DOFBOT Up Down Left Right Movement

1. Experiment Overview

This experiment controls the robotic arm to move up, down, left, and right, then return to the upright position. By simultaneously controlling different angles of servo 3 and servo 4, the arm achieves up and down movement. Then, controlling servo 1 achieves left and right movement, and finally, it returns to the upright position.

2. Code

Code path:

~/dofbot_ctrl/scripts/06.left_right.ipynb

x
#!/usr/bin/env python3
#coding=utf-8
import time
from Arm_Lib import Arm_Device
# Create robotic arm object
Arm = Arm_Device()
time.sleep(.1)

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def main():
 # Let the servos return to center position
     Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 500)
     time.sleep(1)
     while True:
        # Control servos 3 and 4 for up and down movement
         Arm.Arm_serial_servo_write(3, 0, 1000)
         time.sleep(.001)
         Arm.Arm_serial_servo_write(4, 180, 1000)
         time.sleep(1)
        
  # Control servo 1 for left and right movement
         Arm.Arm_serial_servo_write(1, 180, 500)
         time.sleep(.5)
         Arm.Arm_serial_servo_write(1, 0, 1000)
         time.sleep(1)
        # Control servos to return to initial position
         Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1000)
         time.sleep(1.5)
try :
    main()
except KeyboardInterrupt:
    print(" Program closed! ")
    pass

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del Arm # Release the Arm object

Open the program file from Jupyter Lab and click the "Run All Cells" button on the Jupyter Lab toolbar. You will see the robotic arm move up, down, left, and right.

To exit, click the stop button on the toolbar.