![]() Contributions from RorschachUK, lexbailey, aquila12, loginov-rocks Author: Ben Gray. Based primarily on the work of York Hackspace, UK. If you want to continue using the MeArm again later, call begin() again. Provides inverse kinematics control for all MeArm versions. Code to be uploaded in the arduino UNO mounted on the MeArm. void end() - Disable all servo motors.bool isReachable() - returns true if the point can theoretically be reached by the arm.void snapTo(float theta, float r, float z) - set the servo angles to immediately go to the requested point without caring what path the arm swings through to get there - faster but less predictable than moveTo in cylindrical polar coodrinates.void moveTo(float theta, float r, float z) - move in a straight line from the current point to the requested position in cylindrical polar coodrinates.But it's not terribly convenient to be specifying things in terms of servo angles when you're much more interested in where you would like to place the gripper. The meArm has four mini servos - one for the gripper, and one each to rotate the base, shoulder joint and elbow joint. void snapToXYZ(float x, float y, float z) - set the servo angles to immediately go to the requested point without caring what path the arm swings through to get there - faster but less predictable than moveTo Inverse kinematics control library for Phenoptix meArm and Arduino.void moveToXYZ(float x, float y, float z) - move in a straight line from the current point to the requested position. ![]() While the hookup diagram is indeed correct two of the colors illustrated for the servo motor wires didn’t match the ones on the motors I was supplied. The MeArm manual has a diagram that shows how to hook the four servo motors up to an Arduino Uno.
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