Manipulator Interface and Control

The files in this project can be used to control a 2 or 3 servo robotic arm using an iPad app with 2 video inputs.

• iPad: This folder contains a zip file with the contents of an xcode project directory. Everything which was used to make the original iPad app can be found in this zip file.
• python: This folder contains the webserver portion of application. This is to be ran on the device which the arduino is attatched to. The webserver runs on port 80 and communicates over usb serial to the arduino.
• arduino: This folder contains the sketch for the arduino to control the 2 or 3 servos which make up the arm. The gripper servo is optional, but the code still exists for it to operate.
• video: This folder contains the c++ code required to compile together a linux executable which will stream video over udp.

Usage

1. On the machine which the arduino is connected to, run the server.py file
   • 'sudo python main.py ': Whatever the output file should be named
     • The output file contains all the input from the webserver
2. On the machine which the two webcams are connected to, should be the same machine as in step 1, run the client file.
   • './client 5000': port 5000 is the port which the ipad app is listening on for video
     • : This is the iPads local ipaddress
3. On the iPad, open up the Robotic Arm Interface app. In the top text box is the ipaddress "192.168.0.103". Delete this and type in the ipaddress of the machine which is running the webserver.
   • "192.168.0.103" was the static ipaddress we used which is why it is the default
   • The ip entered should be the machine's local ip
   • The app will not load unless it is recieving video data over port 5000