.0, 220.0, 220.0, 100.0, 180.0};
-
 bool movement = false; // Flag to initialize joints' movements
 
+/**************************************************************************************
+ * SETUP/LOOP
+ **************************************************************************************/
+
 void setup() {
-  Braccio.begin();
-  delay(500); // Waits for the Braccio initialization
+  if (Braccio.begin()){
+    /* Warning: keep a safe distance from the robot and watch out for the robot's
+       movement. It could be speedy and hit someone. */
 
-  // Set motors initial angle
-  // Should move all the motors at once
-  Braccio.moveTo(homePos[0], homePos[1], homePos[2], homePos[3], homePos[4], homePos[5]);
-  delay(500);
+    /* Move to home position. */
+    Braccio.moveTo(HOME_POS[0], HOME_POS[1], HOME_POS[2], HOME_POS[3], HOME_POS[4], HOME_POS[5]);
+    delay(500);
+  }
 }
 
 void loop() {
@@ -33,18 +54,15 @@ void loop() {
     movement = true; // Trigger joints' movements
 
   if (movement) {
-    Braccio.moveTo(160.0, 150.0, 220.0, 220.0, 100.0, 270.0);
-    delay(1000);
+    Braccio.moveTo(AGREE_POS[0], AGREE_POS[1], AGREE_POS[2], AGREE_POS[3], AGREE_POS[4], AGREE_POS[5]);
+    delay(TIME_DELAY/10);
 
     for (int i = 1; i <= 10; i++) {
-      wristPitch.move().to(190.0f);
-      delay(200);
-      wristPitch.move().to(250.0f);
-      delay(400);
-      wristPitch.move().to(220.0f);
-      delay(200);
+      wristPitch.move().to(190.0f);       delay(TIME_DELAY/2);
+      wristPitch.move().to(240.0f);       delay(TIME_DELAY);
+      wristPitch.move().to(AGREE_POS[3]);
     }
 
-    movement = false; // Stop joints' moviments
+    movement = false; // Stop joints' movements
   }
 }