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11. How does processing control the Robotic Arm to write

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Nicolas Barrachina
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7 views

11. How does processing control the Robotic Arm to write

Uploaded by

Nicolas Barrachina
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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How does processing control the Robotic Arm to

write

In this course, we will learn how to use Processing software to control

Robotic Arms write and draw.

1. Upload the WritingAndDrawing.ino

1. Open the Arduino IDE software, as shown below:

2. In the Tools toolbar, find Board and select Arduino Uno, as shown below:

Or：

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3. In the Tools toolbar, find “Port” and Select the port number of the Adeept
Arm Drive Board, as shown below:

4. Click Open in the File drop-down menu:

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5. Find the Package of Documentation (Reference: Chapter: "_4 build Arduino
development environment", step 2 under subsection (3) under subsection 5)
that we provide to the user. Open the directory in sequence: “Code” -> “11. write
and draw” -> “WritingAndDrawing”. Then select the code file
"WritingAndDrawing.ino" and click the "Open" button.

6. After opening, click to upload the code program to the Adeept Arm

Drive Board. If there is no error warning in the console below, it means that the
Upload is successful.

7. After downloading, close WritingAndDrawing.ino

8. Note that the arm is still connected to the computer with the USB cable. Turn
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on the power supply.

2. Run the ProcessingWritingAndDrawing.pde


Note that the arm is still connected to the computer with the USB
cable. Turn on the power supply.

1. Open the Processing software, as shown below:

2. Click Open in the File drop-down menu:

3. Find the Package of Documentation (Reference: Chapter 4, near Page 12 of


this section, subsection 5, step (4)) that we provide to the user. Open the
directory in sequence: “Code” -> “11. write and draw” -> “WritingAndDrawing”.
Then select the code file "processingwritinganddrawing.pde" and click the
"Open" button.

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4. After opening, click to run the code, as shown below:

Note:

If you run the program with the following code, an error occurs and “COM9”
cannot be found:

// List all the available serial ports:

printArray(Serial.list());

// Open the port you are using at the rate you want:

port1 = new Serial(this, Serial.list()[1], 115200);

// port1 = new Serial(this, Serial.list()[3], 9600);

port1.bufferUntil('\n');

You can comment the port1 above and add a line of port1, changing COM9 to
the corresponding port number:

// Or you can use the port number directly:

// COM9 is port number, the port number can be obtained from the Arduino
tools

port1 = new Serial(this,"COM9", 115200);

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5. The interface after the program run，as shown below:

6. Draw or write in the yellow area with the mouse, you will see that the
Robotic Arm paints what we depict on the control panel on the paper. Note that
due to errors in the servo, etc., the content depicted by the arm will be slightly
biased.
7. Click the dots as shown below：

8. Click on each point to see if the pen tip falls on the paper. If it is not or is
suspended in the air, three parameters need to be modified. These three
parameters are to fine-tune the offset of the servo. In this experiment, three
servo systems need to be adjusted initially. Otherwise, the pen may not be able to
write and draw, or produce bad fonts (note that there is a certain error, these
three parameters do not need to be precise). In the process of debugging, you
will find that there are several sets of data that can make the robot work

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normally.

9. After modifying the three parameters to make the tip of the pen reach to the
paper (do not make the tip press against the paper), click "Run" to run the
control panel program. The Robotic Arm will paint as you write or draw in the
dark yellow area with the mouse.

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