A gantry system like the SpiderCam, that can reposition objects in a room using Inverse Kinematics
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Start by uploading the pulley code to all of the pulleys. We have to change the static IP address when uploading, so they don't all get the same address. To do this navigate to the pulley code:
cd Pulleys/POSTPulley/and edit the last number on this line:
IPAddress local_IP(192, 168, 4, 69); //Only change thisAs long as a value in the range 0-255 is used, it does not matter, but the correct values should be stored in Server/config.json
Now we are ready to install the python dependencies and run the program:
python -m pip install -r requirements.txt
cd Server/
python main.pyThe MaltMover system consist of multiple parts. All models and diagrams are freely accessible here. Clicking any of the below pictures will let you download any resources used to create it.
The MaltMover hardware uses both steel and 3D printed parts. All parts colored blue on this render are 3D printed.
The MaltMover system used four identical PCBs, the diagrams for these can be found below.
A possible PCB with this diagram can be layed out like this:
