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Repository: IVProjects/Engineering_Projects
Branch: main
Commit: 41001c87456f
Files: 198
Total size: 4.0 MB
Directory structure:
gitextract_wgb8s6vz/
├── .gitignore
├── ProjectFiles/
│ ├── 15 to 1 NEMA-17 Actuator/
│ │ ├── CompoundPulley.STL
│ │ ├── ExtendedGT2_80t_TimingBeltPulley.STL
│ │ ├── GT2_16t_TimingBeltPulley.STL
│ │ ├── HousingBottom.STL
│ │ ├── HousingTop.STL
│ │ ├── Idler Mount.STL
│ │ ├── Short-Flat_16t_TimingBeltPulley.STL
│ │ └── Skeleton Housing Top.STL
│ ├── 45 to 1 Worm Gear Reduction/
│ │ ├── ConstrainedWormGear.STL
│ │ ├── MotorMountWormCarrierUpright.STL
│ │ ├── WormCarrierBase.STL
│ │ ├── WormCarrierUpright.STL
│ │ └── WormWheel2.STL
│ ├── 5 to 1 NEMA-17 Actuator/
│ │ ├── GT2_80t_TimingBeltPulley.STL
│ │ ├── Gearbox Pulley Spacer.STL
│ │ ├── NEMA17 HousingBottom.STL
│ │ ├── NEMA17 HousingTop.STL
│ │ └── Output Plate.STL
│ ├── 5-Axis NEMA-17 Robot Arm/
│ │ ├── 25t GT2 Pulley.STL
│ │ ├── 2nd Joint Actuator Pulley.STL
│ │ ├── 30t GT2 Pulley.STL
│ │ ├── 608 Sized Bushing.STL
│ │ ├── Base.STL
│ │ ├── ButtomHousing.STL
│ │ ├── Code/
│ │ │ └── NEMA-17 5 Axis Robot Arm/
│ │ │ ├── Gripper Code/
│ │ │ │ └── ArmV3_Gripper.ino
│ │ │ ├── Linear Track Code/
│ │ │ │ └── LinearTrack.ino
│ │ │ └── Main Arm Code/
│ │ │ └── Arm_V3.ino
│ │ ├── Contoller Arm/
│ │ │ ├── ControllerArmArm1.STL
│ │ │ ├── ControllerArmBase.STL
│ │ │ ├── ControllerArmLastSegment.STL
│ │ │ ├── ControllerArmSECOND_TOLastSegment.STL
│ │ │ ├── ControllerArmSegment1.STL
│ │ │ └── ControllerArmSegment1Part2.STL
│ │ ├── End Pivot Cap.STL
│ │ ├── Forearm Joint Cap.STL
│ │ ├── GriperClaw.STL
│ │ ├── GriperSENSORClaw.STL
│ │ ├── GripperBody.STL
│ │ ├── GripperGear Linkage.STL
│ │ ├── GripperLinkage.STL
│ │ ├── GripperServoGear.STL
│ │ ├── Last Motor Pulley.STL
│ │ ├── LinearBearing.STL
│ │ ├── Preload Spacer 5mm.STL
│ │ ├── SeeSaw Joint Pulley.STL
│ │ ├── SeeSaw Limit Switch Mount.STL
│ │ ├── Shoulder Limit Switch Mount.STL
│ │ ├── Spring Inside Part.STL
│ │ ├── Spring Plunger.STL
│ │ ├── Turntable Actuator Pulley.STL
│ │ ├── Turntable Limit Switch Mount.STL
│ │ ├── V3 End Joint.STL
│ │ ├── V3 Forarm.STL
│ │ ├── V3 Main Arm.STL
│ │ ├── V3Turntable.STL
│ │ └── WormWheel2.STL
│ ├── Ball and Beam Control System/
│ │ ├── Beam End.STL
│ │ ├── Beam Hinge.STL
│ │ ├── Cart Chassis.STL
│ │ ├── Cart Shield.STL
│ │ ├── Cart Tire.STL
│ │ ├── Code/
│ │ │ └── Ball_and_Beam_Open_Loop/
│ │ │ └── Ball_and_Beam_Open_Loop.ino
│ │ ├── Coupler.STL
│ │ ├── Crank.STL
│ │ ├── Encoder Cover.STL
│ │ ├── Hinge Tower.STL
│ │ ├── Motor Tower.STL
│ │ ├── Potentiometer Holder.STL
│ │ └── Potentiometer Knob.STL
│ ├── CameraDolly/
│ │ ├── 10.5mmUpperPhoneMount.STL
│ │ ├── 7.5mmUpperPhoneMount.STL
│ │ ├── 8.5mmUpperPhoneMount.STL
│ │ ├── 9.5mmUpperPhoneMount.STL
│ │ ├── BasePhoneMount.STL
│ │ ├── Chassis.STL
│ │ ├── ExampleCode/
│ │ │ └── CameraDolly.ino
│ │ ├── IdlerAxle.STL
│ │ ├── IdlerWheel.STL
│ │ ├── MotorAxle.STL
│ │ └── MotorWheel.STL
│ ├── High-Speed Pen Plotter/
│ │ ├── .STEP Assem/
│ │ │ └── STEP_PLOTTER_2_ASSEM.STEP
│ │ ├── 5mmShaftConnector.STL
│ │ ├── BOM.txt
│ │ ├── ElectonicsBox.STL
│ │ ├── ElectronicsBoxTop.STL
│ │ ├── FeedTableSupport.STL
│ │ ├── GritWheelAdapter.STL
│ │ ├── IdlerLever.STL
│ │ ├── IdlerShaftCap.STL
│ │ ├── IdlerTire.STL
│ │ ├── Left Side Frame.STL
│ │ ├── Mirrored IdlerLever.STL
│ │ ├── Pen Lifter Bar.STL
│ │ ├── PrintHead.STL
│ │ ├── SlopedSupportTable.STL
│ │ ├── Tru-Red Pen Adapter.STL
│ │ ├── Writing Surface.STL
│ │ └── lRight Side Frame.STL
│ ├── Parallel MG996 Gripper/
│ │ ├── 10mmGripperJawSpacerSolenoid.STL
│ │ ├── 15mmGripperJawSpacerSolenoid.STL
│ │ ├── 5mmGripperJawSpacerSolenoid.STL
│ │ ├── 5x11x4GT2Pulley.STL
│ │ ├── 5x11x4Pulley.STL
│ │ ├── ParallelGripDynamicJaw.STL
│ │ ├── ParallelServoGripBody.STL
│ │ └── ServoGT2Pulley.STL
│ ├── Pen PlotterV2/
│ │ ├── 28tPlotterTimingBeltPulley.STL
│ │ ├── 7mm To 5mm Shaft Coupler.STL
│ │ ├── 8mm Shaft Coupler Horn.STL
│ │ ├── 8mm To 5mm Shaft Coupler.STL
│ │ ├── Bic Pen Adapter.STL
│ │ ├── Head Pen Holder.STL
│ │ ├── Head Pen HolderBottom.STL
│ │ ├── Head Pen Top Holder.STL
│ │ ├── Idler Lifter Horn.STL
│ │ ├── Idler Paper Right Roller Mount.STL
│ │ ├── Idler Paper Roller Mount.STL
│ │ ├── Paper Guide.STL
│ │ ├── Paper GuideMirror.STL
│ │ ├── PaperRoller.STL
│ │ ├── Pen Lifter Servo Horn.STL
│ │ ├── PenHolder.STL
│ │ ├── PlotterTimingBeltPulley.STL
│ │ ├── V2IdlerMount.STL
│ │ └── X-axisMount.STL
│ ├── SCARA Robot/
│ │ ├── 10mmGripperJawSpacerSolenoid.STL
│ │ ├── 15mmGripperJawSpacerSolenoid.STL
