Gallus Gallus Roboticus Kinetic Motion Primitives editor
Four Servo example:
Eight Servo example:
Copyleft License
mirandamoss.com/gallusgallusroboticus
A basic robot control UI integrating with a few sensors and controllers.
Default movements can be saved for LEFT/RIGHT/FORWARD/BACKWARDS.
Tested on Rpi Zero W (32 bit) and Rpi 4 (64 bit). Realsense functionality works with the ggrrealsense project. Tested with D455 depth camera. Lidar used is RPLidar A1M8.
Configure the settings dictionary in config.py.
Options:
lidar : has RPLidar attached at /dev/ttyUSB0
pca9685_robot : Robot is using PCA9685 16-channel 12-bit PWM controller
scservo_robot : Robot is using Feetech SC servos via URT-1 controller
gpio_on_5_6_13_19_robot : Robot has servos directly connected to (BCM pins) 5, 6, 13, 19
arduino_115200 : Robot is using an Arduino, returning Left (L), Front (F), Right (R) distances over serial
realsense : Robot is using Realsense D4XX depth/rgb sensor
realsense_url : URL to retrieve Realsense data
picamera : Has 32-bit RPi 'raspi' camera attached
libcamera : Has 64-bit RPi 'libcamera' camera attached
ultrasound_echo_on_pin_22 : Ultrasound sensor echo pin, for taking pictures on detection
ultrasound_trigger_on_pin_27 : Ultrasound sensor trigger pin, for taking pictures on detection
continuous_servo_on_pin_25 : For gripper robots, additional servo features (TODO)
has_switches_on_pins_23_34 : For gripper robots, additional (2) switch inputs (used for preventing continuous servo death)
Hardware setup:
Servo motions assume forward facing servos. Therefore the left servo angles are subtracted from 180 degrees.
Setup (Note: For global installation, as this is the only program running on the Rpi. Use venv if virtual environment required)
chmod 755 pi_boot.sh
./pi_boot
pip3 install -r requirements.txt
chmod 755 run.sh
./run.sh
Connect browser to URL of robot service. Typically 192.168.xxx.xxx:8000.
Features:
- Toggle mode between 4 and 8 servo UI.
* Generally, the idea is to configure and save motions in the 4 servo mode.
* The 8 servo mode just stores the names of two 4 servo motions.
- Use Adjusters if servo angles were not calibrated to 90 degrees, prior to robot assembly.
- UI uses a wavetable editor, allowing shifting up and down, left and right, and scaling up and down, stretching left and right.
- UI shows saved motions, to load and save. Hover-over shows load preview.
- UI displays Lidar map if attached.
- UI has run button, and kill switch.
- UI has a fidget feature, to run saved motions randomly.
- UI takes pictures, and can run a thread to take pictures on ultrasound detection
* Note that there is currently a bug in picamera2 logging, which causes this thread to crash after a few minutes (TODO)
- UI has default motions for LEFT/RIGHT/FORWARD/BACKWARDS, set with the context menu (right click) on the motion list.
* This is a prerequisite for the 'Turn on Brain' button.
- 'Turn on Brain' button uses either Lidar, Realsense, or Arduino to use distance information to decide its next motion.
* Use kill switch to cancel.
- Unfinished TODO: Scripting functionality.