CGx-Gcode-RobotArm

Gcode decoder for Arduino for robotic arms. Works together with InverseK library.

How to use?

1. Install the InverseK library.
2. If you haven't done so, install the Adafruit PWM Servo Driver library.
3. Download the project as a .zip file.
4. Open Arduino IDE
5. Select Sketch->Include Library->Add .ZIP Library...
6. Locate the .zip file you just downloaded (Should be named CGx-Gcode-RobotArm-master.zip)
7. Select the file and click Open
8. Done!

You can check the example sketch at: File->Examples->CGx Gcode->CGx_Gcode_Example

comment out the first line of the example if you want to test without the hardware! (This feature is currently under fix)

Wiring

You should connect each servo to the servo driver according to this table:

Servo Position	Servo Driver	Gcode Variable
Base	#0	A
Shoulder	#1	B
Elbow	#2	C
Wrist	#3	D
Hand	#4	E
Grip	#5	F

Gcode Table

G Codes

Gcode	Syntax	Definition
G0	G0 Xnn.n Ynn.n Znn.n Wnn.n	Fast Movement to X Y Z [mm] position. [Optional] set approach angle W.
G1	G1 Xnn.n Ynn.n Znn.n Wnn.n Fnn.n	Controlled Movement to X Y Z [mm] position. [Optional] set speed F [mm/s]. [Optional] set approach angle W.
G28	G28	Home position.
G53	G53 Ann.n Bnn.n Cnn.n Dnn.n Enn.n Fnn.n	Move each servo individually at nn.n [degrees]. Each parameter is optional.
G54	G54 Ann Bnn Cnn Dnn Enn Fnn	[Used for calibration] Move each servo individually using nn [ms] pulse width. Each parameter is optional.

M Codes

Gcode	Syntax	Definition
M100	M100	Close grip.
M101	M101	Open grip.
M103	M103	[Used for calibration] Enable calibration mode.
M104	M104	[Used for calibration] Disable calibration mode.
M105	M105	[Used for calibration] Go to first calibration position.
M106	M106	[Used for calibration] Save current position as first calibration position.
M107	M107	[Used for calibration] Go to second calibration position.
M108	M108	[Used for calibration] Save current position as second calibration position.