Added jointLImits for all robots

src/morobot.cpp

@@ -29,6 +29,8 @@
 			float getTemp(uint8_t servoId);
 			float getVoltage(uint8_t servoId);
 			float getCurrent(uint8_t servoId);
+			long getJointLimit(uint8_t servoId, bool limitNum);
+			uint8_t getAxisLimit(char axis, bool limitNum);
 			uint8_t getNumSmartServos();
 			
 			void moveToAngle(uint8_t servoId, long angle);
@@ -244,6 +246,16 @@ float morobotClass::getCurrent(uint8_t servoId){
 	return smartServos.getCurrentRequest(servoId+1);
 }
 
+long morobotClass::getJointLimit(uint8_t servoId, bool limitNum){
+	return _robotJointLimits[servoId][limitNum];
+}
+
+uint8_t morobotClass::getAxisLimit(char axis, bool limitNum){
+	if (axis == 'x') return _robotAxisLimits[0][limitNum];
+	else if (axis == 'y') return _robotAxisLimits[1][limitNum];
+	else if (axis == 'z') return _robotAxisLimits[2][limitNum];
+}
+
 uint8_t morobotClass::getNumSmartServos(){
 	return _numSmartServos;
 }

src/morobot.h

@@ -29,6 +29,8 @@
 			float getTemp(uint8_t servoId);
 			float getVoltage(uint8_t servoId);
 			float getCurrent(uint8_t servoId);
+			long getJointLimit(uint8_t servoId, bool limitNum);
+			uint8_t getAxisLimit(char axis, bool limitNum);
 			uint8_t getNumSmartServos();
 			
 			void moveToAngle(uint8_t servoId, long angle);
@@ -220,6 +222,20 @@ class morobotClass {
 		 *  \return Current current consumption of motor in Ampere.
 		 */
 		float getCurrent(uint8_t servoId);
+
+		/**
+		 *  \brief Returns the limits of a given axis
+		 *  \param [in] servoID Number of servo to get limit of
+		 *  \param [in] limitNum 0 for lower limit, 1 for upper limit
+		 */
+		long getJointLimit(uint8_t servoId, bool limitNum);
+
+		/**
+		 *  \brief Return the limit in x/y/z orientation
+		 *  \param [in] axis Axis for which to get the limit
+		 *  \param [in] limitNum 0 for lower limit, 1 for upper limit
+		 */
+		 uint8_t getAxisLimit(char axis, bool limitNum);
 
 		/**
 		 * \brief Returns number of smart servos in robot 
@@ -417,6 +433,8 @@ class morobotClass {
 		void printInvalidAngleError(uint8_t servoId, float angle);
 
 		uint8_t _numSmartServos;			//!< Number of smart servos of robot
+		long _robotJointLimits[3][2];	//!< Limits for all joints
+		uint8_t _robotAxisLimits[3][2];		//!< Limits of x, y, z axis
 		uint8_t _speedRPM;					//!< Default speed (used if movement-funtions to not provide specific speed)
 		float _actPos[3];					//!< Robot TCP position (in base frame)
 		float _actOri[3];					//!< Robot TCP orientation (rotation in degrees around base frame)

src/morobot_2d.h

@@ -25,7 +25,7 @@ class morobot_2d:public morobotClass {
 		 *  \brief Constructor of morobot_2d class
 		 *  \details The value in brakets defines that the robot consists of two smartservos
 		 */
-		morobot_2d() : morobotClass(2){};
+		morobot_2d() : morobotClass(2){memcpy(_robotJointLimits, _jointLimits, 3*2*sizeof(long)); memcpy(_robotAxisLimits, _axisLimits, 3*2*sizeof(uint8_t));};
 
 		/**
 		 *  \brief Set the position of the TCP (tool center point) with respect to the center of the flange of the last robot axis.
@@ -73,7 +73,8 @@ class morobot_2d:public morobotClass {
 
 	private:
 		float _tcpOffset[3];	//!< Position of the TCP (tool center point) with respect to the center of the flange of the last robot axis
-		long _jointLimits[2][2] = {{-110, 135}, {-72, 24}};		//!< Limits for all joints
+		long _jointLimits[3][2] = {{-110, 135}, {-72, 24}, {0, 0}};		//!< Limits for all joints
+		uint8_t _axisLimits[3][2] = {{-20, 280}, {74.24, 74.24}, {110, 240}};	//!< Limits of x, y, z axis
 
 		float x_def_offset = 40.96;			//!< Default offset from side of robot to first motor
 		float y_def_offset = 74.24;			//!< Default offset from side of robot to center of eef

src/morobot_3d.h

@@ -26,7 +26,7 @@ class morobot_3d:public morobotClass {
 		 *  \brief Constructor of morobot_3d class
 		 *  \details The value in brakets defines that the robot consists of three smartservos
 		 */
-		morobot_3d() : morobotClass(3){};
+		morobot_3d() : morobotClass(3){memcpy(_robotJointLimits, _jointLimits, 3*2*sizeof(long)); memcpy(_robotAxisLimits, _axisLimits, 3*2*sizeof(uint8_t));};
 
