leubot

A middleware provides a web API for control PhantomX AX-12 Reactor Robot Arm

See the Swagger API gh-pages here: https://interactions-hsg.github.io/leubot

Supported devices

PhantomX AX-12 Reactor Robot Arm

https://www.trossenrobotics.com/p/phantomx-ax-12-reactor-robot-arm.aspx

Getting Started

1. Follow the link and install the ArmLinkSerial firmware on the robot: https://learn.trossenrobotics.com/36-demo-code/137-interbotix-arm-link-software.html#firmware
2. Add the user to dialout group so to be able to acesss the serial device.
3. Connect the robot to your device with FTDI-USB cable.

% go get github.com/Interactions-HSG/leubot
% cd `go list -f '{{.Dir}}' github.com/Interactions-HSG/leubot`
% go install ./...
% leubot --help

Reactor Arm Backhoe/Joint Positioning Limits

These values are taken from: https://learn.trossenrobotics.com/arbotix/arbotix-communication-controllers/31-arm-link-reference.html

Parameter	Lower Limit	Upper Limit	Default
Base Joint	0	1023	512
Shoulder Joint	205	810	400
Elbow Joint	210	900	400
Wrist Angle Joint	200	830	580
Wrist Rotate Joint	0	1023	512
Gripper Joint	0	512	128
Delta	0	254	128
Button	0	127	0
Extended	0	254	0

License

See the LICENSE file