71 lines
2.1 KiB
Markdown
71 lines
2.1 KiB
Markdown
# armCtl
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### Summary
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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.
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### History
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Whilst an expansive scope, the principal development and implementation happened over 3 days in the summer of 2019.
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## Software Components
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1. An Arduino firmware to recieve commands and position the robot arm.
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* firmware/armCtl/armCtl.ino
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1. A streaming serial command & control protocol to communicate with the Arduino from a computer.
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1. A Python3 module that is a threaded serial reader/writer, and state machine for the arm.
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* robot.py
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1. An Antlr4 domain-specific scripting language for maneuvering the robot.
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* ArmControl.g4
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1. A Python3 implementation of that language for the Robot module.
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* ArmCtlListener.py
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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.
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* armCtl.py
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## Hardware Components
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This BOM is one possible configuration. Substitute parts are available, and any servo controlled arm is acceptable.
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| Part | Cost |
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| [Arduino Uno](https://store.arduino.cc/usa/arduino-uno-rev3/) | $22 |
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| [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 |
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| [Power Supply 25W 5V 5A](https://www.mouser.com/ProductDetail/?qs=pqZ7J9Gt%2FmqXHOzlkOY2rg%3D%3D)| $9.50 |
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| [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 |
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## Activities
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* Control the arm interactively.
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```none
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> ./armCtl.py
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command# go jib 90
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command# wait
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command# go home
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```
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* Script a simple sequence of moves.
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```bash
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# my_script.txt
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go jib 90
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wait
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go home
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> ./armCtl.py my_script.txt
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```
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* Write a Python3 script for complex movements.
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```python
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#!/usr/bin/env python3
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import armCtl as arm
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command("go home")
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arm.r.target = [90, 120, 10, 95, 90, 90]
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arm.r.move()
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while arm.r.isMoving():
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pass
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print(arm.r.angle)
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```
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