 		/**
 		 *  \brief Set the position of the TCP (tool center point) with respect to the center of the flange of the last robot axis.
@@ -87,6 +87,7 @@ class morobot_3d:public morobotClass {
 	private:
 		float _tcpOffset[3];	//!< Position of the TCP (tool center point) with respect to the center of the flange of the last robot axis
 		long _jointLimits[3][2] = {{0, 85}, {0, 85}, {0, 85}};		//!< Limits for all joints
+		uint8_t _axisLimits[3][2] = {{-80, 80}, {-80, 80}, {112, 235}};	//!< Limits of x, y, z axis
 
 		float z_def_offset_top = 24.0;			//!< Default offset from top side of robot to motor axes
 		float z_def_offset_bottom = 10.0;		//!< Default offset from bottom side of end effector triangle to rotation axis of last joint

src/morobot_p.h

@@ -26,7 +26,7 @@ class morobot_p:public morobotClass {
 		 *  \brief Constructor of morobot_p class
 		 *  \details The value in brakets defines that the robot consists of three smartservos
 		 */
-		morobot_p() : morobotClass(3){};
+		morobot_p() : morobotClass(3){memcpy(_robotJointLimits, _jointLimits, 3*2*sizeof(long)); memcpy(_robotAxisLimits, _axisLimits, 3*2*sizeof(uint8_t));};
 
 		/**
 		 *  \brief Set the position of the TCP (tool center point) with respect to the center of the flange of the last robot axis.
@@ -90,6 +90,7 @@ class morobot_p:public morobotClass {
 	private:
 		float _tcpOffset[3];	//!< Position of the TCP (tool center point) with respect to the center of the flange of the last robot axis
 		long _jointLimits[3][2] = {{-360, 360}, {0, 115}, {-100, 28}};		//!< Limits for all joints
+		uint8_t _axisLimits[3][2] = {{-300, 300}, {-300, 300}, {50, 210}};	//!< Limits of x, y, z axis
 
 		float d1 = 88.20;		//!< Distance between base and rotational axes of motor 2
 		float a1 = 120;			//!< Length of first link connected to motor 2

src/morobot_s_rrp.h

@@ -27,7 +27,7 @@ class morobot_s_rrp:public morobotClass {
 		 *  \brief Constructor of morobot_s_rrp class
 		 *  \details The value in brakets defines that the robot consists of three smartservos
 		 */
-		morobot_s_rrp() : morobotClass(3){};
+		morobot_s_rrp() : morobotClass(3){memcpy(_robotJointLimits, _jointLimits, 3*2*sizeof(long)); memcpy(_robotAxisLimits, _axisLimits, 3*2*sizeof(uint8_t));};
 
 		/**
 		 *  \brief Set the position of the TCP (tool center point) with respect to the center of the flange of the last robot axis.
@@ -95,6 +95,7 @@ class morobot_s_rrp:public morobotClass {
 	private:
 		float _tcpOffset[3];	//!< Position of the TCP (tool center point) with respect to the center of the flange of the last robot axis
 		long _jointLimits[3][2] = {{-100, 100}, {-100, 100}, {0, 780}};		//!< Limits for all joints
+		uint8_t _axisLimits[3][2] = {{-35, 210}, {-165, 165}, {-40, 0}};	//!< Limits of x, y, z axis
 
 		float a = 47.0;				//!< Length from mounting to first axis
 		float b = 92.9;				//!< Length from first axis to second axis

src/morobot_s_rrr.h

@@ -26,7 +26,7 @@ class morobot_s_rrr:public morobotClass {
 		 *  \brief Constructor of morobot_s_rrr class
 		 *  \details The value in brakets defines that the robot consists of three smartservos
 		 */
-		morobot_s_rrr() : morobotClass(3){};
+		morobot_s_rrr() : morobotClass(3){memcpy(_robotJointLimits, _jointLimits, 3*2*sizeof(long)); memcpy(_robotAxisLimits, _axisLimits, 3*2*sizeof(uint8_t));};
 
 		/**
 		 *  \brief Set the position of the TCP (tool center point) with respect to the center of the flange of the last robot axis.
@@ -87,6 +87,7 @@ class morobot_s_rrr:public morobotClass {
 	private:
 		float _tcpOffset[3];		//!< Position of the TCP (tool center point) with respect to the center of the flange of the last robot axis
 		long _jointLimits[3][2] = {{-100, 100}, {-100, 100}, {-180, 180}};		//!< Limits for all joints
+		uint8_t _axisLimits[3][2] = {{-100, 100}, {-100, 100}, {-50, 50}};		//!< Limits of x, y, z axis
 
 		float a = 47.0;				//!< Length from mounting to first axis
 		float b = 92.9;				//!< Length from first axis to second axis

src/newRobotClass_Template.h

@@ -25,7 +25,7 @@ class newRobotClass_Template:public morobotClass {
 		 *  \brief Constructor of newRobotClass_Template class
 		 *  \details The value in brakets defines the number of smart servo motors
 		 */
-		newRobotClass_Template() : morobotClass(3){};	// TODO: PUT THE NUMBER OF SERVOS HERE
+		newRobotClass_Template() : morobotClass(3){memcpy(_robotJointLimits, _jointLimits, 3*2*sizeof(long)); memcpy(_robotAxisLimits, _axisLimits, 3*2*sizeof(uint8_t));};	// TODO: PUT THE NUMBER OF SERVOS HERE
 
 		/**
 		 *  \brief Set the position of the TCP (tool center point) with respect to the center of the flange of the last robot axis.
@@ -76,6 +76,7 @@ class newRobotClass_Template:public morobotClass {
 	private:
 		float _tcpOffset[3];	//!< Position of the TCP (tool center point) with respect to the center of the flange of the last robot axis
 		long _jointLimits[3][2] = {{-100, 100}, {-100, 100}, {0, 780}};		//!< Limits for all joints
+		uint8_t _axisLimits[3][2] = {{-100, 100}, {-100, 100}, {-50, 50}};	//!< Limits of x, y, z axis
 				// TODO: CHANGE THE NUMBER OF SERVOS AND THE LIMITS HERE
 
 		//TODO: PUT VARIABLES FOR INVERSE KINEMATICS HERE