[ { "path": ".gitignore", "content": "" }, { "path": "ProjectFiles/5-Axis NEMA-17 Robot Arm/Code/NEMA-17 5 Axis Robot Arm/Gripper Code/ArmV3_Gripper.ino", "content": "#include\n\nint bPin = 3;\nint bState;\n\nint tPin = 10;\nint tState;\n\nint servoPos;\nint restPos = 170;\nint gripPos = 20;\n\nServo servo1;\n\nvoid setup() {\n\n Serial.begin(9600);\n pinMode(bPin,INPUT); // User Gripper Pushbutton\n digitalWrite(bPin,HIGH);\n \n pinMode(tPin,INPUT); // Tension Sensor\n digitalWrite(tPin,HIGH);\n\n servo1.attach (7); // Declare Servo Object\n servoPos = 160;\n}\n\nvoid loop() {\n // put your main code here, to run repeatedly:\n\n tState = digitalRead(tPin); // Read Tension Sensor\n bState = digitalRead(bPin);\n\n //////////DEBUG:\n /* Serial.print (\"tState \");\n Serial.println(tState); \n Serial.print (\"bState \");\n Serial.print(bState);\n*/\n \n \n if (bState == LOW && tState == HIGH) // Gripper conditions\n {\n if(servoPos > 35){\n servoPos--;\n }\n \n servo1.write(servoPos);\n delay(2);\n }\n\n else if (bState == LOW && tState == LOW)\n {\n servo1.write(servoPos);\n delay(10);\n }\n\n else if (bState == HIGH)\n {\n servo1.write(restPos);\n servoPos = 160;\n delay(10);\n }\n\n}\n" }, { "path": "ProjectFiles/5-Axis NEMA-17 Robot Arm/Code/NEMA-17 5 Axis Robot Arm/Linear Track Code/LinearTrack.ino", "content": "#include \n#include \n\nint xPin = A2; // \"Resume\" pin on CNC shield\nint xVal;\n\n\nconst int dirPin = 5;\nconst int stepPin = 2;\nconst int enablePin = 8;\n\nunsigned long currentMillis;\nlong previousMillis = 0; // Set up timer\nlong smoothInterval = 5; // Time constant for timer\n\n// Define motor interface type (type 1 means an external stepper driver with Step and Direction pins)\n#define motorInterfaceType 1\n\n// Creates an instance \nAccelStepper myStepper(motorInterfaceType, stepPin, dirPin);\n\n\nvoid setup() {\n \n Serial.begin(9600);\n pinMode(xPin, INPUT);\n\n pinMode(enablePin, OUTPUT);\n digitalWrite(enablePin, LOW);\n\n // set the maximum speed, acceleration factor,\n // initial speed and the target position\n myStepper.setMaxSpeed(1000);\n // myStepper.setAcceleration(100);\n \n}\n\nvoid loop() {\n\n static unsigned long timer = 0;\n unsigned long interval = 10;\n if (millis() - timer >= interval){\n timer = millis();\n xVal = analogRead(xPin);\n //Serial.println(xVal); // DEBUG\n \n }\n \n\n if (xVal >= 530){\n // myStepper.setSpeed(100);\n \n myStepper.setSpeed(2*(xVal-530));\n myStepper.run();\n \n }\n\n if (xVal <= 490){\n // myStepper.setSpeed(-100);\n \n myStepper.setSpeed(2*(-1*(490-xVal)));\n myStepper.run();\n \n }\n\n}\n" }, { "path": "ProjectFiles/5-Axis NEMA-17 Robot Arm/Code/NEMA-17 5 Axis Robot Arm/Main Arm Code/Arm_V3.ino", "content": "#include \n#include \nint potPin1 = A2; // Resume A2\nint potPin2 = A1; // Hold\nint potPin3 = A0; // Abort\nint potPin4 = A3; // Coolant Enable\n\nunsigned long pot1; // Values from potentiometers\nunsigned long pot2;\nunsigned long pot3;\nunsigned long pot4;\n\nint bPin = 11; // User Pushbutton for gripper\nint bState;\n\nint pot1Scaled; // Potentiometer values mapped to relevant angles for desired range of allowable joint angles\nint pot2Scaled;\nint pot3Scaled;\nint pot4Scaled;\nint bStateScaled;\n\n\n\n/*\n#define WINDOW_SIZE 10\n\nint INDEX1 = 0;\nint VALUE1 = 0;\nint SUM1 = 0;\nint READINGS1[WINDOW_SIZE];\nint AVERAGED1 = 0;\n\nint INDEX2 = 0;\nint VALUE2 = 0;\nint SUM2 = 0;\nint READINGS2[WINDOW_SIZE];\nint AVERAGED2 = 0;\n\nint INDEX3 = 0;\nint VALUE3 = 0;\nint SUM3 = 0;\nint READINGS3[WINDOW_SIZE];\nint AVERAGED3 = 0;\n\nint INDEX4 = 0;\nint VALUE4 = 0;\nint SUM4 = 0;\nint READINGS4[WINDOW_SIZE];\nint AVERAGED4 = 0;\n*/\n\n\nint restPos = 5; // Gripper servo positions\nint gripPos = 60;\n\n\n////// STEPPER DIRECTION AND STEP PINS:\nconst int dirPin1 = 5; //// X on CNC shield\nconst int stepPin1 = 2;\n\nconst int dirPin2 = 6; ///// Y on CNC shield\nconst int stepPin2 = 3;\n\nconst int dirPin3 = 7; ///// Z on CNC sheild\nconst int stepPin3 = 4;\n\nconst int dirPin4 = 13; ///// A on CNC shield (put jumpers between pins)\nconst int stepPin4 = 12;\n\nconst int enablePin = 8;\n\n/////// LIMIT SWITCHES: (1 by default, 0 when pressed. Connect outer pins to input pin and ground on arduino)\nint limit1 = 9; // X limit on CNC sheild\nint limit2 = 10; // Y\nint limit3 = 11; // Z\nint limit4 = A4; // SDA (SDA seems connected to both A4 and A5)\n\nint limState1;\nint limState2;\nint limState3;\nint limState4;\n\nlong homing1 = -1; // Make (-) for CCW homing, and (+) for CW homing (also need to change increment in homing function)\nlong homing2 = 1;\nlong homing3 = -1;\nlong homing4 = 1;\n\n\n// Define motor interface type (type 1 means an external stepper driver with Step and Direction pins)\n#define motorInterfaceType 1\n\n// Define steppers and the pins they use\nAccelStepper stepper1(motorInterfaceType, stepPin1, dirPin1);\nAccelStepper stepper2(motorInterfaceType, stepPin2, dirPin2);\nAccelStepper stepper3(motorInterfaceType, stepPin3, dirPin3);\nAccelStepper stepper4(motorInterfaceType, stepPin4, dirPin4);\n\n\n////// HOMING FUCNTION:\nvoid homing(){ \n\n \n limState1 = digitalRead(limit1);\n limState2 = digitalRead(limit2);\n limState3 = digitalRead(limit3);\n limState4 = digitalRead(limit4);\n\n while (limState1 == 1){\n stepper1.moveTo(homing1);\n homing1--;\n stepper1.run();\n delay(1);\n limState1 = digitalRead(limit1);\n //Serial.println(limState1);\n }\n delay (500);\n\n\n while (limState2 == 1){\n stepper2.moveTo(homing2);\n homing2++;\n stepper2.run();\n limState2 = digitalRead(limit2);\n delay(1);\n //Serial.println(limState2);\n }\n delay (500);\n \n\n while (limState3 == 1){\n stepper3.moveTo(homing3);\n homing3--;\n stepper3.run();\n limState3 = digitalRead(limit3);\n delay(2);\n //Serial.println(limState3);\n }\n delay (500);\n\n while (limState4 == 1){\n stepper4.moveTo(homing4);\n homing4++;\n stepper4.run();\n limState4 = digitalRead(limit4);\n delay(6);\n //Serial.println(limState4);\n } \n delay (500); \n} /// Homing function end\n\n\n\nvoid setup() {\n\n Serial.begin(9600);\n \n // Potentiometer input pins\n pinMode(potPin1, INPUT); // Resume\n pinMode(potPin2, INPUT); // Hold\n pinMode(potPin3, INPUT); // Abort\n pinMode(potPin4, INPUT); // Coolant Enable\n\n pinMode (limit1, INPUT);\n pinMode (limit2, INPUT);\n pinMode (limit3, INPUT);\n pinMode (limit4, INPUT);\n \n digitalWrite(limit1, HIGH);\n digitalWrite(limit2, HIGH);\n digitalWrite(limit3, HIGH);\n digitalWrite(limit4, HIGH);\n \n pinMode(enablePin, OUTPUT); // CNC shield enable pin\n digitalWrite(enablePin, LOW);\n\n/////////// STEPPER PROPERTIES:\n\n 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\"\n stepper1.setAcceleration(5500);\n\n stepper2.setMaxSpeed(4000);\n stepper2.setAcceleration(5500);\n\n stepper3.setMaxSpeed(4000);\n stepper3.setAcceleration(5500);\n\n stepper4.setMaxSpeed(1000);\n stepper4.setAcceleration(3000);\n\n\n\n homing(); ///////////////////////// RUN ARM HOMING FUNCTION\n\n\n\n stepper1.setCurrentPosition(0); // Set current stepper position after homing as zero (THIS SETS MOTOR SPEED TO 0)\n stepper2.setCurrentPosition(0); \n stepper3.setCurrentPosition(0); \n stepper4.setCurrentPosition(0); \n\n/////////// OFFSET JOINTS FROM LIMIT SWITCHES AFTER HOMING:\n \n stepper1.moveTo(200);\n for (int i = 0; i < 200 ; i++) { \n stepper1.run();\n delay(10);\n }\n\n stepper2.moveTo(-400);\n for (int i = 0; i < 400 ; i++) { \n stepper2.run();\n delay(10);\n }\n\n stepper3.moveTo(200);\n for (int i = 0; i < 400 ; i++) { \n stepper3.run();\n delay(10);\n }\n\n stepper4.moveTo(-60);\n for (int i = 0; i < 60 ; i++) { \n stepper4.run();\n delay(10);\n }\n \n} /// End of joint offsetting\n\n\nvoid loop() { // Start of the main loop\n\n//////////////// INPUT READING AND SCALING:\n static unsigned long timer = 0;\n unsigned long interval = 200;\n if (millis() - timer >= interval){\n timer = millis();\n \n \n for(int i=0; i< 10; i++){ \n pot1 += analogRead(potPin1);\n }\n pot1 /= 10;\n \n pot1 = 1023-pot1;\n \n\n for(int i=0; i< 10; i++){ \n pot2 += analogRead(potPin2);\n }\n pot2 /= 10;\n \n if(pot2 < 340){ // Bottom limit on shoulder travel\n pot2 = 340;\n }\n \n\n for(int i=0; i< 10; i++){ \n pot3 += analogRead(potPin3);\n }\n pot3 /= 10;\n \n if(pot3 > 885){ // Bottom limit on elbow travel (bent 90)\n pot3 = 885;\n }\n\n if(pot3 < 600){ // Upper limit on elbow travel (straight)\n pot3 = 600;\n }\n\n for(int i=0; i< 10; i++){ \n pot4 += analogRead(potPin4);\n }\n pot4 /= 10;\n \n // if(pot4 < 360){ // Bottom limit on wrist travel\n // pot4 = 360;\n \n\n\n /* SUM1 = SUM1 - READINGS1[INDEX1];\n VALUE1 = analogRead(potPin1);\n READINGS1[INDEX1] = VALUE1;\n SUM1 = SUM1 + VALUE1;\n INDEX1 = (INDEX1 + 1) % WINDOW_SIZE;\n\n pot1 = SUM1 / WINDOW_SIZE;\n\n\n \n SUM2 = SUM2 - READINGS2[INDEX2];\n VALUE2 = analogRead(potPin2);\n READINGS2[INDEX2] = VALUE2;\n SUM2 = SUM2 + VALUE2;\n INDEX2 = (INDEX2 + 1) % WINDOW_SIZE;\n\n pot2 = SUM2 / WINDOW_SIZE;\n\n\n \n SUM3 = SUM3 - READINGS3[INDEX3];\n VALUE3 = analogRead(potPin3);\n READINGS3[INDEX3] = VALUE3;\n SUM3 = SUM3 + VALUE3;\n INDEX3 = (INDEX3 + 1) % WINDOW_SIZE;\n\n pot3 = SUM3 / WINDOW_SIZE;\n\n\n \n SUM4 = SUM4 - READINGS4[INDEX4];\n VALUE4 = analogRead(potPin4);\n READINGS4[INDEX4] = VALUE4;\n SUM4 = SUM4 + VALUE4;\n INDEX4 = (INDEX4 + 1) % WINDOW_SIZE;\n\n pot4 = SUM4 / WINDOW_SIZE;\n*/\n \n }\n\n\n limState1 = digitalRead(limit1);\n limState2 = digitalRead(limit2);\n limState3 = digitalRead(limit3);\n limState4 = digitalRead(limit4);\n \n /*\n Serial.println(pot1); //// DEBUG (controller arm pot values)\n Serial.print(\" Pot2: \");\n Serial.print(pot2);\n Serial.print(\" Pot3: \");\n Serial.print(pot3);\n Serial.print(\" Pot4: \");\n Serial.print(pot4);\n Serial.print(\" Pot1: \");\n delay(200);\n */ \n\n /* Serial.println(limState1);\n Serial.print(\" Lim2: \");\n Serial.print(limState2);\n Serial.print(\" Lim3: \");\n Serial.print(limState3);\n Serial.print(\" Lim4: \");\n Serial.print(limState4);\n Serial.print(\" Lim1: \");\n*/\n\n \n \n pot1Scaled = map(pot1 , 160. , 850. , 0. , 175); // Mapping potentiometer values to number of steps\n pot2Scaled = 175- map(pot2 , 250. , 700. , 0. , 175);\n pot3Scaled = map(pot3 , 400. , 800. , 0. , 175);\n pot4Scaled = map(pot4 , 0. , 850. , 0. , 175);\n bStateScaled = map(bState , 0 , 1 , restPos , gripPos);\n \n\n /* \n Serial.println(pot1Scaled); //// DEBUG (Stepper motor positions)\n Serial.print(\" Pos 2: \");\n Serial.print(pot2Scaled);\n Serial.print(\" Pos 3: \");\n Serial.print(pot3Scaled);\n Serial.print(\" Pos 4: \");\n Serial.print(pot4Scaled);\n Serial.print(\" Pos 1: \");\n delay(100);\n*/\n\n /////////// STEPPER STEP COMMANDS:\n\n if (pot1Scaled <0){ // Exclude negative values\n pot1Scaled =0;\n }\n\n if (pot2Scaled <0){\n pot2Scaled =0;\n }\n\n if (pot3Scaled <0){\n pot3Scaled =0;\n }\n\n if (pot4Scaled <0){\n pot4Scaled =0;\n }\n\n if (pot1Scaled < 100000) { \n stepper1.moveTo(pot1Scaled*60);\n stepper1.run();\n\n if(limState1 == LOW){\n pot1Scaled =0;\n }\n }\n\n if (pot2Scaled < 100000){ \n stepper2.moveTo(-pot2Scaled*104);\n stepper2.run();\n \n if(limState2 == LOW){\n pot2Scaled =0;\n }\n }\n\n if (pot3Scaled < 10000){ \n stepper3.moveTo((pot3Scaled*25)-1900);\n stepper3.run();\n\n if(limState3 == LOW){\n pot3Scaled =1900;\n }\n }\n\n if (pot4Scaled < 10000){ \n stepper4.moveTo((-pot4Scaled*10)-300);\n stepper4.run();\n\n if(limState4 == LOW){\n pot4Scaled =0;\n }\n }\n \n}\n" }, { "path": "ProjectFiles/Ball and Beam Control