│ │ ├── 20x40 Extru. Cap.STL
│ │ ├── 5to1LastSegment.STL
│ │ ├── 5x11x4GT2Pulley.STL
│ │ ├── 5x11x4Pulley.STL
│ │ ├── 605zz idler.STL
│ │ ├── 608Idler.STL
│ │ ├── Bill of Materials/
│ │ │ └── Bill of Materials.txt
│ │ ├── BoltHeadRamp.STL
│ │ ├── Code/
│ │ │ ├── SCARA Controller/
│ │ │ │ ├── SCARA Controller.py
│ │ │ │ ├── test.py
│ │ │ │ └── waypoints.py
│ │ │ ├── SCARA_Macro1/
│ │ │ │ └── SCARA_Macro1.ino
│ │ │ └── SCARA_Sketch/
│ │ │ └── SCARA_Sketch.ino
│ │ ├── CompoundPulley.STL
│ │ ├── ElectronicsBox.STL
│ │ ├── ElectronicsBoxTop.STL
│ │ ├── ExtendedGT2_80t_TimingBeltPulley.STL
│ │ ├── FirstSegmentBottom.STL
│ │ ├── FirstSegmentTop.STL
│ │ ├── GT2 Clip.STL
│ │ ├── GT2_16t_TimingBeltPulley.STL
│ │ ├── GearboxSpacer.STL
│ │ ├── Gripper/
│ │ │ ├── 10mmGripperJawSpacerSolenoid.STL
│ │ │ ├── 15mmGripperJawSpacerSolenoid.STL
│ │ │ ├── 5mmGripperJawSpacerSolenoid.STL
│ │ │ ├── 5x11x4GT2Pulley.STL
│ │ │ ├── ParallelGripDynamicJaw.STL
│ │ │ ├── ParallelServoGripBody.STL
│ │ │ └── ServoGT2Pulley.STL
│ │ ├── LastJointShaftCollar.STL
│ │ ├── RaisedBearingTop5to1LastSegment.STL
│ │ ├── SecondBottomSegmentV3.STL
│ │ ├── ServoGT2Pulley.STL
│ │ ├── Short-Flat_16t_TimingBeltPulley.STL
│ │ ├── ShortD-ShaftCollar.STL
│ │ ├── V-WheelRollerPlate.STL
│ │ ├── VwheelSpacer.STL
│ │ ├── WireShroud.STL
│ │ ├── Z-AxisPulley.STL
│ │ ├── Z-axisGearbox.STL
│ │ └── z-IdlerMount.STL
│ └── ServoArmV2/
│ ├── Base.STL
│ ├── CableManagmentClip.STL
│ ├── Compliant Gripper/
│ │ ├── CompliantFinger.STL
│ │ ├── CompliantGripperBody.STL
│ │ ├── CompliantGripperBodyBoss.STL
│ │ ├── CompliantGripperSW/
│ │ │ ├── CompliantFinger.SLDPRT
│ │ │ ├── CompliantGripperAssem.SLDASM
│ │ │ ├── CompliantGripperBody.SLDPRT
│ │ │ ├── CompliantGripperBodyBoss.SLDPRT
│ │ │ ├── CompliantTensionSensor.SLDPRT
│ │ │ └── console.log
│ │ ├── CompliantTensionSensor.STL
│ │ └── FingerGripperTest.STL
│ ├── CompliantRobotGripperBody.STL
│ ├── ConnectorGripArm.STL
│ ├── GT2CorrectTimingBeltPulley.STL
│ ├── GT2TimingBeltPulley.STL
│ ├── GT2_16t_TimingBeltPulley.STL
│ ├── GT2_80t_TimingBeltPulley.STL
│ ├── GantryBearingCarrier.STL
│ ├── Idler Pulley Mount.STL
│ ├── MainArmV3.STL
│ ├── NEMA-17 Mount.STL
│ ├── PivotArmGear.STL
│ ├── PivotServoGear.STL
│ ├── ShaftSupport.STL
│ ├── SpurGear.STL
│ └── Turntable.STL
└── README.MD
================================================
FILE CONTENTS
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FILE: .gitignore
================================================
================================================
FILE: ProjectFiles/5-Axis NEMA-17 Robot Arm/Code/NEMA-17 5 Axis Robot Arm/Gripper Code/ArmV3_Gripper.ino
================================================
#include<Servo.h>
int bPin = 3;
int bState;
int tPin = 10;
int tState;
int servoPos;
int restPos = 170;
int gripPos = 20;
Servo servo1;
void setup() {
Serial.begin(9600);
pinMode(bPin,INPUT); // User Gripper Pushbutton
digitalWrite(bPin,HIGH);
pinMode(tPin,INPUT); // Tension Sensor
digitalWrite(tPin,HIGH);
servo1.attach (7); // Declare Servo Object
servoPos = 160;
}
void loop() {
// put your main code here, to run repeatedly:
tState = digitalRead(tPin); // Read Tension Sensor
bState = digitalRead(bPin);
//////////DEBUG:
/* Serial.print ("tState ");
Serial.println(tState);
Serial.print ("bState ");
Serial.print(bState);
*/
if (bState == LOW && tState == HIGH) // Gripper conditions
{
if(servoPos > 35){
servoPos--;
}
servo1.write(servoPos);
delay(2);
}
else if (bState == LOW && tState == LOW)
{
servo1.write(servoPos);
delay(10);
}
else if (bState == HIGH)
{
servo1.write(restPos);
servoPos = 160;
delay(10);
}
}
================================================
FILE: ProjectFiles/5-Axis NEMA-17 Robot Arm/Code/NEMA-17 5 Axis Robot Arm/Linear Track Code/LinearTrack.ino
================================================
#include <AccelStepper.h>
#include <MultiStepper.h>
int xPin = A2; // "Resume" pin on CNC shield
int xVal;
const int dirPin = 5;
const int stepPin = 2;
const int enablePin = 8;
unsigned long currentMillis;
long previousMillis = 0; // Set up timer
long smoothInterval = 5; // Time constant for timer
// Define motor interface type (type 1 means an external stepper driver with Step and Direction pins)
#define motorInterfaceType 1
// Creates an instance
AccelStepper myStepper(motorInterfaceType, stepPin, dirPin);
void setup() {
Serial.begin(9600);
pinMode(xPin, INPUT);
pinMode(enablePin, OUTPUT);
digitalWrite(enablePin, LOW);
// set the maximum speed, acceleration factor,
// initial speed and the target position
