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Bachelor's Degree in Industrial Technology Engineering
Control of a robotic arm using an
Omega2+ module
ANNEX
Author: Daniel Vázquez Navarro
Director: Manuel Moreno Eguilaz
Term: 2017/2018 ± Autumn semester
Barcelona School of Industrial Engineering
Control of a robotic arm using an Omega2+ module Page 1
Summary
SUMMARY ___________________________________________________ 1
1. ANNEX A: OMEGA BOARDS ________________________________ 2
1.1. Expansion Dock ............................................................................................. 2
1.2. Power Dock .................................................................................................... 3
1.3. Mini Dock ........................................................................................................ 4
1.4. Arduino Dock 2 ............................................................................................... 4
1.5. Breadboard Dock ........................................................................................... 5
1.6. Expansions ..................................................................................................... 6
2. ANNEX B: PYTHON CODE __________________________________ 8
2.1. robot.py ........................................................................................................... 8
2.2. baseservos.py .............................................................................................. 10
2.3. servo.py ........................................................................................................ 13
2.4. mecanisme.py .............................................................................................. 21
2.5. PCA9685.py ................................................................................................. 26
2.6. interpolacions.py ........................................................................................... 28
3. ANNEX C: API CODE ______________________________________ 31
3.1. index.html ..................................................................................................... 31
3.2. css/ mystyle.css ............................................................................................ 35
3.3. css/ jquery-ui.css .......................................................................................... 37
3.4. css/ jquery-ui-slider-pips.css ........................................................................ 59
3.5. css/ roundslider.min.css ............................................................................... 65
3.6. js/ roundslider.min.js ..................................................................................... 67
3.7. js/ jquery-ui-slider-pips.js .............................................................................. 76
Pàg. 2 ANNEX
1. ANNEX A: Omega Boards
1.1. Expansion Dock
The Expansion dock is a powerful piece of hardware that simplifies the usage of your Omega. It allows you to power the Omega and communicate with it via serial through the Micro-USB port, and makes it incredibly easy to use the GPIOs and Onion Expansions. The Expansion Dock is powered by the Micro-USB port that supplies 5V to the Dock. This voltage is stepped down to the required 3.3V required to power the Omega, and also provides 5V to the Expansions and USB Host port. you can control through the command-line interface (will be explained below).
Figure 1 - View of the Expansion Dock
GPIOs, and allows you to connect Onion Expansions directly. The Expansion Header is labelled to show you what GPIO is connected to each section. multiplexing options: Control of a robotic arm using an Omega2+ module Page 3
Figure 2 - Expansion dock pinout diagram
By default, the Serial, SPI, and I2C pins implement these communication protocols and cannot be used as GPIOs. Similarly, the I2S and PWM pins are set to GPIO mode by default. storage device to extend the storage space of your Omega. The USB port supports USB 2.0, and is a type A connector. The Power switch will cut power to the Omega, but not the serial chip. This means your computer will still detect a USB serial device, but will not be able to communicate with the
Omega.
And finally, the
GPIO. Pressing this button do one of two things: reboot (momentarily pressing), or factory restore (Pressing and holding the reset button for 10 seconds).
1.2. Power Dock
This Dock allows you to recharge and monitor battery levels, while providing a header to connect Onion Expansions. It works like the Expansion Dock with an extra option to power it by a 3.7V LiPo Battery with a standard 2-pin JST-PH connector and indicator
LEDs for the battery level
Pàg. 4 ANNEX
Figure 3 - View of the Power Dock
1.3. Mini Dock
The Mini Dock functions very similarly to the Expansion Dock. It supplies your Omega with power and allows you to communicate serially via a Micro-USB port. It also has a USB type A connector for you to use. All of this with a fraction of the size of an Expansion Dock.
Figure 4 - View of the Mini Dock
1.4. Arduino Dock 2
The Arduino Dock 2 is the supercharged version of an Arduino Uno R3 board. These two boards share the same microcontroller, the ATmel ATmega328P microcontroller (MCU), and the Arduino Uno R3 with the Arduino Dock and the Omega.
