Python libraries, code and tests for a custom built SCARA robot project. Written for the Raspberry Pi and a TB6560 stepper motor controller.
The SCARA robot is controlled by a USB SNES controller.
- Start: Change between the 3 types of operation modes
- Select: Set the current position as zero
- Up/Down: Control Axis 1 (depends on the operation mode)
- Left/Right: Control Axis 2 (depends on the operation mode)
- L: Decrease speed
- R: Increase speed
- A: Change direction of the linear actuator
- B: Activate the linear actuator
- X: Global motor disable (Safe stop)
- Y: Toggle auxiliary relay (electromagnet)
- Axis 1: motor 1 position
- Axis 2: motor 2 position
- Axis 1: Y axis
- Axis 2: X axis
- Axis 1: angle
- Axis 2: radius