myStepper.setMaxSpeed(1000);
// myStepper.setAcceleration(100);
}
void loop() {
static unsigned long timer = 0;
unsigned long interval = 10;
if (millis() - timer >= interval){
timer = millis();
xVal = analogRead(xPin);
//Serial.println(xVal); // DEBUG
}
if (xVal >= 530){
// myStepper.setSpeed(100);
myStepper.setSpeed(2*(xVal-530));
myStepper.run();
}
if (xVal <= 490){
// myStepper.setSpeed(-100);
myStepper.setSpeed(2*(-1*(490-xVal)));
myStepper.run();
}
}
================================================
FILE: ProjectFiles/5-Axis NEMA-17 Robot Arm/Code/NEMA-17 5 Axis Robot Arm/Main Arm Code/Arm_V3.ino
================================================
#include <AccelStepper.h>
#include <Servo.h>
int potPin1 = A2; // Resume A2
int potPin2 = A1; // Hold
int potPin3 = A0; // Abort
int potPin4 = A3; // Coolant Enable
unsigned long pot1; // Values from potentiometers
unsigned long pot2;
unsigned long pot3;
unsigned long pot4;
int bPin = 11; // User Pushbutton for gripper
int bState;
int pot1Scaled; // Potentiometer values mapped to relevant angles for desired range of allowable joint angles
int pot2Scaled;
int pot3Scaled;
int pot4Scaled;
int bStateScaled;
/*
#define WINDOW_SIZE 10
int INDEX1 = 0;
int VALUE1 = 0;
int SUM1 = 0;
int READINGS1[WINDOW_SIZE];
int AVERAGED1 = 0;
int INDEX2 = 0;
int VALUE2 = 0;
int SUM2 = 0;
int READINGS2[WINDOW_SIZE];
int AVERAGED2 = 0;
int INDEX3 = 0;
int VALUE3 = 0;
int SUM3 = 0;
int READINGS3[WINDOW_SIZE];
int AVERAGED3 = 0;
int INDEX4 = 0;
int VALUE4 = 0;
int SUM4 = 0;
int READINGS4[WINDOW_SIZE];
int AVERAGED4 = 0;
*/
int restPos = 5; // Gripper servo positions
int gripPos = 60;
////// STEPPER DIRECTION AND STEP PINS:
const int dirPin1 = 5; //// X on CNC shield
const int stepPin1 = 2;
const int dirPin2 = 6; ///// Y on CNC shield
const int stepPin2 = 3;
const int dirPin3 = 7; ///// Z on CNC sheild
const int stepPin3 = 4;
const int dirPin4 = 13; ///// A on CNC shield (put jumpers between pins)
const int stepPin4 = 12;
const int enablePin = 8;
/////// LIMIT SWITCHES: (1 by default, 0 when pressed. Connect outer pins to input pin and ground on arduino)
int limit1 = 9; // X limit on CNC sheild
int limit2 = 10; // Y
int limit3 = 11; // Z
int limit4 = A4; // SDA (SDA seems connected to both A4 and A5)
int limState1;
int limState2;
int limState3;
int limState4;
long homing1 = -1; // Make (-) for CCW homing, and (+) for CW homing (also need to change increment in homing function)
long homing2 = 1;
long homing3 = -1;
long homing4 = 1;
// Define motor interface type (type 1 means an external stepper driver with Step and Direction pins)
#define motorInterfaceType 1
// Define steppers and the pins they use
AccelStepper stepper1(motorInterfaceType, stepPin1, dirPin1);
AccelStepper stepper2(motorInterfaceType, stepPin2, dirPin2);
AccelStepper stepper3(motorInterfaceType, stepPin3, dirPin3);
AccelStepper stepper4(motorInterfaceType, stepPin4, dirPin4);
////// HOMING FUCNTION:
void homing(){
limState1 = digitalRead(limit1);
limState2 = digitalRead(limit2);
limState3 = digitalRead(limit3);
limState4 = digitalRead(limit4);
while (limState1 == 1){
stepper1.moveTo(homing1);
homing1--;
stepper1.run();
delay(1);
limState1 = digitalRead(limit1);
//Serial.println(limState1);
}
delay (500);
while (limState2 == 1){
stepper2.moveTo(homing2);
homing2++;
stepper2.run();
limState2 = digitalRead(limit2);
delay(1);
//Serial.println(limState2);
}
delay (500);
while (limState3 == 1){
stepper3.moveTo(homing3);
homing3--;
stepper3.run();
limState3 = digitalRead(limit3);
delay(2);
//Serial.println(limState3);
}
delay (500);
while (limState4 == 1){
stepper4.moveTo(homing4);
homing4++;
stepper4.run();
limState4 = digitalRead(limit4);
delay(6);
//Serial.println(limState4);
}
delay (500);
} /// Homing function end
void setup() {
Serial.begin(9600);
// Potentiometer input pins
pinMode(potPin1, INPUT); // Resume
pinMode(potPin2, INPUT); // Hold
pinMode(potPin3, INPUT); // Abort
pinMode(potPin4, INPUT); // Coolant Enable
pinMode (limit1, INPUT);
pinMode (limit2, INPUT);
pinMode (limit3, INPUT);
pinMode (limit4, INPUT);
digitalWrite(limit1, HIGH);
digitalWrite(limit2, HIGH);
digitalWrite(limit3, HIGH);
digitalWrite(limit4, HIGH);
pinMode(enablePin, OUTPUT); // CNC shield enable pin
digitalWrite(enablePin, LOW);
/////////// STEPPER PROPERTIES:
stepper1.setMaxSpeed(4000); //// From Accelstepper: "Max possible speed depends on clock speed. Caution: Speeds that exceed the maximum speed supported by the processor may Result in non-linear accelerations and decelerations"
stepper1.setAcceleration(5500);
