# armCtl

### Summary
A suite of software useful in experimenting with small robotic arms.  Use as a teaching framework with a low barrier to entry for robotics and programming.

### History
Whilst an expansive scope, the principal development and implementation happened over 3 days in the summer of 2019.


## Software Components
 1. An Arduino firmware to recieve commands and position the robot arm.
  * firmware/armCtl/armCtl.ino
 1. A streaming serial command & control protocol to communicate with the Arduino from a computer.
 1. A Python3 module that is a threaded serial reader/writer, and state machine for the arm.
  * robot.py
 1. An Antlr4 domain-specific scripting language for maneuvering the robot.
  * ArmControl.g4
 1. A Python3 implementation of that language for the Robot module.
  * ArmCtlListener.py
 1. A Python3 module to interface the scripting language to the robot module.  When called directly, this module also provides an interactive shell for the scripting language.
  * armCtl.py


## Hardware Components

This BOM is one possible configuration.  Substitute parts are available, and any servo controlled arm is acceptable.

| Part | Cost |
|------|------|
| [Arduino Uno](https://store.arduino.cc/usa/arduino-uno-rev3/) | $22 |
| [Arduino Sensor Shield V5](https://www.amazon.com/Sensor-Shield-Digital-Arduino-Duemilanove/dp/B01FDH8SM6/ref=sr_1_4?keywords=Arduino+Sensor+Shield+V5&qid=1564509416&s=gateway&sr=8-4)| $7.19 |
| [Power Supply 25W 5V 5A](https://www.mouser.com/ProductDetail/?qs=pqZ7J9Gt%2FmqXHOzlkOY2rg%3D%3D)| $9.50 |
| [6-Axis Desktop Robotic Arm](https://www.amazon.com/gp/product/B00UMOSQCI/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1) | $170 |


## Activities
 * Control the arm interactively.

```none
> ./armCtl.py
command# go jib 90
command# wait
command# go home
```

 * Script a simple sequence of moves.

```bash
# my_script.txt
go jib 90
wait
go home

> ./armCtl.py my_script.txt
```

 * Write a Python3 script for complex movements.

```python
#!/usr/bin/env python3
import armCtl as arm

arm.command("go jib 90")

arm.r.target = [90, 120, 10, 95, 90, 90]
arm.r.move()
while arm.r.isMoving():
    pass
print(arm.r.angle)
```

## Reference

### Scripting Commands
Multiple script commands given on the same line must be seperated with a semicolon (*;*).
#### go coordinates | axis_name vale | preset_name
Set target coordinates for the arm.  Movement will not begin until the command statement is complete, or before a *wait* or *pause* command.
###### coordinates
Go to the coordinates given as *{value, value, value, value}*.  Values must be integers. Values may be given in either decimal or hexadecimal notation.  Omitted values will be accepted as *null* and will not effect the arm position.
###### axis_name value
Move the named axis to the given value.  Names must be defined in the configuration file as the in-tiger index of the axis in the command protocol.  Values must be integers. Values may be in decimal or hexadecimal notation.
###### preset_name
Move the robot to the named coordinates defined in the configuration file.  Coordinates must be defined in decimal notation.
#### pause time
###### time
Do nothing for the length of time.
#### wait (time)
Wait for the arm to stop moving.
###### time
If time is given, pause for that amount of time after movement has completed. If time is omitted, do the next command immediately after movement stops.
#### pass
Do nothing.
#### wherami
Print out the current coordinates of the arm.

### Shell Commands
#### exit
End the shell session.
#### quit
Same as exit.