Arm Link Library and Firmware

This repo houses the Arduino Arm Link Library and the Arm Link Firmware examples for ArbotiX Robocontroller/ InterbotiX Robot Arms.

These files are compatible with all three InterbotiX Robot Arms.

PhantomX Pincher Robot Arm Kit http://learn.trossenrobotics.com/interbotix/robot-arms/pincher-arm

PhantomX Reactor Robot Arm Kit http://learn.trossenrobotics.com/interbotix/robot-arms/reactor-arm

WidowX Robot Arm Kit http://learn.trossenrobotics.com/interbotix/robot-arms/widowx-arm

Installation

These library/firmware files are avaialble as part of the 'arbotix' hardware/libraries installation. If you have loaded the latest version of the 'arbotix' repo, you will have these files installed already. For more information see the 'ArbotiX Getting Started Guide' http://learn.trossenrobotics.com/arbotix/7-arbotix-quick-start-guide

For manual installation, copy the 'ArmLink' folder into your Arduino 'Libraries' folder. Restart the Arduino environment. Firmware examples can be found under

File->Examples->ArmLink

Arm Link Library

The Arm Link library provides structure for communicating with an InterbotiX Arm running the ArmLink Firmware over a serial port.

The Arm Link Library is only required for communicating with the arm over a serial port. The Arm Link Library does not handle any Inverse kinematics or other Arm functions.

For more information on the Arm Link protocol and library, see this article http://learn.trossenrobotics.com/36-demo-code/137-interbotix-arm-link-software.html

Arm Link Firmware

The Arm Link Firmware examples are Arduino Firmware files to be loaded onto the ArbotiX Robocontroller.

As this firmware is compatible with multiple arms, you will need to select your arm in the code. In the main .ino file under the main comments, find the following code block

//=============================================================================
// Define Options
//=============================================================================

#define NOPE
//#define PINCHER
//#define REACTOR
//#define WIDOWX

Comment out '#define NOPE' and uncomment the arm you are using. For example, if you are using the Pincher Arm, your code should look like

//=============================================================================
// Define Options
//=============================================================================

//#define NOPE
#define PINCHER
//#define REACTOR
//#define WIDOWX

ArmLinkSerial

This firmware will repsond to Arm Link style serial commands. This included serial commands from the Arm Link PC Software.

See this article for more information http://learn.trossenrobotics.com/36-demo-code/137-interbotix-arm-link-software.html

ArmLinkPlayback

Note: This firmware does not use the ArmLink Library. It is offered in this repo for workflow purposes. See this article for more information http://learn.trossenrobotics.com/36-demo-code/137-interbotix-arm-link-software.html

ArmLinkAnalog

This example will allow you to contorl the Robot Arm via analog controls.

Note: This firmware does not use the ArmLink Library. It is offered in this repo for workflow purposes. See this article for more information http://learn.trossenrobotics.com/36-demo-code/137-interbotix-arm-link-software.html

This firmware is used to control the arm via serial packet, which breaks out absolute X, Y, Z Axis control, Wrist angle, Wrist rotation, Gripper control, as well as speed control. In addition, it also has the ability to control digital outputs on the arbotix, read analog inputs, and switch between several control/IK modes. More information to come.