Dancing with the Robot Arm

Follow along: Dancing Robot Arm Example

The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.

Open the 05_04_dance.ipynb Jupyter Notebook
Load Arm_Lib module and register the robot arm as an object
Follow and Execute the example codes

(The Jetson Board used for these examples are => Jetson Nano)

05_04_dance.ipynb
Running the cell code

Ctrl + Enter

To make sure that no other program is using the robot arm, turn off the joy stick control and allow for robot arm to be controlled:

%%capture
!pm2 stop 14
!pm2 start 15

Load Arm_Lib module and register the robot arm as an object

#!/usr/bin/env python3
#coding=utf-8
import time
from Arm_Lib import Arm_Device


Arm = Arm_Device()
time.sleep(.1)

time_1 = 500
time_2 = 1000
time_sleep = 0.5

Arm_serial_servo_write (motor number, angle, time)
Dance motion using servo motor angle control and while statement

# Dancing Robot arm in repeat
def main():
    # 서보를 중심으로 만든다.
    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 500)
    time.sleep(1)

    while True:
        Arm.Arm_serial_servo_write(2, 180-120, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 120, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 60, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 180-135, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 135, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 45, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 180-120, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 120, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 60, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 180-80, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 80, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 80, time_1)
        time.sleep(time_sleep)



        Arm.Arm_serial_servo_write(2, 180-60, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 60, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 60, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 180-45, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 45, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 45, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(.001)
        time.sleep(time_sleep)



        Arm.Arm_serial_servo_write(4, 20, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(6, 150, time_1)
        time.sleep(.001)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(6, 90, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(4, 20, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(6, 150, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(6, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(1, 0, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(5, 0, time_1)
        time.sleep(time_sleep)



        Arm.Arm_serial_servo_write(3, 180, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 0, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(6, 180, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(6, 0, time_2)
        time.sleep(time_sleep)



        Arm.Arm_serial_servo_write(6, 90, time_2)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(1, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(5, 90, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(3, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(time_sleep)

        print(" END OF LINE! ")

try :
    main()
except KeyboardInterrupt:
    print(" Program closed! ")
    pass

Remove the robot arm object

del Arm  # Remove robot arm object

Reset the Robot Arm control

%%capture
!pm2 stop 15
!pm2 start 14