System/Code/Ball_and_Beam_Open_Loop/Ball_and_Beam_Open_Loop.ino", "content": "#include \n#include \n#include \n#include \n\n\n/// HC_SR04 DISTANCE SENSOR:\n#define TRIG_PIN 2\n#define ECHO_PIN 3\n#define ECHO_INT 0\ndouble distance;\ndouble lastDistance;\n\nHC_SR04 sensor(TRIG_PIN, ECHO_PIN, ECHO_INT);\n\nconst int numSamples = 14; // number of samples to use for the moving average\nint sampleIndex = 0; // current index in the sample array\nint samples[numSamples]; // array to store the samples\ndouble averageDist;\n\nconst int UPDATE_INTERVAL = 25; // specify the update interval in milliseconds\nunsigned long currentMillis = 0;\nunsigned long previousMillis = 0; // store the time of the previous update\n\n\n\n//// AS5600 ABSOLUTE MAGNETIC ENCODER:\nAS5600 encoder;\nint encAngle;\n\n\n//// INITIALIZE THE PID CONTROLLER:\ndouble targetDist = 28; // set the main target distance here\ndouble input, output;\nPID pid(&input, &output, &targetDist, 1, 0, 0, DIRECT);\n\n\n\n//// STEPPER MOTOR:\nint ENABLE_PIN = 8;\nint stepPin = 4;\nint dirPin = 7;\n#define motorInterfaceType 1\nAccelStepper stepper(motorInterfaceType, stepPin, dirPin);\n\n\n//// TARGET SWITCHING:\nlong targetSwitchTime = 10 * 1000;\nlong nextTargetSwitchTime = millis() + targetSwitchTime;\nint potPin = A3;\nint potPowerPin = 12;\n\n\n ////// HOMING FUNCTION:\nvoid homing(){\n \n int startAngle = 200; // Home position of the crank\n encAngle = (encoder.getAngle())/11.37; // Initial angle measurement\n \n while (abs(encAngle-startAngle) > 1)\n { \n encAngle = (encoder.getAngle())/11.37; // Read angle of shaft\n stepper.move(-20);\n stepper.run();\n delayMicroseconds(50);\n }\n\n stepper.setCurrentPosition(0); // Reset stepper position as 0 after homing\n}\n\n\n///// SETUP:\nvoid setup(){ \n sensor.begin();\n Serial.begin(9600); \n while(!Serial) continue;\n sensor.start(); // Start HC_SR04 sensor\n \n pinMode(potPowerPin, OUTPUT);\n digitalWrite(potPowerPin, HIGH);\n\n\n// initialize the samples array with zeros\n for (int i = 0; i < numSamples; i++) {\n samples[i] = 0;\n }\n\n\n pinMode(ENABLE_PIN, OUTPUT); // CNC shield enable pin\n digitalWrite(ENABLE_PIN, LOW); // Pull the enable pin LOW to enable the stepper driver\n\n stepper.setMaxSpeed(200000); // Stepper motor speed and acceleration parameters (Units are steps/sec and steps/second^2, respectively)\n stepper.setAcceleration(20000);\n\n\n ////// INITIALIZING THE PID CONTROLLER:\n pid.SetMode(AUTOMATIC);\n pid.SetSampleTime(30); // set the PID control loop to run every so often\n pid.SetOutputLimits(-800, 800); // limit the PID output to a range of motor steps\n float scale = 1;\n pid.SetTunings(scale*70, scale*14, scale*165); // set the PID tuning parameters (P, I, D)\n\n\n homing(); // Run homing function to bring the crank to its home position from an arbirtary start point\n\n}\n\n\n/////// MAIN LOOP:\n\nvoid loop(){\n \n currentMillis = millis(); // get the current time\n/*\n //// TARGET DISTANCE SWITCHING:\n // Serial.println(currentMillis - nextTargetSwitchTime);\n if (currentMillis >= nextTargetSwitchTime)\n {\n if ((int)targetDist == 28)\n targetDist = 9.0;\n \n else\n targetDist = 28.0;\n\n nextTargetSwitchTime = currentMillis + targetSwitchTime;\n\n }\n*/\n\n //// READING THE HC_SR04 DISTANCE SENSOR:\n \n if (currentMillis - previousMillis >= UPDATE_INTERVAL) { // check if it's time to take another sensor reading\n previousMillis = currentMillis; // update the previous time\n if(sensor.isFinished()){\n // Do something with the range...\n distance = sensor.getRange();\n \n if (distance > 52){ // Simple outlier rejection to reduce the effeects of some of the erroneous sensor readings\n distance = 16;\n }\n\n sensor.start(); // Start sensor for next measurement\n \n samples[sampleIndex] = distance; // store the distance in the samples array\n \n sampleIndex = (sampleIndex + 1) % numSamples; // increment the sample index and wrap around if necessary\n \n // compute the sum of the samples\n int sum = 0;\n for (int i = 0; i < numSamples; i++) {\n sum += samples[i];\n }\n\n averageDist = sum / numSamples; // compute the average of the samples\n\n\n targetDist = map(analogRead(potPin), 0, 1023, 8, 30); // Calculate the PID target distance from the potentiometer reading\n\n Serial.print(averageDist); // Print the processed distance sensor data\n Serial.print(\",\");\n Serial.print(targetDist); // Print the PID target distance as set by the potentiometer\n \n }\n }\n // Do other things...\n\n input = averageDist; // Provide the processed distance sensor data as the input to the PID controller\n pid.Compute();\n \n stepper.moveTo(output); // Use the stepper motor as the output for the PID controller\n stepper.run();\n \n}\n" }, { "path": "ProjectFiles/CameraDolly/ExampleCode/CameraDolly.ino", "content": "/*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.\n * Here is the Class Reference for the AccelStepper library if you would like to take a look: \n * https://www.airspayce.com/mikem/arduino/AccelStepper/classAccelStepper.html#a68942c66e78fb7f7b5f0cdade6eb7f06\n */\n\n#include // Includes the AccelStepper library\n\n#define HALFSTEP 8 // Sets the driving mode to half-step\n\nAccelStepper wheelStepper(HALFSTEP , 3 , 5 , 4, 6); // Creates an instance\n\n\nfloat travelDist = 400; // Distance the dolley will travel before reversing (in units of mm)\nint stepsPerRevolution = 2038; // Change this if your motor has a different number of steps per revolution\nfloat wheelDia = 60; // Wheel Diameter in mm\nfloat wheelCirc;\n\nvoid setup() {\n \n wheelStepper.setMaxSpeed(1600); //Maxixmum value I found works well: 1600 steps/sec\n wheelStepper.setAcceleration(800); // Maxixmum value I found works well: 800 steps/sec^2\n wheelStepper.setSpeed(600); \n \n wheelCirc = wheelDia*3.14159;\n \n