stepper2.setMaxSpeed(4000);
stepper2.setAcceleration(5500);
stepper3.setMaxSpeed(4000);
stepper3.setAcceleration(5500);
stepper4.setMaxSpeed(1000);
stepper4.setAcceleration(3000);
homing(); ///////////////////////// RUN ARM HOMING FUNCTION
stepper1.setCurrentPosition(0); // Set current stepper position after homing as zero (THIS SETS MOTOR SPEED TO 0)
stepper2.setCurrentPosition(0);
stepper3.setCurrentPosition(0);
stepper4.setCurrentPosition(0);
/////////// OFFSET JOINTS FROM LIMIT SWITCHES AFTER HOMING:
stepper1.moveTo(200);
for (int i = 0; i < 200 ; i++) {
stepper1.run();
delay(10);
}
stepper2.moveTo(-400);
for (int i = 0; i < 400 ; i++) {
stepper2.run();
delay(10);
}
stepper3.moveTo(200);
for (int i = 0; i < 400 ; i++) {
stepper3.run();
delay(10);
}
stepper4.moveTo(-60);
for (int i = 0; i < 60 ; i++) {
stepper4.run();
delay(10);
}
} /// End of joint offsetting
void loop() { // Start of the main loop
//////////////// INPUT READING AND SCALING:
static unsigned long timer = 0;
unsigned long interval = 200;
if (millis() - timer >= interval){
timer = millis();
for(int i=0; i< 10; i++){
pot1 += analogRead(potPin1);
}
pot1 /= 10;
pot1 = 1023-pot1;
for(int i=0; i< 10; i++){
pot2 += analogRead(potPin2);
}
pot2 /= 10;
if(pot2 < 340){ // Bottom limit on shoulder travel
pot2 = 340;
}
for(int i=0; i< 10; i++){
pot3 += analogRead(potPin3);
}
pot3 /= 10;
if(pot3 > 885){ // Bottom limit on elbow travel (bent 90)
pot3 = 885;
}
if(pot3 < 600){ // Upper limit on elbow travel (straight)
pot3 = 600;
}
for(int i=0; i< 10; i++){
pot4 += analogRead(potPin4);
}
pot4 /= 10;
// if(pot4 < 360){ // Bottom limit on wrist travel
// pot4 = 360;
/* SUM1 = SUM1 - READINGS1[INDEX1];
VALUE1 = analogRead(potPin1);
READINGS1[INDEX1] = VALUE1;
SUM1 = SUM1 + VALUE1;
INDEX1 = (INDEX1 + 1) % WINDOW_SIZE;
pot1 = SUM1 / WINDOW_SIZE;
SUM2 = SUM2 - READINGS2[INDEX2];
VALUE2 = analogRead(potPin2);
READINGS2[INDEX2] = VALUE2;
SUM2 = SUM2 + VALUE2;
INDEX2 = (INDEX2 + 1) % WINDOW_SIZE;
pot2 = SUM2 / WINDOW_SIZE;
SUM3 = SUM3 - READINGS3[INDEX3];
VALUE3 = analogRead(potPin3);
READINGS3[INDEX3] = VALUE3;
SUM3 = SUM3 + VALUE3;
INDEX3 = (INDEX3 + 1) % WINDOW_SIZE;
pot3 = SUM3 / WINDOW_SIZE;
SUM4 = SUM4 - READINGS4[INDEX4];
VALUE4 = analogRead(potPin4);
READINGS4[INDEX4] = VALUE4;
SUM4 = SUM4 + VALUE4;
INDEX4 = (INDEX4 + 1) % WINDOW_SIZE;
pot4 = SUM4 / WINDOW_SIZE;
*/
}
limState1 = digitalRead(limit1);
limState2 = digitalRead(limit2);
limState3 = digitalRead(limit3);
limState4 = digitalRead(limit4);
/*
Serial.println(pot1); //// DEBUG (controller arm pot values)
Serial.print(" Pot2: ");
Serial.print(pot2);
Serial.print(" Pot3: ");
Serial.print(pot3);
Serial.print(" Pot4: ");
Serial.print(pot4);
Serial.print(" Pot1: ");
delay(200);
*/
/* Serial.println(limState1);
Serial.print(" Lim2: ");
Serial.print(limState2);
Serial.print(" Lim3: ");
Serial.print(limState3);
Serial.print(" Lim4: ");
Serial.print(limState4);
Serial.print(" Lim1: ");
*/
pot1Scaled = map(pot1 , 160. , 850. , 0. , 175); // Mapping potentiometer values to number of steps
pot2Scaled = 175- map(pot2 , 250. , 700. , 0. , 175);
pot3Scaled = map(pot3 , 400. , 800. , 0. , 175);
pot4Scaled = map(pot4 , 0. , 850. , 0. , 175);
bStateScaled = map(bState , 0 , 1 , restPos , gripPos);
/*
Serial.println(pot1Scaled); //// DEBUG (Stepper motor positions)
Serial.print(" Pos 2: ");
Serial.print(pot2Scaled);
Serial.print(" Pos 3: ");
Serial.print(pot3Scaled);
Serial.print(" Pos 4: ");
Serial.print(pot4Scaled);
Serial.print(" Pos 1: ");
delay(100);
*/
/////////// STEPPER STEP COMMANDS:
if (pot1Scaled <0){ // Exclude negative values
pot1Scaled =0;
}
if (pot2Scaled <0){
pot2Scaled =0;
}
if (pot3Scaled <0){
pot3Scaled =0;
}
if (pot4Scaled <0){
pot4Scaled =0;
}
if (pot1Scaled < 100000) {
stepper1.moveTo(pot1Scaled*60);
stepper1.run();
if(limState1 == LOW){
pot1Scaled =0;
}
}
if (pot2Scaled < 100000){
stepper2.moveTo(-pot2Scaled*104);
stepper2.run();
if(limState2 == LOW){
pot2Scaled =0;
}
}
if (pot3Scaled < 10000){
stepper3.moveTo((pot3Scaled*25)-1900);
stepper3.run();
if(limState3 == LOW){
pot3Scaled =1900;
}
}
if (pot4Scaled < 10000){
stepper4.moveTo((-pot4Scaled*10)-300);
stepper4.run();
if(limState4 == LOW){
pot4Scaled =0;
}
}
}
================================================
FILE: ProjectFiles/Ball and Beam Control System/Code/Ball_and_Beam_Open_Loop/Ball_and_Beam_Open_Loop.ino
================================================
#include <HC_SR04.h>
#include <AccelStepper.h>
#include <AS5600.h>
#include <PID_v1.h>
/// HC_SR04 DISTANCE SENSOR:
#define TRIG_PIN 2
#define ECHO_PIN 3
