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ARA

Project A.R.A. (Automated Robotic Arm) automates the a robotic arm so that it recognizes certain objects, grabs it, and stores it in its basket.

Web Based Arm Control

We can control the robotic arm through HTTP GET requests on the host computer runnnig the server such as going to the following on a web brower:

<IP ADDRESS>:5000/servo/<Servo ID>/<Servo Angle>

Example:

100.80.245.38:5000/servo/0/90

This sets servo with ID = 0 to 90 degrees.

Mapping

servo_id servo_name
0 base
1 shoulder
2 elbow
3 gripper

Software Dependencies

sudo apt-get install python-flask

Using flask for a web-server so that we can control the arm via browser requests.

Execution

Upload robotic_arm.ino to Arduino.

sudo python Pi/control_servos.py

something
pip install imutils

Resources

flask
toInt()
pySerial
readString()
Servo.h Leading Zeros
Arduino substring()

Servo Pi Hat Arm Control

Software Dependencies

Need to set-up I2C on raspberry Pi by enabling I2C in Interfacing Options in raspi-config.

sudo raspi-config

Install libraries.

sudo apt-get install python-smbus
sudo apt-get install i2c-tools

sudo pip install adafruit-pca9685

Running Ball Detection

Detects the target ball and gives coordinates within image as well as the radiusin pixels.

Software Dependencies

sudo apt-get install imutils

Execution

python ball_tracking_original.py

Connecting to UCSD-PROTECTED

Accreditation

Instructions for connecting to WiFI were all taken from Stazia's IEEE's Fall Quarterly Projects Resources. You can find here github repository here.

Run this commad to edit the WiFi network file.

sudo vim /etc/wpa_supplicant/wpa_supplicant.conf

Once you are in type the following into the file. Remember to replace "username"and password with your own username and password. (If you see one of these network chunks of text already, just enter yours at the bottom.)

network={
    ssid="UCSD-PROTECTED"
    key_mgmt=WPA-EAP
    identity="username"
    password="password"
}

An example of what you should insert below:

network={
    ssid="UCSD-PROTECTED"
    key_mgmt=WPA-EAP
    identity="stf223"
    password="121s4d3f"
}

Now you should reboot your Pi with the following command:

sudo reboot now

After the reboot, you should now be automatically connected to UCSD-PROTECTED if you followed all the instructions correctly.