ArfBotOS is an operating system for a 6-axis robot and vision system running on CoDeSys, Arduino, and OpenCV. One of the main intentions of ArfBotOS is to give an example of how a typical industrial control system is programmed in IEC-61131 (structured text). This will give good experience to new Automation and Controls engineers. Please see the wiki here for more.
ArfBotOS has a web-base HMI that is hosted via what is known in CoDeSys as a 'Visu'. From the Main HMI screen you can select a program to run and view its movement from the Process Viewer group box.
The architecture of the software utilizes the idea of Processors that handle different types of commands. For example, the MoveCommandProcessor parses a move command and moves the robot. Each processor extends a base function block that implements a PackML statemachine. From the Main HMI screen, you can view and control the Orchestrator and Active Processor's state machine.
From the Jogging HMI screen you can jog the robot in all coordinate systems using the HMI buttons or a Playstation Dualsense controller.
Disclaimer: The cost of the hardware in this project has been kept at a minimum to make it more attainable. However, there is a Codesys licensing cost associated with this project but the runtime will run in demo mode for 2 hours if you do not purchase the license. (You can restart the runtime to restart the 2 hour demo mode). The licensing cost approx $695.00 USD and this will get you multi-core support on the Raspberry Pi as well as CNC/Robotics motion control.