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IoT Robotic Arm

Codelab

Goal of this Codelab is to harness the power of robotic arm. To achieve this, we prepared Ruby client which communicates with Ruby server using MQTT protocol. Server then communicates with the arm via serial link.

Your goal is to grab a stamp and press it on to clean paper.

Does this seem too easy for you? Go ahead and try draw a line, circle, square or what-ever shape you want with the stamp!

Get started

Client

After your server is running, create new file in ruby folder with .rb suffix. We will use example.rb. To use the client, start your file with require_relative "client". Then create new instance of Rucicka::Client class with client = Rucicka::Client.new. Your file should look like this:

require_relative 'client'
client = Rucicka::Client.new

To run your script, type this to command line and then hit enter:

ruby example.rb

Available commands

Rucicka::Client/client has these available commands:

  • .park - parks the arm to constant position, is called when creating new Rucicka::Client
  • each of these following methods accepts optional step size, which defaults to 1
    • .forward - move the arm one step forward
    • .back - move the arm one step backward
    • .left - rotates the arm to the left
    • .right - rotates the arm to the right
    • .up - move the arm one step up
    • .down - move the arm one step down
    • .wrist_left - rotates wrist step * 10 degrees to the left
    • .wrist_right - rotates wrist step * 10 degrees to the right
    • .wrist_down - rotates wrist step * 10 degrees down
    • .wrist_up - rotates wrist step * 10 degrees up
    • .gripper_open - opens the gripper by step degrees
    • .gripper_close - closes the gripper by step degrees
  • .gripper_on - closes the gripper
  • .gripper_off - opens the gripper
  • .manual - enters manual mode, see Manual section for controls
  • .set_moves - enables to set multiple moves and call them all at the same time after the block ends
client.set_moves do
  client.forward(10)
  client.up(5)
  client.left(20)
  client.wrist_up(4)
end

Manual mode

Manual mode maps keyboard input to various methods. Keymap: (key --> method)

  • space --> park
  • arrow up / w --> up
  • arrow down / s --> down
  • arrow left / a --> left
  • arrow right / d --> right
  • + / r --> forward
  • - / f --> back
  • q --> gripper_on
  • e --> gripper_off
  • j --> wrist_left
  • l --> wrist_right
  • i --> wrist_up
  • k --> wrist_down

Any other input stops manual mode