#define ECHO_INT 0
double distance;
double lastDistance;
HC_SR04 sensor(TRIG_PIN, ECHO_PIN, ECHO_INT);
const int numSamples = 14; // number of samples to use for the moving average
int sampleIndex = 0; // current index in the sample array
int samples[numSamples]; // array to store the samples
double averageDist;
const int UPDATE_INTERVAL = 25; // specify the update interval in milliseconds
unsigned long currentMillis = 0;
unsigned long previousMillis = 0; // store the time of the previous update
//// AS5600 ABSOLUTE MAGNETIC ENCODER:
AS5600 encoder;
int encAngle;
//// INITIALIZE THE PID CONTROLLER:
double targetDist = 28; // set the main target distance here
double input, output;
PID pid(&input, &output, &targetDist, 1, 0, 0, DIRECT);
//// STEPPER MOTOR:
int ENABLE_PIN = 8;
int stepPin = 4;
int dirPin = 7;
#define motorInterfaceType 1
AccelStepper stepper(motorInterfaceType, stepPin, dirPin);
//// TARGET SWITCHING:
long targetSwitchTime = 10 * 1000;
long nextTargetSwitchTime = millis() + targetSwitchTime;
int potPin = A3;
int potPowerPin = 12;
////// HOMING FUNCTION:
void homing(){
int startAngle = 200; // Home position of the crank
encAngle = (encoder.getAngle())/11.37; // Initial angle measurement
while (abs(encAngle-startAngle) > 1)
{
encAngle = (encoder.getAngle())/11.37; // Read angle of shaft
stepper.move(-20);
stepper.run();
delayMicroseconds(50);
}
stepper.setCurrentPosition(0); // Reset stepper position as 0 after homing
}
///// SETUP:
void setup(){
sensor.begin();
Serial.begin(9600);
while(!Serial) continue;
sensor.start(); // Start HC_SR04 sensor
pinMode(potPowerPin, OUTPUT);
digitalWrite(potPowerPin, HIGH);
// initialize the samples array with zeros
for (int i = 0; i < numSamples; i++) {
samples[i] = 0;
}
pinMode(ENABLE_PIN, OUTPUT); // CNC shield enable pin
digitalWrite(ENABLE_PIN, LOW); // Pull the enable pin LOW to enable the stepper driver
stepper.setMaxSpeed(200000); // Stepper motor speed and acceleration parameters (Units are steps/sec and steps/second^2, respectively)
stepper.setAcceleration(20000);
////// INITIALIZING THE PID CONTROLLER:
pid.SetMode(AUTOMATIC);
pid.SetSampleTime(30); // set the PID control loop to run every so often
pid.SetOutputLimits(-800, 800); // limit the PID output to a range of motor steps
float scale = 1;
pid.SetTunings(scale*70, scale*14, scale*165); // set the PID tuning parameters (P, I, D)
homing(); // Run homing function to bring the crank to its home position from an arbirtary start point
}
/////// MAIN LOOP:
void loop(){
currentMillis = millis(); // get the current time
/*
//// TARGET DISTANCE SWITCHING:
// Serial.println(currentMillis - nextTargetSwitchTime);
if (currentMillis >= nextTargetSwitchTime)
{
if ((int)targetDist == 28)
targetDist = 9.0;
else
targetDist = 28.0;
nextTargetSwitchTime = currentMillis + targetSwitchTime;
}
*/
//// READING THE HC_SR04 DISTANCE SENSOR:
if (currentMillis - previousMillis >= UPDATE_INTERVAL) { // check if it's time to take another sensor reading
previousMillis = currentMillis; // update the previous time
if(sensor.isFinished()){
// Do something with the range...
distance = sensor.getRange();
if (distance > 52){ // Simple outlier rejection to reduce the effeects of some of the erroneous sensor readings
distance = 16;
}
sensor.start(); // Start sensor for next measurement
samples[sampleIndex] = distance; // store the distance in the samples array
sampleIndex = (sampleIndex + 1) % numSamples; // increment the sample index and wrap around if necessary
// compute the sum of the samples
int sum = 0;
for (int i = 0; i < numSamples; i++) {
sum += samples[i];
}
averageDist = sum / numSamples; // compute the average of the samples
targetDist = map(analogRead(potPin), 0, 1023, 8, 30); // Calculate the PID target distance from the potentiometer reading
Serial.print(averageDist); // Print the processed distance sensor data
Serial.print(",");
Serial.print(targetDist); // Print the PID target distance as set by the potentiometer
}
}
// Do other things...
input = averageDist; // Provide the processed distance sensor data as the input to the PID controller
pid.Compute();
stepper.moveTo(output); // Use the stepper motor as the output for the PID controller
stepper.run();
}
================================================
FILE: ProjectFiles/CameraDolly/ExampleCode/CameraDolly.ino
================================================
/*NOTE: This sketch produces a basic back and forth motion. The code is all very simple, so feel free to modify it to produce whatever movements you would like.
