An Arduino application for an Arduino Uno with CNC shield that can control the neck and arm stepper motors in a customised CSJBOT Alice robot. The application uses rosserial to connect to the ROS master.
Accepts a std_msgs.Empty message. Causes the joints to move back to the zero
position.
Accepts a csjbot_alice/JointMovement message. Moves the joints to the
positions specified in the message:
- bool neck - true if neck should move
- int16 neck_to - move the neck to step count
- int16 neck_speed - move neck at speed (steps per second)
- bool left_arm - true if left arm should move
- int16 left_arm_to - move the left arm to step count
- int16 left_arm_speed - move the left arm at speed (steps per second)
- bool right_arm - true if the right arm should move
- int16 right_arm_to - move the right arm to step count
- int16 right_arm_speed - move the right arm at speed (steps per second)
The neck has limits of -380 steps back and 960 steps forward. A speed of 5000 steps per second seems to be a reasonable speed.
The left and right arms can rotate continuously, with 10,000 steps for a complete rotation. 3000 steps per second seems to be a reasonable speed.
Subsequent messages published on this topic will override prior messages.
This work was developed as part of the the Robots Mediating Interaction project, supported by UK Engineering and Physical Sciences Research Council (EPSRC) through Horizon: Trusted Data-Driven Products (EP/T022493/1).