wheelStepper.moveTo((travelDist/wheelCirc)*stepsPerRevolution); // Commands the dolley to move the requested travel distance\n \n}\n\nvoid loop() {\n \n if (wheelStepper.distanceToGo() == 0){\n wheelStepper.moveTo(-wheelStepper.currentPosition()); // Reverses the stepper when it reaches its endpoint\n }\n\n wheelStepper.run(); // Commands the motor to run one step if needed\n \n}\n" }, { "path": "ProjectFiles/High-Speed Pen Plotter/.STEP Assem/STEP_PLOTTER_2_ASSEM.STEP", "content": "ISO-10303-21;\nHEADER;\nFILE_DESCRIPTION (( 'STEP AP214' ),\n '1' );\nFILE_NAME ('STEP_PLOTTER_2_ASSEM.STEP',\n '2022-06-19T00:39:01',\n ( '' ),\n ( '' ),\n 'SwSTEP 2.0',\n 'SolidWorks 2021',\n '' );\nFILE_SCHEMA (( 'AUTOMOTIVE_DESIGN' ));\nENDSEC;\n\nDATA;\n#1 = VERTEX_POINT ( 'NONE', #7901 ) ;\n#2 = CARTESIAN_POINT ( 'NONE', ( 39.38061677476857625, 5.922640860659902806, -3.499999999999999556 ) ) ;\n#3 = CIRCLE ( 'NONE', #24829, 6.000000000000000000 ) ;\n#4 = 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idler lever\n1x mirrored idler lever\n1x pen lifter bar\n2x grit wheel adapter\n1x feed table support\n1x sloped support table\n1x electronics box\n\n\nOther parts:\n1x Arduino Uno\n1x CNC shield V3\n3x A4988 stepper drivers\n24v PSU (at least 45w)\n1x 40mm fan\nSome 5mm rod\nGT2 Timing belt\n1x Timing belt idler pulley\n1x Timing belt drive pulley\n2x 120 grit Dremel sanding bands\n1x 240mm long 1/2\" steel bar for weight\n1x Ink insert from a gel tip pen. I used a \"0.7 TRU RED\" pen\n1x 280mm long 10mm diameter rod for X-axis\n5x 605ZZ bearings\n1x 5x11x4 bearing\n1x 5mm to 5mm shaft coupler for Y-axis\nM3 hardware\n" }, { "path": "ProjectFiles/SCARA Robot/Bill of Materials/Bill of Materials.txt", "content": "SCARA BOM for items not included in the SolidWorks assembly file:\n\n4x 200mm loops of 6mm wide GT2 timing belt\nAround 1.5m of GT2 timing belt for the Z-axis. \n1x 400mm loop of GT2 timing belt for the final 5:1 arm segment\n\n15x 608 ball bearings\n\n1x Arduino Uno and CNC Shield V3.0\n\n1x 5v Breadboard PSU to power the MG996 servo\n\n4x A4988 stepper drivers (Or equivalent)\n\nBraided cable sleeving for cable management\n\n4x Limit Switches\n\nNote: The D-profile shafts that are used as the gearbox output shafts will need to be made from 8mm round bar.\nI used an angle grinder to remove the bulk of the material, and then finished it off by draw-filing while \nfrequently checking the dimension with calipers. If you have access to a mill, that would make it easier.\nYou want to remove 1mm from one side to create the flat (So for the 8mm rods, it should measure 7mm on the flat).\n\nI wish I knew of a good source to buy D-profile shaft, but I was not able to find any. Luckily it's not too hard to make.\n\n\n" }, { "path": "ProjectFiles/SCARA Robot/Code/SCARA Controller/SCARA Controller.py", "content": "import serial\nimport time\nimport pygame\nimport math\nimport waypoints\nfrom numpy import *\n\narduino = serial.Serial(port = 'COM3', baudrate = 115200, timeout=1)\npygame.init()\n\nWIDTH = 800\nHEIGHT = 800\n\nBLOCK_WIDTH = 80\n\nORIGIN = (WIDTH//2, HEIGHT//2)\n\nARM_SEGMENT_ONE = 160\nARM_SEGMENT_TWO = 202\nARM_SEGMENT_THREE = 40\nMAX_Z = 756\n\nscreen = pygame.display.set_mode((WIDTH, HEIGHT))\n\nclass Dot(object):\n def __init__(self, pos):\n self.pos = list(pos)\n self.radius = 10\n self.color = (255, 0, 0)\n\n def draw(self, surface):\n pygame.draw.circle(surface, self.color, self.pos, self.radius)\n\n def is_moused_over(self, mouse_pos):\n if math.dist(mouse_pos, self.pos)< self.radius:\n return True\n return False\n\n \n\ndef write_data(pointer, a_p, z, c): \n angles = list(inverse_kinematics(interpret_mouse(pointer.pos)))\n angles.append(a_p[2])\n\n if isnan(angles[0]) or isnan(angles[1]):\n return\n\n a_p[0] = angles[0]\n a_p[1] = angles[1]\n\n return write_direct_data(angles, z, c)\n\ndef write_direct_data(angles, height, c):\n computed = (bytes(str(int(angles[0])), \"utf-8\"), bytes(str(int(angles[1])), \"utf-8\"), bytes(str(int(angles[2])), \"utf-8\"))\n #print(computed)\n \n z = bytes(str(int(height)), \"utf-8\")\n closed = bytes(str(int(c)), \"utf-8\")\n delim = bytes(';', \"utf-8\")\n \n arduino.write(computed[0]) \n arduino.write(delim) \n arduino.write(computed[1])\n arduino.write(delim)\n arduino.write(computed[2])\n arduino.write(delim)\n arduino.write(z)\n arduino.write(delim)\n arduino.write(closed)\n arduino.write(delim)\n \n return 1\n\ndef draw_joint(surface, start_pos, angle, length, width):\n x = start_pos[0] + math.cos(math.radians(angle-90)) * length\n y = start_pos[1] + math.sin(math.radians(angle-90)) * length\n\n end_pos = (x, y)\n \n pygame.draw.line(surface, (0, 0, 0), start_pos, end_pos, width)\n\n return end_pos\n\ndef interpret_mouse(pos):\n x = pos[0]; y = pos[1]\n\n return (x-(WIDTH//2), HEIGHT-y-(HEIGHT//2))\n #return (x-(WIDTH//2), -(y-(HEIGHT//2)))\n\n\ndef inverse_kinematics(target_pos):\n invert = False\n \n L1 = ARM_SEGMENT_ONE\n L2 = ARM_SEGMENT_TWO\n x = target_pos[0] \n y = target_pos[1]\n\n if x >= 0:\n invert = True\n x = -x\n\n r1 = sqrt(x**2+y**2) # eqn 1\n phi_1 = arccos((L2**2-L1**2-r1**2)/(-2*L1*r1)) # eqn 2\n phi_2 = arctan2(y, x) # eqn 3\n theta_1 = (rad2deg(phi_2-phi_1)-90) # eqn 4 converted to degrees\n\n phi_3 = arccos((r1**2-L1**2-L2**2)/(-2*L1*L2))\n theta_2 = 180-rad2deg(phi_3)\n\n if invert:\n theta_1 = -theta_1\n theta_2 = -theta_2\n\n if y < 0:\n theta_1 = -theta_1\n\n sign_1 = abs(theta_1)//theta_1\n sign_2 = abs(theta_2)//theta_2\n\n if abs(theta_1) >= 180:\n theta_1 = (360-abs(theta_1)) * sign_1\n\n if abs(theta_2) >= 180:\n theta_2 = (360-abs(theta_2)) * sign_2\n\n return (-theta_1, -theta_2)\n\ndef export_waypoints(path, filename):\n with open(filename, \"w\") as f: \n for point in path:\n point.write(f)\n\ndef