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