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. |