The Claw is an Android controlled 6 D.O.F robotic arm that streamed low latency video of the perspective of the claw back to the phone. The servos are controlled through a Raspberry Pi with an bluetooth chip that received instructions from the phone.

Update 6/5/19:

• The app is fully finished. We added images to instruct the user the part of the robot an interaction corresponds to. We also added button locks so certain servos will be locked in place. This aids precise control.

Update 5/31/19:

• The webcam is now mounted to the claw
• The app can now receive lowish latency video streamed from the Raspberry Pi but it lags randomly. Additionally, the IP address of the RPi has to be hard-coded before compiling to we are trying to fix this. Our app stopped receiving Bluetooth but can still send so if we fix that then we can receive the IP address on Bluetooth connection
• We mounted the RPi and batteries to the swivel mount so it can run headless and independent of external power. We have two batteries, one for the RPi and one for the servos but we are unsure if the servo battery has the power to run all six servos at once. It says it can output 4.8A max which is sufficient but we are using a single USB to coaxial male which has a 2.4A max so we might need to add another USB and splice it to double the current.

Update 5/26/19:

• The app now showcases two virtual joysticks and gyroscope functionality. This allows us to interact with a total of 6 servo motors.
  • We are adding a "squishing" function on the joysticks and gyroscope readings so that we can have course and fine adjustments.
• The waist servo was limited to only about 160 degrees of rotation so we modded it such that it can rotate continuously. This caused an issue with wires tangling, so we re-engineered the claw and the base to host the raspberry pi along with two battery packs to prevent that (one for the pi, one for the servo hat). Because the pi is no longer stationary, we need to have it connect to the internet without a monitor attached to it. This is easier said than done but we are actively trying to figure this out.

Update 5/15/19:

• We bought a servo "hat" for the raspberry pi and attached a capacitor so that the servos can receive enough power. We can now set them to an angle and we can throttle them with a velocity.
• We ran into issues with the on-board bluetooth because it's finicky and wouldn't work with bluetooth serial android apps, so we attached a HC-05 bluetooth module which we can send information back and forth using the Linux application Screen with /dev/ttyS0, our serial device that connects to the Rx/Tx pins. Currently we are having issues opening the /dev/ttyS0 in python so we can do data manipulation, but we are looking for a remedy.
• The usb webcam can be streamed to an ip address with a given port which can be accessed by anyone, not just localhost which is nice. The only drawback is the frame rate is abysmal when we use the working RPi 3B+, but we can achieve 30fps @ 480p with 350ms latency when we attach it to our semi-broken RPi 3B which overheats in a matter of minutes so there must be a way to fix this.
• We can send information to the HC-05 module using an open source bluetooth terminal app which we added a slider to which sends the angle one of the servos should move to. We will add to this app so that it is controller-like