Follow Along!

Follow along: Dancing with the Robot Arm

The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.

Open the 05_04_dance.ipynb Jupyter Notebook.
Load Arm_Lib module and register the robot arm as an object.
Follow and Execute the example codes.

(The Jetson Board used for these examples are => Jetson Nano)

05_04_dance.ipynb
Running the cell code.

Ctrl + Enter
To control the robot arm from code, don’t forget to shut down the docker container. See here.

Load Arm_Lib module and register the robot arm as an object

import os
import time
from Arm_Lib import Arm_Device


Arm = Arm_Device()
time.sleep(.1)

time_1 = 500
time_2 = 1000
time_sleep = 0.5

Arm_serial_servo_write (motor number, angle, time)
Dance motion using servo motor angle control and while statement

# Repeat robot arm dance.
def main():
    # Move servo to initial position.
    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 500)
    time.sleep(1)


    os.system('rostopic pub -1 /play_specific std_msgs/String "data: \'/root/scripts/sensor/arm_sounds/music_cari.mp3\'"')
    Arm.Arm_serial_servo_write(2, 180-120, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(3, 120, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 60, time_1)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(2, 180-135, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(3, 135, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 45, time_1)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(2, 180-120, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(3, 120, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 60, time_1)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(2, 90, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(3, 90, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 90, time_1)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(2, 180-80, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(3, 80, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 80, time_1)
    time.sleep(time_sleep)



    Arm.Arm_serial_servo_write(2, 180-60, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(3, 60, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 60, time_1)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(2, 180-45, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(3, 45, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 45, time_1)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(2, 90, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(3, 90, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 90, time_1)
    time.sleep(.001)
    time.sleep(time_sleep)



    Arm.Arm_serial_servo_write(4, 20, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(6, 150, time_1)
    time.sleep(.001)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(4, 90, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(6, 90, time_1)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(4, 20, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(6, 150, time_1)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(4, 90, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(6, 90, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(1, 0, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(5, 0, time_1)
    time.sleep(time_sleep)



    Arm.Arm_serial_servo_write(3, 180, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 0, time_1)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(6, 180, time_1)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(6, 0, time_2)
    time.sleep(time_sleep)



    Arm.Arm_serial_servo_write(6, 90, time_2)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(1, 90, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(5, 90, time_1)
    time.sleep(time_sleep)

    Arm.Arm_serial_servo_write(3, 90, time_1)
    time.sleep(.001)
    Arm.Arm_serial_servo_write(4, 90, time_1)
    time.sleep(time_sleep)

    print(" END OF LINE! ")
    os.system('rostopic pub -1 /play_specific std_msgs/String "data: \'stop\'"')

try :
    main()
except KeyboardInterrupt:
    print(" Program closed! ")
    pass

Now you can see the robot arm moving with music.

Remove the robot arm object.

del Arm  # Remove robot arm object.