README.md

LambdaAPI

Supervising controller and API for real-time / high-level control and fault detection layer. Allows control sequences and commands to be written in Python and sent over serial as GRBL G-Code.

Designed for Lambda, a robot arm built on Arctos v2.9.7 (Open Loop) by Arctos Robotics.

Arctos GRBL firmware (v0.1) here

Core Features

Remote State

• Position and state data stored remotely on computer / controlling device
• Calibrated using homing sequence
• Reads status from GRBL firmware at frequent intervals

Command Parsing

• Methods provided for programming sequences in Python
• GRBL G-code abstracted away
• Adds parsed G-code to queue to be processed

Keyboard Input

• Actively monitors keystrokes using the pynput library in order to allow for real-time manual control of the robot axes and trigger macros / commands.
• Sends inputs to RobotControl to convert to G-code and push to serial queue.

Serial Communication

• Reads from active command queue to send G-code to microcontroller (Arduino Mega 2560 R3).

Classes

Class methods (blank) and variables. See source code for full implementation.

GRBLTranslation

class GRBLTranslation:  
 @staticmethod
 def parse_status(status_message: str) -> str:
     pass  

RobotControl

class RobotControl:
    def __init__(self):
        self.x = 0
        self.y = 0
        self.z = 0
        self.a = 0
        self.b = 0
        self.c = 0

        self.unlocked = False
        self.command_queue = []
    
    
    def unlock(self):
        pass
    
    
    def calibrate(self):
        pass
    
    
    def rotate(self):
        pass  

KeyboardInput

class KeyboardInput:
    def __init__(self):
        pass

    def on_press(self, key):
        pass

    def run(self):
        pass

SerialCommunication

def __init__(self, port):
    self.port = port
    self.connection_established = False


def send_packet(queue: List):
    pass  

Flowchart diagram of software/hardware layout.

Last updated: L4852 (026.0320)