BigRobotArmFirmware

Firmware for BigRobotArm from instructables (https://www.instructables.com/Build-a-Giant-3D-Printed-Robot-Arm/)

Commands

Goto

• G0 Ba Sb Ec WRd We where a,b,c,d,e are absolute steps to go to for each angle

Home

• G28 moves all motors in 0 position

Reset positions

• G92 sets current position of the motors to 0

Speed

• M203 Ba Sb Ec WRd We where a,b,c,d,e are speed multipliers for each motor
• speed multiplier can be set from 1 to 300
• by default each motor has speed multiplier 100
• the given value is divided by 100, so that 100 multiplier is actually 1 (this is done to avoid sending floats over Serial, probably unnecessary)

Accel

• M201 Ba Sb Ec WRd We where a,b,c,d,e are acceleration multipliers for each motor
• acceleration multiplier can be set from 1 to 300
• by default each motor has acceleration multiplier 100
• the given value is divided by 100, so that 100 multiplier is actually 1 (this is done to avoid sending floats over Serial, probably unnecessary)

Gripper

• G1 Ex Py where x can be 0 to disable gripper, 1 to enable gripper and y is in range from 0 to 180 for servo position

Sync motors

• Sx where x can be 0 to not synchronize motor movement or 1 to synchronize motor movement
• when sychronized, the motors arrive at the destination at the same time

Status

• M503 returns all information about current arm position and settings

Composite command (sequences)

Begin

• BEGIN Ix after this command any command sent will be added to buffer to be executed when #End command is received. x is number of repetitions of the sequence.

End

• END starts execution of commands in buffer for number of iterations set after the #Begin command.

Example

• BEGIN I5 start of sequence, number of interations is 5
• G0 B100 S200 E300 WR400 W300 move the arm to B100 S200 E300 WR400 W300
• G0 B0 S50 E5000 WR1500 W0 move the arm to B0 S50 E5000 WR1500 W0
• END executes the sequence (the two commands above) 5 times

Response:

• BigRobotArm::POSITION: Ba Sb Ec WRd We - where a,b,c,d,e are current motor step positions
• BigRobotArm::GRIPPER: Ex Py- where x specifies if gripper is enabled (1) or disabled (0) and y specifies servo position
• BigRobotArm::SPEED: Ba Sb Ec WRd We where a,b,c,d,e are speed multipliers for each motor
• BigRobotArm::ACCELERATION: Ba Sb Ec WRd We where a,b,c,d,e are acceleration multipliers for each motor
• BigRobotArm::SYNC-MOTORS: x where x spceifies if motor movement is synced (1) or not (0)