Bachelor's Degree in Industrial Technology Engineering
Control of a robotic arm using an
Omega2+ module
ANNEX
Author: Daniel Vázquez Navarro
Director: Manuel Moreno Eguilaz
Term: 2017/2018 ± Autumn semester
Barcelona School of Industrial Engineering
Control of a robotic arm using an Omega2+ module Page 1
Summary
SUMMARY ___________________________________________________ 1
1. ANNEX A: OMEGA BOARDS ________________________________ 2
1.1. Expansion Dock ............................................................................................. 2
1.2. Power Dock .................................................................................................... 3
1.3. Mini Dock ........................................................................................................ 4
1.4. Arduino Dock 2 ............................................................................................... 4
1.5. Breadboard Dock ........................................................................................... 5
1.6. Expansions ..................................................................................................... 6
2. ANNEX B: PYTHON CODE __________________________________ 8
2.1. robot.py ........................................................................................................... 8
2.2. baseservos.py .............................................................................................. 10
2.3. servo.py ........................................................................................................ 13
2.4. mecanisme.py .............................................................................................. 21
2.5. PCA9685.py ................................................................................................. 26
2.6. interpolacions.py ........................................................................................... 28
3. ANNEX C: API CODE ______________________________________ 31
3.1. index.html ..................................................................................................... 31
3.2. css/ mystyle.css ............................................................................................ 35
3.3. css/ jquery-ui.css .......................................................................................... 37
3.4. css/ jquery-ui-slider-pips.css ........................................................................ 59
3.5. css/ roundslider.min.css ............................................................................... 65
3.6. js/ roundslider.min.js ..................................................................................... 67
3.7. js/ jquery-ui-slider-pips.js .............................................................................. 76
Pàg. 2 ANNEX
1. ANNEX A: Omega Boards
1.1. Expansion Dock
The Expansion dock is a powerful piece of hardware that simplifies the usage of your Omega. It allows you to power the Omega and communicate with it via serial through the Micro-USB port, and makes it incredibly easy to use the GPIOs and Onion Expansions. The Expansion Dock is powered by the Micro-USB port that supplies 5V to the Dock. This voltage is stepped down to the required 3.3V required to power the Omega, and also provides 5V to the Expansions and USB Host port. you can control through the command-line interface (will be explained below).
Figure 1 - View of the Expansion Dock
GPIOs, and allows you to connect Onion Expansions directly. The Expansion Header is labelled to show you what GPIO is connected to each section. multiplexing options: Control of a robotic arm using an Omega2+ module Page 3
Figure 2 - Expansion dock pinout diagram
By default, the Serial, SPI, and I2C pins implement these communication protocols and cannot be used as GPIOs. Similarly, the I2S and PWM pins are set to GPIO mode by default. storage device to extend the storage space of your Omega. The USB port supports USB 2.0, and is a type A connector. The Power switch will cut power to the Omega, but not the serial chip. This means your computer will still detect a USB serial device, but will not be able to communicate with the
Omega.
And finally, the
GPIO. Pressing this button do one of two things: reboot (momentarily pressing), or factory restore (Pressing and holding the reset button for 10 seconds).
1.2. Power Dock
This Dock allows you to recharge and monitor battery levels, while providing a header to connect Onion Expansions. It works like the Expansion Dock with an extra option to power it by a 3.7V LiPo Battery with a standard 2-pin JST-PH connector and indicator
LEDs for the battery level
Pàg. 4 ANNEX
Figure 3 - View of the Power Dock
1.3. Mini Dock
The Mini Dock functions very similarly to the Expansion Dock. It supplies your Omega with power and allows you to communicate serially via a Micro-USB port. It also has a USB type A connector for you to use. All of this with a fraction of the size of an Expansion Dock.
Figure 4 - View of the Mini Dock
1.4. Arduino Dock 2
The Arduino Dock 2 is the supercharged version of an Arduino Uno R3 board. These two boards share the same microcontroller, the ATmel ATmega328P microcontroller (MCU), and the Arduino Uno R3 with the Arduino Dock and the Omega.