Arduino library for Dexarm

Arduino library for Dexarm

Tested on Dexarm Extension Moule V1(ESP32 WROVER) & Arduino 1.8.15

Manual installation on Arduino

To install this library, just place this entire folder as a subfolder in your Arduino installation

When installed, this library should look like:

• Arduino\libraries\Dexarm_Arduino_Library(this library's folder)
• Arduino\libraries\Dexarm_Arduino_Library\Dexarm_arduino.cpp(the library source file)
• Arduino\libraries\Dexarm_Arduino_Library\Dexarm_arduino.h(the library header file)
• Arduino\libraries\Dexarm_Arduino_Library\examples(the examples in the "open" menu)
• Arduino\libraries\Dexarm_Arduino_Library\readme.mdthis file)

Building on Arduino

#include "Dexarm_arduino.h"

After this library is installed, you just have to start the Arduino application. You may see a few warning messages as it's built.

TODO

• Get current position
• Get current front Module
• More test

API

• Dexarm(HardwareSerial* serial);
• void begin(int8_t rxd, int8_t txd);
• void start();
• void send_cmd(const char *string);
• void go_home();
• void set_workorigin();
• void set_module_type(int module_type);
• void go_to_max_poistion();
• void move_to(float x, float y, float z, int feedrate = 2000);
• void fast_move_to(float x, float y, float z, int feedrate = 2000);
• void delay_s(int value);
• void delay_ms(int value);
• void soft_gripper_pick();
• void soft_gripper_place();
• void soft_gripper_nature();
• void soft_gripper_stop();
• void air_picker_pick();
• void air_picker_place();
• void air_picker_nature();
• void air_picker_stop();
• void laser_on(int value);
• void laser_off();
• void conveyor_belt_forward(float speed);
• void conveyor_belt_backward(float speed);
• void conveyor_belt_stop();
• void sliding_rail_init();
• void rotary_relative_rotate(int angle);
• void rotary_absolute_rotate(int angle);