by Benjie Genchel, Richard Yang, and Ryan Rose
Controlling the painting robot motors requires both Python 3 and Arduino. The dependencies for each are listed below:
Python
Arduino
First, upload the painting_robot_motors.ino sketch onto the Arduino. The five motors and their PWM pin numbers are as follows:
| Motor Name | Pin Number |
|---|---|
elbow |
2 |
wrist |
3 |
finger |
4 |
baseRotate |
5 |
baseLinear |
6 |
Then, run python -i motor_control.py. This will by default connect to the first Arduino it finds connected. You can then use the s object in the interpreter to send commands to the Arduino.
The list of commands implemented thus far are:
| Command Name | Type Signature | Description |
|---|---|---|
moveMotor |
int, float, float |
Motor ID (int), Position [deg] (float), Duration [s] (float) |