* Here is the Class Reference for the AccelStepper library if you would like to take a look:
* https://www.airspayce.com/mikem/arduino/AccelStepper/classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06
*/
#include<AccelStepper.h> // Includes the AccelStepper library
#define HALFSTEP 8 // Sets the driving mode to half-step
AccelStepper wheelStepper(HALFSTEP , 3 , 5 , 4, 6); // Creates an instance
float travelDist = 400; // Distance the dolley will travel before reversing (in units of mm)
int stepsPerRevolution = 2038; // Change this if your motor has a different number of steps per revolution
float wheelDia = 60; // Wheel Diameter in mm
float wheelCirc;
void setup() {
wheelStepper.setMaxSpeed(1600); //Maxixmum value I found works well: 1600 steps/sec
wheelStepper.setAcceleration(800); // Maxixmum value I found works well: 800 steps/sec^2
wheelStepper.setSpeed(600);
wheelCirc = wheelDia*3.14159;
wheelStepper.moveTo((travelDist/wheelCirc)*stepsPerRevolution); // Commands the dolley to move the requested travel distance
}
void loop() {
if (wheelStepper.distanceToGo() == 0){
wheelStepper.moveTo(-wheelStepper.currentPosition()); // Reverses the stepper when it reaches its endpoint
}
wheelStepper.run(); // Commands the motor to run one step if needed
}
================================================
FILE: ProjectFiles/High-Speed Pen Plotter/.STEP Assem/STEP_PLOTTER_2_ASSEM.STEP
================================================
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gitextract_wgb8s6vz/ ├── .gitignore ├── ProjectFiles/ │ ├── 15 to 1 NEMA-17 Actuator/ │ │ ├── CompoundPulley.STL │ │ ├── ExtendedGT2_80t_TimingBeltPulley.STL │ │ ├── GT2_16t_TimingBeltPulley.STL │ │ ├── HousingBottom.STL │ │ ├── HousingTop.STL │ │ ├── Idler Mount.STL │ │ ├── Short-Flat_16t_TimingBeltPulley.STL │ │ └── Skeleton Housing Top.STL │ ├── 45 to 1 Worm Gear Reduction/ │ │ ├── ConstrainedWormGear.STL │ │ ├── MotorMountWormCarrierUpright.STL │ │ ├── WormCarrierBase.STL │ │ ├── WormCarrierUpright.STL │ │ └── WormWheel2.STL │ ├── 5 to 1 NEMA-17 Actuator/ │ │ ├── GT2_80t_TimingBeltPulley.STL │ │ ├── Gearbox Pulley Spacer.STL │ │ ├── NEMA17 HousingBottom.STL │ │ ├── NEMA17 HousingTop.STL │ │ └── Output Plate.STL │ ├── 5-Axis NEMA-17 Robot Arm/ │ │ ├── 25t GT2 Pulley.STL │ │ ├── 2nd Joint Actuator Pulley.STL │ │ ├── 30t GT2 Pulley.STL │ │ ├── 608 Sized Bushing.STL │ │ ├── Base.STL │ │ ├── ButtomHousing.STL │ │ ├── Code/ │ │ │ └── NEMA-17 5 Axis Robot Arm/ │ │ │ ├── Gripper Code/ │ │ │ │ └── ArmV3_Gripper.ino │ │ │ ├── Linear Track Code/ │ │ │ │ └── LinearTrack.ino │ │ │ └── Main Arm Code/ │ │ │ └── Arm_V3.ino │ │ ├── Contoller Arm/ │ │ │ ├── ControllerArmArm1.STL │ │ │ ├── ControllerArmBase.STL │ │ │ ├── ControllerArmLastSegment.STL │ │ │ ├── ControllerArmSECOND_TOLastSegment.STL │ │ │ ├── ControllerArmSegment1.STL │ │ │ └── ControllerArmSegment1Part2.STL │ │ ├── End Pivot Cap.STL │ │ ├── Forearm Joint Cap.STL │ │ ├── GriperClaw.STL │ │ ├── GriperSENSORClaw.STL │ │ ├── GripperBody.STL │ │ ├── GripperGear Linkage.STL │ │ ├── GripperLinkage.STL │ │ ├── GripperServoGear.STL │ │ ├── Last Motor Pulley.STL │ │ ├── LinearBearing.STL │ │ ├── Preload Spacer 5mm.STL │ │ ├── SeeSaw Joint Pulley.STL │ │ ├── SeeSaw Limit Switch Mount.STL │ │ ├── Shoulder Limit Switch Mount.STL │ │ ├── Spring Inside Part.STL │ │ ├── Spring Plunger.STL │ │ ├── Turntable Actuator Pulley.STL │ │ ├── Turntable Limit Switch Mount.STL │ │ ├── V3 End Joint.STL │ │ ├── V3 Forarm.STL │ │ ├── V3 Main Arm.STL │ │ ├── V3Turntable.STL │ │ └── WormWheel2.STL │ ├── Ball and Beam Control System/ │ │ ├── Beam End.STL │ │ ├── Beam Hinge.STL │ │ ├── Cart Chassis.STL │ │ ├── Cart Shield.STL │ │ ├── Cart Tire.STL │ │ ├── Code/ │ │ │ └── Ball_and_Beam_Open_Loop/ │ │ │ └── Ball_and_Beam_Open_Loop.ino │ │ ├── Coupler.STL │ │ ├── Crank.STL │ │ ├── Encoder Cover.STL │ │ ├── Hinge Tower.STL │ │ ├── Motor Tower.STL │ │ ├── Potentiometer Holder.STL │ │ └── Potentiometer Knob.STL │ ├── CameraDolly/ │ │ ├── 10.5mmUpperPhoneMount.STL │ │ ├── 7.5mmUpperPhoneMount.STL │ │ ├── 8.5mmUpperPhoneMount.STL │ │ ├── 9.5mmUpperPhoneMount.STL │ │ ├── BasePhoneMount.STL │ │ ├── Chassis.STL │ │ ├── ExampleCode/ │ │ │ └── CameraDolly.ino │ │ ├── IdlerAxle.STL │ │ ├── IdlerWheel.STL │ │ ├── MotorAxle.STL │ │ └── MotorWheel.STL │ ├── High-Speed Pen Plotter/ │ │ ├── .STEP Assem/ │ │ │ └── STEP_PLOTTER_2_ASSEM.STEP │ │ ├── 5mmShaftConnector.STL │ │ ├── BOM.txt │ │ ├── ElectonicsBox.STL │ │ ├── ElectronicsBoxTop.STL │ │ ├── FeedTableSupport.STL │ │ ├── GritWheelAdapter.STL │ │ ├── IdlerLever.STL │ │ ├── IdlerShaftCap.STL │ │ ├── IdlerTire.STL │ │ ├── Left Side Frame.STL │ │ ├── Mirrored IdlerLever.STL │ │ ├── Pen Lifter Bar.STL │ │ ├── PrintHead.STL │ │ ├── SlopedSupportTable.STL │ │ ├── Tru-Red Pen Adapter.STL │ │ ├── Writing Surface.STL │ │ └── lRight Side Frame.STL │ ├── Parallel MG996 Gripper/ │ │ ├── 10mmGripperJawSpacerSolenoid.STL │ │ ├── 15mmGripperJawSpacerSolenoid.STL │ │ ├── 5mmGripperJawSpacerSolenoid.STL │ │ ├── 5x11x4GT2Pulley.STL │ │ ├── 5x11x4Pulley.STL │ │ ├── ParallelGripDynamicJaw.STL │ │ ├── ParallelServoGripBody.STL │ │ └── ServoGT2Pulley.STL │ ├── Pen PlotterV2/ │ │ ├── 28tPlotterTimingBeltPulley.STL │ │ ├── 7mm To 5mm Shaft Coupler.STL │ │ ├── 8mm Shaft Coupler Horn.STL │ │ ├── 8mm To 5mm Shaft Coupler.STL │ │ ├── Bic Pen Adapter.STL │ │ ├── Head Pen Holder.STL │ │ ├── Head Pen HolderBottom.STL │ │ ├── Head Pen Top Holder.STL │ │ ├── Idler Lifter Horn.STL │ │ ├── Idler Paper Right Roller Mount.STL │ │ ├── Idler Paper Roller Mount.STL │ │ ├── Paper Guide.STL │ │ ├── Paper GuideMirror.STL │ │ ├── PaperRoller.STL │ │ ├── Pen Lifter Servo Horn.STL │ │ ├── PenHolder.STL │ │ ├── PlotterTimingBeltPulley.STL │ │ ├── V2IdlerMount.STL │ │ └── X-axisMount.STL │ ├── SCARA Robot/ │ │ ├── 10mmGripperJawSpacerSolenoid.STL │ │ ├── 15mmGripperJawSpacerSolenoid.STL │ │ ├── 20x40 Extru. Cap.STL │ │ ├── 5to1LastSegment.STL │ │ ├── 5x11x4GT2Pulley.STL │ │ ├── 5x11x4Pulley.STL │ │ ├── 605zz idler.STL │ │ ├── 608Idler.STL │ │ ├── Bill of Materials/ │ │ │ └── Bill of Materials.txt │ │ ├── BoltHeadRamp.STL │ │ ├── Code/ │ │ │ ├── SCARA Controller/ │ │ │ │ ├── SCARA Controller.py │ │ │ │ ├── test.py │ │ │ │ └── waypoints.py │ │ │ ├── SCARA_Macro1/ │ │ │ │ └── SCARA_Macro1.ino │ │ │ └── SCARA_Sketch/ │ │ │ └── SCARA_Sketch.ino │ │ ├── CompoundPulley.STL │ │ ├── ElectronicsBox.STL │ │ ├── ElectronicsBoxTop.STL │ │ ├── ExtendedGT2_80t_TimingBeltPulley.STL │ │ ├── FirstSegmentBottom.STL │ │ ├── FirstSegmentTop.STL │ │ ├── GT2 Clip.STL │ │ ├── GT2_16t_TimingBeltPulley.STL │ │ ├── GearboxSpacer.STL │ │ ├── Gripper/ │ │ │ ├── 10mmGripperJawSpacerSolenoid.STL │ │ │ ├── 15mmGripperJawSpacerSolenoid.STL │ │ │ ├── 5mmGripperJawSpacerSolenoid.STL │ │ │ ├── 5x11x4GT2Pulley.STL │ │ │ ├── ParallelGripDynamicJaw.STL │ │ │ ├── ParallelServoGripBody.STL │ │ │ └── ServoGT2Pulley.STL │ │ ├── LastJointShaftCollar.STL │ │ ├── RaisedBearingTop5to1LastSegment.STL │ │ ├── SecondBottomSegmentV3.STL │ │ ├── ServoGT2Pulley.STL │ │ ├── Short-Flat_16t_TimingBeltPulley.STL │ │ ├── ShortD-ShaftCollar.STL │ │ ├── V-WheelRollerPlate.STL │ │ ├── VwheelSpacer.STL │ │ ├── WireShroud.STL │ │ ├── Z-AxisPulley.STL │ │ ├── Z-axisGearbox.STL │ │ └── z-IdlerMount.STL │ └── ServoArmV2/ │ ├── Base.STL │ ├── CableManagmentClip.STL │ ├── Compliant Gripper/ │ │ ├── CompliantFinger.STL │ │ ├── CompliantGripperBody.STL │ │ ├── CompliantGripperBodyBoss.STL │ │ ├── CompliantGripperSW/ │ │ │ ├── CompliantFinger.SLDPRT │ │ │ ├── CompliantGripperAssem.SLDASM │ │ │ ├── CompliantGripperBody.SLDPRT │ │ │ ├── CompliantGripperBodyBoss.SLDPRT │ │ │ ├── CompliantTensionSensor.SLDPRT │ │ │ └── console.log │ │ ├── CompliantTensionSensor.STL │ │ └── FingerGripperTest.STL │ ├── CompliantRobotGripperBody.STL │ ├── ConnectorGripArm.STL │ ├── GT2CorrectTimingBeltPulley.STL │ ├── GT2TimingBeltPulley.STL │ ├── GT2_16t_TimingBeltPulley.STL │ ├── GT2_80t_TimingBeltPulley.STL │ ├── GantryBearingCarrier.STL │ ├── Idler Pulley Mount.STL │ ├── MainArmV3.STL │ ├── NEMA-17 Mount.STL │ ├── PivotArmGear.STL │ ├── PivotServoGear.STL │ ├── ShaftSupport.STL │ ├── SpurGear.STL │ └── Turntable.STL └── README.MD
SYMBOL INDEX (15 symbols across 2 files)
FILE: ProjectFiles/SCARA Robot/Code/SCARA Controller/SCARA Controller.py
class Dot (line 25) | class Dot(object):
method __init__ (line 26) | def __init__(self, pos):
method draw (line 31) | def draw(self, surface):
method is_moused_over (line 34) | def is_moused_over(self, mouse_pos):
function write_data (line 41) | def write_data(pointer, a_p, z, c):
function write_direct_data (line 53) | def write_direct_data(angles, height, c):
function draw_joint (line 74) | def draw_joint(surface, start_pos, angle, length, width):
function interpret_mouse (line 84) | def interpret_mouse(pos):
function inverse_kinematics (line 91) | def inverse_kinematics(target_pos):
function export_waypoints (line 129) | def export_waypoints(path, filename):
function load_waypoints (line 134) | def load_waypoints(filename):
FILE: ProjectFiles/SCARA Robot/Code/SCARA Controller/waypoints.py
class Waypoint (line 1) | class Waypoint:
method __init__ (line 3) | def __init__(self, angles=None, height=None, grip=None, file_data=None):
method write (line 16) | def write(self, open_file):
function parse_file (line 23) | def parse_file(file_lines):
Condensed preview — 198 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (4,297K chars).