load_waypoints(filename):\n with open(filename, \"r\") as f:\n return waypoints.parse_file(f.readlines())\n\n\nrunning = True\n\npointer = Dot(ORIGIN)\n\ndragging = False\n\ngripped = False\n\nlast_point_pos = (0, 0)\n\nclock = pygame.time.Clock()\n\nangles = [0, 0, 0]\nz_height = 0\n\npointer.pos[1] -= 300\n\nsaving_path = False\nstored_path = []\n\nfont = pygame.font.Font(None, 48)\nbuilding_path_img = font.render(\"Building path: 0\", True, (20, 20, 20))\n\n#1: manual plot; 2: follow previous path\ncurrent_state = 1\narduino_ready = True\ncurrent_waypoint = 0\n\nupdate_arduino_count = 0\n\nchanged = False\n\nwhile running:\n clock.tick(60)\n\n for event in pygame.event.get():\n if event.type == pygame.QUIT:\n running = False\n elif event.type == pygame.MOUSEWHEEL:\n z_height = max(min(z_height - event.y*4, MAX_Z), 0)\n changed = True\n\n elif event.type == pygame.KEYDOWN: \n if event.key == pygame.K_b: #Begin path\n saving_path = True\n stored_path = []\n \n elif event.key == pygame.K_s: #Save path\n export_waypoints(stored_path, \"C:/dump/example.txt\")\n saving_path = False\n stored_path = []\n \n elif event.key == pygame.K_SPACE: #Add waypoint\n if saving_path:\n stored_path.append(waypoints.Waypoint(angles=angles, height=z_height, grip=gripped))\n building_path_img = font.render(\"Building path: \"+str(len(stored_path)), True, (20, 20, 20)) \n\n elif event.key == pygame.K_p and current_state == 1: #Load waypoints\n saving_path = False\n stored_path = load_waypoints(\"C:/dump/example.txt\")\n current_state = 2\n\n elif event.key == pygame.K_l and current_state == 1:\n saving_path = False\n stored_path = load_waypoints(\"C:/dump/example.txt\")\n current_state = 3\n\n elif event.key == pygame.K_ESCAPE:\n current_state = 1\n current_waypoint = 0\n\n elif event.key == pygame.K_LSHIFT:\n gripped = not gripped\n changed = True\n\n \n \n screen.fill((255, 255, 255))\n\n keys = pygame.key.get_pressed()\n\n if keys[pygame.K_LEFT]:\n angles[2] -= 2\n changed = True\n if keys[pygame.K_RIGHT]:\n angles[2] += 2\n changed = True\n\n if angles[2] < -180:\n angles[2] += 360\n\n if angles[2] > 180:\n angles[2] -= 360\n\n if gripped:\n pygame.draw.circle(screen, (0, 0, 0), (WIDTH*0.95, HEIGHT*0.95), 10)\n\n if saving_path:\n screen.blit(building_path_img, (30, 30))\n\n for x in range(WIDTH//BLOCK_WIDTH):\n pygame.draw.line(screen, (50, 50, 50), ((x+1)*BLOCK_WIDTH, 0), ((x+1)*BLOCK_WIDTH, HEIGHT))\n \n for y in range(HEIGHT//BLOCK_WIDTH):\n pygame.draw.line(screen, (50, 50, 50), (0, (y+1)*BLOCK_WIDTH), (WIDTH, (y+1)*BLOCK_WIDTH))\n\n pygame.draw.circle(screen, (0, 0, 0), ORIGIN, 5)\n\n end = draw_joint(screen, ORIGIN, angles[0], ARM_SEGMENT_ONE, 10)\n end = draw_joint(screen, end, angles[0]+angles[1], ARM_SEGMENT_TWO, 5)\n draw_joint(screen, end, angles[0]+angles[1]+angles[2], ARM_SEGMENT_THREE, 2)\n\n #draw_joint(screen, ORIGIN, -80, ARM_SEGMENT_ONE, 10)\n \n pointer.draw(screen)\n \n if current_state == 1:\n if pointer.is_moused_over(pygame.mouse.get_pos()) and pygame.mouse.get_pressed()[0]:\n dragging = True\n \n if dragging:\n pointer.pos = pygame.mouse.get_pos()\n \n if not pygame.mouse.get_pressed()[0]:\n dragging = False\n \n if last_point_pos[0] != pointer.pos[0] or last_point_pos[1] != pointer.pos[1] or changed:\n if update_arduino_count >= 5:\n write_data(pointer, angles, z_height, gripped)\n last_point_pos = tuple(pointer.pos)\n update_arduino_count %= 5\n \n\n elif current_state in (2, 3):\n if arduino_ready:\n angles = list(stored_path[current_waypoint].angles)\n z_height = stored_path[current_waypoint].height\n g = stored_path[current_waypoint].grip\n \n write_direct_data(angles, z_height, g)\n\n arduino_ready = False\n\n current_waypoint += 1\n\n if current_waypoint >= len(stored_path):\n current_waypoint = 0\n\n if current_state == 2:\n current_state = 1\n \n if arduino.inWaiting():\n s = arduino.readline()\n\n s = s.decode()\n print(s.strip())#, \":\", inverse_kinematics(interpret_mouse(pointer.pos)))\n\n if s.startswith(\"Ready\"):\n arduino_ready = True\n\n elif s.startswith(\"Replay\"):\n saving_path = False\n stored_path = load_waypoints(\"C:/dump/example.txt\")\n current_state = 2\n\n update_arduino_count += 1\n pygame.display.flip()\n\n\npygame.quit()\narduino.close()\n" }, { "path": "ProjectFiles/SCARA Robot/Code/SCARA Controller/test.py", "content": "import serial, time\n\narduino = serial.Serial(port = 'COM3', baudrate = 9600, timeout=1)\n\nwhile True:\n arduino.write(bytes(\"1\", \"utf-8\"))\n arduino.write(bytes(\"2\", \"utf-8\"))\n arduino.write(bytes(\"3\", \"utf-8\"))\n\n if arduino.inWaiting():\n s = arduino.readline()\n\n s = s.decode()\n print(s.strip())\n\n time.sleep(0.01)\n\n" }, { "path": "ProjectFiles/SCARA Robot/Code/SCARA Controller/waypoints.py", "content": "class Waypoint:\n running_id = 0\n def __init__(self, angles=None, height=None, grip=None, file_data=None):\n if not file_data:\n self.angles = tuple(angles)\n self.height = height\n self.id = Waypoint.running_id\n self.grip = grip\n Waypoint.running_id += 1\n else:\n self.angles = tuple(file_data[\"ANGLES\"])\n self.height = file_data[\"HEIGHT\"]\n self.id = file_data[\"ID\"]\n self.grip = file_data[\"GRIP\"]\n \n def write(self, open_file):\n identity = \"ID:\" + str(self.id) + '\\n'\n angles = \"ANGLES:\" + str(int(self.angles[0])) + ';' + str(int(self.angles[1])) + ';' + str(int(self.angles[2])) + '\\n'\n height = \"HEIGHT:\" + str(int(self.height)) + '\\n'\n grip = \"GRIP:\" + str(int(self.grip)) + '\\n'\n open_file.writelines((identity, angles, height, grip, '#\\n'))\n\ndef parse_file(file_lines):\n waypoints = []\n \n info = {\n \"ID\": -1,\n \"ANGLES\": [-1, -1, -1],\n \"HEIGHT\": -1,\n \"GRIP\": False\n }\n \n for line in file_lines:\n if line.startswith(\"ID\"):\n info[\"ID\"] = int(line.split(':')[-1])\n \n elif line.startswith(\"ANGLES\"):\n cur_angles = line.split(':')[-1].split(';')\n info[\"ANGLES\"] = (int(cur_angles[0]), int(cur_angles[1]), int(cur_angles[2]))\n \n elif line.startswith(\"HEIGHT\"):\n info[\"HEIGHT\"] = int(line.split(':')[-1])\n\n elif line.startswith(\"GRIP\"):\n info[\"GRIP\"] = bool(int(line.split(':')[-1]))\n \n elif line.startswith(\"#\"):\n waypoints.append(Waypoint(file_data=info.copy()))\n\n return waypoints\n\n\n" }, { "path": "ProjectFiles/SCARA Robot/Code/SCARA_Macro1/SCARA_Macro1.ino", "content": "#include \n#include \n\nfloat stepsPerDegree = 35.56; // 200 steps/rev motor, 16:1 gearbox, and quarter-step driving\nfloat stepsPerDegree3 = 11.11; // 200 steps/rev motor, 5:1 gearbox, and quarter-step driving\nint stepsPermm = 30.3; // Steps per mm travel for Z-axis\nint joint1Home = -105; // Angle from straight in degrees, CCW positive\nint joint2Home = -137;\nint joint3Home = 142;\nint zHome = -50; // distance in mm down from top of Z-travel\n\nServo servo1;\nint servoPos;\nint openPos = 175;\nint gripPos = 10;\n\n\n////// STEPPER DIRECTION AND STEP PINS:\nconst int dirPin1 = 5; //// X on CNC shield\nconst int stepPin1 = 2;\n\nconst int dirPin2 = 6; ///// Y on CNC shield\nconst int stepPin2 = 3;\n\nconst int dirPin3 = 7; ///// Z on CNC sheild\nconst int stepPin3 = 4;\n\nconst int dirPin4 = 13; ///// A on CNC shield (put jumpers between pins)\nconst int stepPin4 = 12;\n\nconst int enablePin = 8;\n\n\n/////// LIMIT SWITCHES: (1 by default, 0 when pressed. Connect outer pins to input pin and ground on arduino)\nint limit1 = 9; // X limit on CNC sheild\nint limit2 = 10; // Y\nint limit3 = A3; // Coolant Enable\nint limit4 = 11; // Z\n\nint limState1;\nint limState2;\nint limState3;\nint limState4;\n\nlong homing1 = 1; // Make (-) for CCW homing, and (+) for CW homing (also need to change increment in homing function)\nlong homing2 = 1;\nlong homing3 = -1;\nlong homing4 = 1;\n\n// Define motor interface type (type 1 means an external stepper driver with Step and Direction pins)\n#define motorInterfaceType 1\n\n// Define steppers and the pins they use\nAccelStepper stepper1(motorInterfaceType, stepPin1, dirPin1);// First Joint\nAccelStepper stepper2(motorInterfaceType, stepPin2, dirPin2);// Second Joint\nAccelStepper stepper3(motorInterfaceType, stepPin3, dirPin3);//Third Joint (end effector rotation)\nAccelStepper stepper4(motorInterfaceType, stepPin4, dirPin4);// Z-axis\n\n\n////// HOMING FUCNTION:\nvoid homing(){ \n \n limState1 = digitalRead(limit1);\n limState2 = digitalRead(limit2);\n limState3 = digitalRead(limit3);\n limState4 = digitalRead(limit4);\n\n while (limState1 == 1){\n stepper1.moveTo(homing1);\n homing1++;\n stepper1.run();\n delay(2);\n limState1 = digitalRead(limit1);\n //Serial.println(limState1);\n }\n delay (500);\n\n\n while (limState2 == 1){\n stepper2.moveTo(homing2);\n homing2++;\n stepper2.run();\n limState2 = digitalRead(limit2);\n delayMicroseconds(700);\n //Serial.println(limState2);\n }\n delay (500);\n \n\n while (limState3 == 1){\n stepper3.moveTo(homing3);\n homing3--;\n stepper3.run();\n limState3 = digitalRead(limit3);\n delayMicroseconds(200);\n //Serial.println(limState3);\n }\n delay (500);\n\n while (limState4 == 1){\n stepper4.moveTo(homing4);\n homing4++;\n stepper4.run();\n limState4 = digitalRead(limit4);\n delayMicroseconds(700);\n //Serial.println(limState4);\n } \n delay (500); \n \n} /// Homing function end\n\n\n\nvoid setup() {\n // put your setup code here, to run once:\n Serial.begin(115200);\n\n servo1.attach (A2); // Declare Servo Object (A2 = \"Resume\" pin)\n servoPos = openPos;\n\n pinMode (limit1, INPUT);\n pinMode (limit2, INPUT);\n pinMode (limit3, INPUT);\n pinMode (limit4, INPUT);\n\n digitalWrite(limit1, HIGH);\n digitalWrite(limit2, HIGH);\n digitalWrite(limit3, HIGH);\n digitalWrite(limit4, HIGH);\n\n pinMode(enablePin, OUTPUT); // CNC shield enable pin\n digitalWrite(enablePin, LOW);\n\n\n /////////// STEPPER PROPERTIES:\n\n stepper1.setMaxSpeed(14000); //// 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\"\n stepper1.setAcceleration(10000);\n\n stepper2.setMaxSpeed(14000);\n stepper2.setAcceleration(10000);\n\n stepper3.setMaxSpeed(10000);\n stepper3.setAcceleration(10000);\n\n stepper4.setMaxSpeed(12000);\n stepper4.setAcceleration(10000);\n\n homing(); ///////////////////////// RUN ARM HOMING FUNCTION\n\n\n stepper1.setCurrentPosition(0); // Set current stepper position after homing and becoming straight as zero (THIS SETS MOTOR SPEED TO 0)\n stepper2.setCurrentPosition(0); \n stepper3.setCurrentPosition(0); \n stepper4.setCurrentPosition(0); \n\n \n stepper1.move(stepsPerDegree*joint1Home); // Moves joint one to straight ahead (arm will crash if signs are wrong)\n stepper2.move(stepsPerDegree*joint2Home);\n stepper3.move(stepsPerDegree3*joint3Home);\n stepper4.move(stepsPermm*zHome);\n\n while (stepper1.distanceToGo() != 0){\n stepper1.run();\n }\n\n while (stepper2.distanceToGo() != 0){\n stepper2.run();\n }\n\n while (stepper3.distanceToGo() != 0){\n stepper3.run();\n }\n \n while (stepper4.distanceToGo() != 0){\n stepper4.run();\n }\n\n stepper1.setCurrentPosition(0); // Set current stepper position after homing and becoming straight as zero (THIS SETS MOTOR SPEED TO 0)\n stepper2.setCurrentPosition(0); \n stepper3.setCurrentPosition(0); \n stepper4.setCurrentPosition(0); \n \n} // Setup End\n\n\nvoid loop() {\n \n\n//////////////////POSITION 1:\n\n servo1.write(gripPos);\n delay(800); // MAKE AS SMALL AS POSSIBLE\n \n stepper1.moveTo(60*stepsPerDegree); \n stepper2.moveTo(80*stepsPerDegree); \n stepper3.moveTo(45*stepsPerDegree3); \n stepper4.moveTo(-200*stepsPermm);\n \n while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0 || stepper3.distanceToGo() != 