meArmDemoCode

#!/usr/bin/env python

# -*- coding: utf-8 -*-

#

#  DemoIK.py - York Hack Space May 2014

#  Simple demo of meArm library to walk through some points defined in Cartesian coordinates

import meArm

arm = meArm.meArm()

arm.begin(0,0x60) # block address of motor controller

arm.gotoPoint(   0, 150,   50)

arm.openGripper()

arm.closeGripper()

# Move Along Z

# ======================

# 0..100

arm.gotoPoint(0,150,100)

# Mark location

arm.gotoPoint(0,150, 50)

# Mark location

arm.gotoPoint(0,150, 0)

# Mark location

# My Results for Z

#  50 to 100 is 60

#   0 to  50 is 55

# Move Along X

# ======================

# -50..50

arm.gotoPoint(  0,150,50)

# Mark location

arm.gotoPoint( 50,150,50)

# Mark location

arm.gotoPoint(-50,150,50)

# Mark location

# Results for X

# -50 to 0 is 55

#   0 to 50 is 50

# Move Along Y

# ====================

# My Range is 110..210

# You might be able to reach 100..200

# In Y direction closest location might be 90, I ran into stop at 110 because my wings are not mounted ideally

arm.gotoPoint(  0,110,50)

# Mark location

arm.gotoPoint(  0,150,50)

# Mark location

arm.gotoPoint(- 0,200,50)

# Mark location

# Results for Y

# 110 to 150 is 40

# 150 to 200 is 50

# From these numbers you can see that we have about +/- 5mm accuracy.

# The range is 200mm or less, depending on the height (location in z) of the claw

# Moving arm to the corners of a box

#

arm.gotoPoint( 50,110,0)

arm.gotoPoint(-50,110,0)

arm.gotoPoint(-50,110,100)

arm.gotoPoint( 50,110,100)

arm.gotoPoint( 50,180,100)

arm.gotoPoint(-50,180,100)

arm.gotoPoint(-50,180,  0)

arm.gotoPoint( 50,180,  0)

arm.gotoPoint( 50,110,  0)