[
{
"path": ".gitignore",
"chars": 0,
"preview": ""
},
{
"path": "ProjectFiles/5-Axis NEMA-17 Robot Arm/Code/NEMA-17 5 Axis Robot Arm/Gripper Code/ArmV3_Gripper.ino",
"chars": 1042,
"preview": "#include<Servo.h>\n\nint bPin = 3;\nint bState;\n\nint tPin = 10;\nint tState;\n\nint servoPos;\nint restPos = 170;\nint gripPos ="
},
{
"path": "ProjectFiles/5-Axis NEMA-17 Robot Arm/Code/NEMA-17 5 Axis Robot Arm/Linear Track Code/LinearTrack.ino",
"chars": 1305,
"preview": "#include <AccelStepper.h>\n#include <MultiStepper.h>\n\nint xPin = A2; // \"Resume\" pin on CNC shield\nint xVal;\n\n\nconst int "
},
{
"path": "ProjectFiles/5-Axis NEMA-17 Robot Arm/Code/NEMA-17 5 Axis Robot Arm/Main Arm Code/Arm_V3.ino",
"chars": 9267,
"preview": "#include <AccelStepper.h>\n#include <Servo.h>\nint potPin1 = A2; // Resume A2\nint potPin2 = A1; // Hold\nint potPin3 = A0; "
},
{
"path": "ProjectFiles/Ball and Beam Control System/Code/Ball_and_Beam_Open_Loop/Ball_and_Beam_Open_Loop.ino",
"chars": 4705,
"preview": "#include <HC_SR04.h>\n#include <AccelStepper.h>\n#include <AS5600.h>\n#include <PID_v1.h>\n\n\n/// HC_SR04 DISTANCE SENSOR:\n#d"
},
{
"path": "ProjectFiles/CameraDolly/ExampleCode/CameraDolly.ino",
"chars": 1491,
"preview": "/*NOTE: This sketch produces a basic back and forth motion. The code is all very simple, so feel free to modify it to pr"
},
{
"path": "ProjectFiles/High-Speed Pen Plotter/.STEP Assem/STEP_PLOTTER_2_ASSEM.STEP",
"chars": 4181439,
"preview": "ISO-10303-21;\nHEADER;\nFILE_DESCRIPTION (( 'STEP AP214' ),\n '1' );\nFILE_NAME ('STEP_PLOTTER_2_ASSEM.STEP',\n '2022-0"
},
{
"path": "ProjectFiles/High-Speed Pen Plotter/BOM.txt",
"chars": 734,
"preview": "Printed parts:\n2x idler tire\n1x left side frame\n1x right side frame\n1x printhead\n1x writing surface\n1x pen adapter\n2x id"
},
{
"path": "ProjectFiles/SCARA Robot/Bill of Materials/Bill of Materials.txt",
"chars": 997,
"preview": "SCARA BOM for items not included in the SolidWorks assembly file:\n\n4x 200mm loops of 6mm wide GT2 timing belt\nAround 1.5"
},
{
"path": "ProjectFiles/SCARA Robot/Code/SCARA Controller/SCARA Controller.py",
"chars": 8183,
"preview": "import serial\nimport time\nimport pygame\nimport math\nimport waypoints\nfrom numpy import *\n\narduino = serial.Serial(port ="
},
{
"path": "ProjectFiles/SCARA Robot/Code/SCARA Controller/test.py",
"chars": 350,
"preview": "import serial, time\n\narduino = serial.Serial(port = 'COM3', baudrate = 9600, timeout=1)\n\nwhile True:\n arduino.write(b"
},
{
"path": "ProjectFiles/SCARA Robot/Code/SCARA Controller/waypoints.py",
"chars": 1747,
"preview": "class Waypoint:\n running_id = 0\n def __init__(self, angles=None, height=None, grip=None, file_data=None):\n "
},
{
"path": "ProjectFiles/SCARA Robot/Code/SCARA_Macro1/SCARA_Macro1.ino",
"chars": 7039,
"preview": "#include <AccelStepper.h>\n#include <Servo.h>\n\nfloat stepsPerDegree = 35.56; // 200 steps/rev motor, 16:1 gearbox, and q"
},
{
"path": "ProjectFiles/SCARA Robot/Code/SCARA_Sketch/SCARA_Sketch.ino",
"chars": 9339,
"preview": "#include <AccelStepper.h>\n#include <Servo.h>\n\nString value;\nconst char delim = ';';\nint data[5]; //Holds most recent ang"
},
{
"path": "ProjectFiles/ServoArmV2/Compliant Gripper/CompliantGripperSW/console.log",
"chars": 9486,
"preview": "Level: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/"
},
{
"path": "README.MD",
"chars": 437,
"preview": "I will post part files and code related to projects I make. You can view videos of the projects here: https://www.youtub"
}
]
// ... and 182 more files (download for full content)
About this extraction
This page contains the full source code of the IVProjects/Engineering_Projects GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 198 files (4.0 MB), approximately 1.1M tokens, and a symbol index with 15 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.