0 || stepper4.distanceToGo() != 0){\n if (stepper1.distanceToGo() != 0){\n stepper1.run();\n }\n\n if (stepper2.distanceToGo() != 0){\n stepper2.run();\n }\n\n if (stepper3.distanceToGo() != 0){\n stepper3.run();\n }\n\n if (stepper4.distanceToGo() != 0){\n stepper4.run();\n }\n }\n delay(100);\n\n//////////////////POSITION 2:\n\n servo1.write(openPos);\n delay(800); // MAKE AS SMALL AS POSSIBLE\n \n stepper1.moveTo(-80*stepsPerDegree); \n stepper2.moveTo(-60*stepsPerDegree); \n stepper3.moveTo(-45*stepsPerDegree3); \n stepper4.moveTo(-100*stepsPermm);\n \n while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0 || stepper3.distanceToGo() != 0 || stepper4.distanceToGo() != 0){\n if (stepper1.distanceToGo() != 0){\n stepper1.run();\n }\n \n if (stepper2.distanceToGo() != 0){\n stepper2.run();\n }\n \n if (stepper3.distanceToGo() != 0){\n stepper3.run();\n }\n \n if (stepper4.distanceToGo() != 0){\n stepper4.run();\n }\n }\n delay(100);\n\n//////////////////POSITION 3:\n stepper1.moveTo(0*stepsPerDegree); \n stepper2.moveTo(0*stepsPerDegree); \n stepper3.moveTo(0*stepsPerDegree3); \n stepper4.moveTo(-50*stepsPermm);\n\n servo1.write(gripPos);\n delay(800); // MAKE AS SMALL AS POSSIBLE\n while (stepper1.distanceToGo() != 0 || stepper2.distanceToGo() != 0 || stepper3.distanceToGo() != 0 || stepper4.distanceToGo() != 0){\n\n if (stepper1.distanceToGo() != 0){\n stepper1.run();\n }\n\n if (stepper2.distanceToGo() != 0){\n stepper2.run();\n }\n\n if (stepper3.distanceToGo() != 0){\n stepper3.run();\n }\n\n if (stepper4.distanceToGo() != 0){\n stepper4.run();\n }\n }\n delay(100);\n\n}\n" }, { "path": "ProjectFiles/SCARA Robot/Code/SCARA_Sketch/SCARA_Sketch.ino", "content": "#include \n#include \n\nString value;\nconst char delim = ';';\nint data[5]; //Holds most recent angles for first and second joint, followed by the z-height\nint* angles;\nint* height;\nint* gripper;\n\nchar buffer[5];\nint bufferIndex;\n\nint dataIndex = 0;\n\nfloat stepsPerDegree = 35.56; // 200 steps/rev motor, 16:1 gearbox, and quarter-step driving\nfloat stepsPerDegree3 = 11.11; // 200 steps/rev motor, 5:1 gearbox, and quarter-step driving\nint stepsPermm = 30.3; // Steps per mm travel for Z-axis\nint joint1Home = -105; // Angle from straight in degrees, CCW positive\nint joint2Home = -137;\nint joint3Home = 142;\nint zHome = -50; // distance in mm down from top of Z-travel\n\nServo servo1;\nint servoPos;\nint openPos = 175;\nint gripPos = 10;\n\nint limitPin = 12;\n\n\n////// STEPPER DIRECTION AND STEP PINS:\nconst int dirPin1 = 5; //// X on CNC shield\nconst int stepPin1 = 2;\n\nconst int dirPin2 = 6; ///// Y on CNC shield\nconst int stepPin2 = 3;\n\nconst int dirPin3 = 7; ///// Z on CNC sheild\nconst int stepPin3 = 4;\n\nconst int dirPin4 = 13; ///// A on CNC shield (put jumpers between pins)\nconst int stepPin4 = 12;\n\nconst int enablePin = 8;\n\n\n/////// LIMIT SWITCHES: (1 by default, 0 when pressed. Connect outer pins to input pin and ground on arduino)\nint limit1 = 9; // X limit on CNC sheild\nint limit2 = 10; // Y\nint limit3 = A3; // Coolant Enable\nint limit4 = 11; // Z\n\nint limState1;\nint limState2;\nint limState3;\nint limState4;\n\nlong homing1 = 1; // Make (-) for CCW homing, and (+) for CW homing (also need to change increment in homing function)\nlong homing2 = 1;\nlong homing3 = -1;\nlong homing4 = 1;\n\nbool target_updated;\n\n// Define motor interface type (type 1 means an external stepper driver with Step and Direction pins)\n#define motorInterfaceType 1\n\n// Define steppers and the pins they use\nAccelStepper stepper1(motorInterfaceType, stepPin1, dirPin1);// First Joint\nAccelStepper stepper2(motorInterfaceType, stepPin2, dirPin2);// Second Joint\nAccelStepper stepper3(motorInterfaceType, stepPin3, dirPin3);//Third Joint (end effector rotation)\nAccelStepper stepper4(motorInterfaceType, stepPin4, dirPin4);// Z-axis\n\nbool finished[5];\n\n////// HOMING FUCNTION:\nvoid homing(){ \n \n limState1 = digitalRead(limit1);\n limState2 = digitalRead(limit2);\n limState3 = digitalRead(limit3);\n limState4 = digitalRead(limit4);\n\n while (limState1 == 1){\n stepper1.moveTo(homing1);\n homing1++;\n stepper1.run();\n delay(2);\n limState1 = digitalRead(limit1);\n //Serial.println(limState1);\n }\n delay (500);\n\n\n while (limState2 == 1){\n stepper2.moveTo(homing2);\n homing2++;\n stepper2.run();\n limState2 = digitalRead(limit2);\n delayMicroseconds(700);\n //Serial.println(limState2);\n }\n delay (500);\n \n\n while (limState3 == 1){\n stepper3.moveTo(homing3);\n homing3--;\n stepper3.run();\n limState3 = digitalRead(limit3);\n delayMicroseconds(200);\n //Serial.println(limState3);\n }\n delay (500);\n\n while (limState4 == 1){\n stepper4.moveTo(homing4);\n homing4++;\n stepper4.run();\n limState4 = digitalRead(limit4);\n delayMicroseconds(700);\n //Serial.println(limState4);\n } \n delay (500); \n \n} /// Homing function end\n\n\n\nvoid setup() {\n // put your setup code here, to run once:\n Serial.begin(115200);\n Serial.setTimeout(1); \n\n servo1.attach (A2); // Declare Servo Object (A2 = \"Resume\" pin)\n \n\n angles = data;\n height = data+3;\n gripper = data+4;\n \n bufferIndex = 0;\n target_updated = false;\n \n\n for (int i = 0; i < sizeof(finished)/sizeof(*finished); i++)\n {\n finished[i] = true;\n }\n\n pinMode (limit1, INPUT);\n pinMode (limit2, INPUT);\n pinMode (limit3, INPUT);\n pinMode (limit4, INPUT);\n\n digitalWrite(limit1, HIGH);\n digitalWrite(limit2, HIGH);\n digitalWrite(limit3, HIGH);\n digitalWrite(limit4, HIGH);\n\n pinMode(enablePin, OUTPUT); // CNC shield enable pin\n digitalWrite(enablePin, LOW);\n\n\n /////////// STEPPER PROPERTIES:\n\n stepper1.setMaxSpeed(5000); //// 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\"\n stepper1.setAcceleration(5000);\n\n