A USB communication interface for the TAAR robotic arm.
This app creates a Slint user interface over UART communication, allowing for command sending and machine controls.
Warning
TAARABLE is currently under active development, and the interface standard is subject to changes. See the roadmap issue for an outline of the project timeline.
To start, clone the repository:
git clone https://github.com/Hydle-Research-Group/taarable.gitThen use cargo run to launch the interface. For local development, Slint hot-reloading can be enabled via:
SLINT_LIVE_PREVIEW=1 cargo runTAAR firmware implements an interface standard set by TAARABLE. The sender (TAARABLE) can send raw GCODE commands, while the receiver (TAAR) can respond with a JSON-based format.
| GCODE Command | Description |
|---|---|
G4 P<ms> |
Pause the command queue for a set amount of time |
G60 |
Save end effector position in memory |
G61 |
Moved to a previously saved end effector position |
G92 X<position> Y<position> Z<position> |
Set end effector position |
M02 |
End the sequence, ignoring all commands after |
| JSON String | Description |
|---|---|
{ "info": "<message>" } |
An information response |
{ "warning": "<message>" } |
A warning response |
{ "error": "<message>" } |
An error response |
TAARABLE is 100% free with no drawbacks or limitations. There is no "premium" version; you get the latest and greatest, all licensed under the GPL-3.0.
All source code is public, to anyone. There is no "hidden mechanism" included in this repository; every reference and used factor exists completely and fully.