bitbeambot-d2
Build Instructions
Source code (Arduino & Python):
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/* |
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* 3B-Delta |
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* Copyright Jason Huggins, 2012 |
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* jason@jrandolph.com |
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*/ |
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#include <Servo.h> |
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Servo servo1; |
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Servo servo2; |
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Servo servo3; |
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int startingPosition = 40; |
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int incomingCommand = 0; |
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int incomingPosition = 0; |
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int Arm1 = 9; |
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int Arm2 = 10; |
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int Arm3 = 11; |
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void setup() |
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{ |
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Serial.begin(9600); |
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servo1.attach(Arm1); |
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servo2.attach(Arm2); |
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servo3.attach(Arm3); |
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servo1.write(startingPosition); |
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servo2.write(startingPosition); |
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servo3.write(startingPosition); |
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} |
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void loop() |
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{ |
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if (Serial.available() >= 2) { |
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incomingCommand = Serial.read(); |
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incomingPosition = Serial.read(); |
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if (incomingCommand == 49){ // int value of "1" |
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servo1.write(incomingPosition); |
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} |
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if (incomingCommand == 50) { // int value of "2" |
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servo2.write(incomingPosition); |
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} |
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else if (incomingCommand == 51) { // int value of "3" |
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servo3.write(incomingPosition); |
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} |
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// say what you got: |
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/* Only useful for debugging for now… |
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Serial.print("Arduino received a command!: "); |
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Serial.println(incomingCommand); |
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Serial.print("Position: "); |
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Serial.println(incomingPosition); |
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*/ |
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} |
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} |
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""" |
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# BitbeamBot – Delta |
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# Copyright 2012 Jason Huggins |
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# jason@jrandolph.com |
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Check out the robot in action: |
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http://youtu.be/iO1NP-NvcMc |
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""" |
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import serial |
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import time |
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# TODO (hugs): make this a command line arg or object init parameter |
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SERIAL_PORT_ID = "/dev/tty.usbmodem621" |
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class Bot: |
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def __init__(self): |
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self.serial = serial.Serial(SERIAL_PORT_ID,9600,timeout=1) |
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def send_command(self, command, position='0'): |
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self.serial.write(command) |
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self.serial.write( chr(position) ) |
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def a(self, position): |
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return self.send_command("1", position) |
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def b(self, position): |
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return self.send_command("2", position) |
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def c(self, position): |
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return self.send_command("3", position) |
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def down(self): |
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for i in range(25,55): |
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self.a(i); self.b(i); self.c(i) |
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time.sleep(.03) |
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def up(self): |
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for i in range(55,25,–1): |
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a(i); b(i); c(i) |
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time.sleep(.01) |
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if __name__ == '__main__': |
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bot = Bot() |
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a = bot.a; b=bot.b; c=bot.c; up=bot.up; down=bot.down |
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Copyright (C) 2012 Jason R. Huggins |
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Permission is hereby granted, free of charge, to any person obtaining a copy of |
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this software and associated documentation files (the "Software"), to deal in |
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the Software without restriction, including without limitation the rights to |
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use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies |
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of the Software, and to permit persons to whom the Software is furnished to do |
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so, subject to the following conditions: |
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The above copyright notice and this permission notice shall be included in all |
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copies or substantial portions of the Software. |
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
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SOFTWARE. |
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