stepper2.setMaxSpeed(5000);\n stepper2.setAcceleration(5000);\n\n stepper3.setMaxSpeed(8000);\n stepper3.setAcceleration(5000);\n\n stepper4.setMaxSpeed(3000);\n stepper4.setAcceleration(3000);\n\n homing(); ///////////////////////// RUN ARM HOMING FUNCTION\n\n\n stepper1.setCurrentPosition(0); // Set current stepper position after homing and becoming straight as zero (THIS SETS MOTOR SPEED TO 0)\n stepper2.setCurrentPosition(0); \n stepper3.setCurrentPosition(0); \n stepper4.setCurrentPosition(0); \n\n \n stepper1.move(stepsPerDegree*joint1Home); // Moves joint one to straight ahead (arm will crash if signs are wrong)\n stepper2.move(stepsPerDegree*joint2Home);\n stepper3.move(stepsPerDegree3*joint3Home);\n // stepper4.move(stepsPermm*zHome);\n\n while (stepper1.distanceToGo() != 0){\n stepper1.run();\n }\n\n while (stepper2.distanceToGo() != 0){\n stepper2.run();\n }\n\n while (stepper3.distanceToGo() != 0){\n stepper3.run();\n }\n /*\n while (stepper4.distanceToGo() != 0){\n stepper4.run();\n }\n*/\n stepper1.setCurrentPosition(0); // Set current stepper position after homing and becoming straight as zero (THIS SETS MOTOR SPEED TO 0)\n stepper2.setCurrentPosition(0); \n stepper3.setCurrentPosition(0); \n stepper4.setCurrentPosition(0); \n\n servo1.write(gripPos);\n delay(1000);\n servo1.write(openPos);\n delay(1000);\n \n} // Setup End\n\nvoid readBuffer()\n{\n if (Serial.available())\n {\n char c = Serial.read();\n buffer[bufferIndex] = c;\n bufferIndex++;\n\n }\n}\n\nvoid parseBuffer()\n{\n static int boundary1 = 110;\n static int boundary2 = 135;\n static int boundary3 = 120;\n \n if (buffer[bufferIndex-1] == ';')\n {\n /*\n for (int i = 0; i < sizeof(finished)/sizeof(*finished); i++)\n {\n finished[i] = false;\n }*/\n \n target_updated = true;\n \n buffer[bufferIndex-1] = '\\0';\n\n int newData = atoi(buffer);\n\n boolean changed = (data[dataIndex] != newData);\n \n data[dataIndex] = newData;\n\n if (data[0] < -boundary1)\n {\n data[0] = -boundary1;\n changed = false;\n }\n\n else if (data[0] > boundary1)\n {\n data[0] = boundary1;\n changed = false;\n }\n\n if (data[1] < -boundary2)\n {\n data[1] = -boundary2;\n changed = false;\n }\n\n else if (data[1] > boundary2)\n {\n data[1] = boundary2;\n changed = false;\n }\n \n if (data[2] < -boundary3)\n {\n data[2] = -boundary3;\n changed = false;\n }\n\n else if (data[2] > boundary3)\n {\n data[2] = boundary3;\n changed = false;\n } \n \n if (changed)\n finished[dataIndex] = false;\n \n dataIndex++;\n dataIndex %= sizeof(data)/sizeof(*data);\n \n bufferIndex = 0;\n\n for (int j = 0; j < sizeof(buffer)/sizeof(*buffer); j++)\n {\n buffer[j] = 1;\n }\n \n }\n}\n\n\n\nvoid loop() {\n static unsigned long last_update = millis();\n static bool moving = false;\n static unsigned long gripTimer = millis();\n static unsigned long loopTimer = 0;\n \n // put your main code here, to run repeatedly:\n readBuffer();\n parseBuffer(); \n\n if (millis() - last_update > 250)\n { \n last_update = millis();\n target_updated = false;\n \n stepper1.moveTo((angles[0])*stepsPerDegree); \n stepper2.moveTo(-(angles[1])*stepsPerDegree); \n stepper3.moveTo((angles[2])*stepsPerDegree3);\n stepper4.moveTo(stepsPermm*-(*height)); \n \n finished[0] = (stepper1.distanceToGo() == 0);\n finished[1] = (stepper2.distanceToGo() == 0);\n finished[2] = (stepper3.distanceToGo() == 0);\n finished[3] = (stepper4.distanceToGo() == 0);\n\n if (finished[0] && finished[1] && finished[2] && finished[3] && finished[4])\n { \n if (moving)\n Serial.println(\"Ready\"); //Actually does something\n moving = false;\n }\n else\n moving = true; \n\n /*\n Serial.print(finished[0]);\n Serial.print(\", \");\n Serial.print(finished[1]);\n Serial.print(\", \");\n Serial.print(finished[2]);\n Serial.print(\", \");\n Serial.print(finished[3]);\n Serial.print(\", \");\n Serial.println(finished[4]);*/\n\n /*\n Serial.print(angles[0]);\n Serial.print(\", \");\n Serial.print(angles[1]);\n Serial.print(\", \");\n Serial.print(angles[2]);\n Serial.print(\", \");\n Serial.print(*height);\n Serial.print(\", \");\n Serial.println(*gripper);*/\n \n }\n\n if (gripTimer <= millis())\n {\n if (!finished[0])\n stepper1.run();\n \n else if (!finished[1])\n stepper2.run();\n \n else if (!finished[2])\n stepper3.run();\n \n else if (!finished[3])\n stepper4.run();\n \n else if (!finished[4])\n {\n if (*gripper == 0)\n {\n servo1.write(openPos);\n //Serial.println(\"Open\");\n }\n else\n {\n servo1.write(gripPos);\n //Serial.println(\"Close\");\n }\n \n finished[4] = true;\n gripTimer = millis() + 1000;\n }\n }\n\n boolean readyToRemove = digitalRead(limitPin);\n\n if (readyToRemove && loopTimer == 0)\n {\n loopTimer = millis() + 1000 * 60 * 5;\n }\n\n if (loopTimer != 0 && millis() > loopTimer)\n {\n loopTimer = 0;\n Serial.write(\"Replay\");\n }\n\n}\n" }, { "path": "ProjectFiles/ServoArmV2/Compliant Gripper/CompliantGripperSW/console.log", "content": "Level: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\nLevel: Info\r\r\nMessage: DisplayVresionUpdatePage() sw3DPrintConnector undefined\r\r\nSource: file:///C:/Users/Isaac/AppData/Local/Temp/swcachedir/SWMarketplaceAddin/SWVersionUpdate.html?updateRequired=True&mandatory=False&newVersion=6.32.0510\r\r\nLine: 181\r\r\n-----------------------\r\r\n" }, { "path": "README.MD", "content": "I will post part files and code related to projects I make. You can view videos of the projects here: https://www.youtube.com/channel/UCg4giik_ysj2Td49WL-DQ1g\n\nAll files posted here are provided \"as is\". If you have any questions during the build, reach out to me and I'll do my best to help.\n\nYou are free to use and modify all content posted here.\n\nPlease let me know if you build one of my projects! I would love to see a photo of it." } ]