Software environment allowing the parameterization of servo-motor-based robots.
- A Structured Description of your robots
On the basis of a JSON file, you will be able to describe each controller, each servo motor and group them to form the members of your robot.
- Determine the neutral position (trim) of each servo.
Once the skeleton file has been loaded, you will be able to find the initial position of each servo motor and recalculate their offset.
- Control in real time each servo motor independently and record SnapShot positions.
- Create movements by chaining previously recorded positions, thanks to configurable transitions.
- Export in C language the description of the skeleton and movements for direct integration into your source codes.
- Support for several types of controllers (Arduino Uno, Nano, Mega, Raspberry) and servo motors (pwm, series). It suffices to declare them in the description of the skeleton.
- Pilot your robot by attaching the configured movements to the keys of the keyboard or your Bluetooth controller.
- The Firmware must be loaded into your robot. Available for Arduino boards, it is to be loaded from the Arduino IDE. VSCode PIO support is under development along with other Micro Controller cards.
- Multi languages, available in English and French, the languages are stored in the form of an easily modifiable dictionary.
- All the setting formats are described in the following link.
OK, you have assembled your robot and carried out some good functioning tests on the various servo-motors, now it's time for Movements !!!
Everything happens in the . / Data folder
- duplicate the .data/_default_project folder
- rename it with the name of your project
- duplicate the file *. / data / _defaut_project.pjt
- rename it with the name of your project
- open it is to modify the following tags at least
- description: with the previously of your robot
- filepath: modify the path with the name of the previously renamed folder
- => full format of the project file
- in your project folder, replace the view.jpg file with an image of your robot, it will be displayed each time your project is loaded.
Now let's modify the description file of your robot by opening the skeleton.skt file
- At a minimum, you should modify
- on the controller node
- the type of your card
- connection and port
- describe each servo motor
- you can now group the servomotors of each member in the motorgroups node
- and finally attach these motorgroups to the right controller
- on the controller node
- All the details can be found in the documentation => complete format squeleton.skt
Load the firmware Choreograph into your card => firmware documentation
- You can now save your own positions
- Then chain them in the form of movements
- Control your robot from your keyboard or BT controller