https://github.com/alexsigaras/owi535-roboticarm
C# Library for the OWI 535 Robotic Arm
https://github.com/alexsigaras/owi535-roboticarm
arm c-sharp robotics
Last synced: about 1 month ago
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C# Library for the OWI 535 Robotic Arm
- Host: GitHub
- URL: https://github.com/alexsigaras/owi535-roboticarm
- Owner: alexsigaras
- License: mit
- Created: 2013-04-06T04:05:55.000Z (about 12 years ago)
- Default Branch: main
- Last Pushed: 2025-03-13T22:26:03.000Z (2 months ago)
- Last Synced: 2025-03-13T23:25:55.589Z (2 months ago)
- Topics: arm, c-sharp, robotics
- Language: C#
- Homepage:
- Size: 1020 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# OWI535-RoboticArm
[](https://github.com/alexsigaras/OWI535-RoboticArm)
[](https://opensource.org/licenses/MIT)
A C# library for controlling the OWI 535 Robotic Arm via USB interface. This project provides a simple API to control all movements of the robotic arm including rotation, arm movement, elbow control, claw operations, and light control.
## Features
- Complete control of OWI 535 Robotic Arm using C# API
- Individual joint movement (claw, elbow, arm)
- Rotation control
- Gripper control (open/close)
- LED light control
- Customizable movement durations
- Demo applications (Console and WPF)
## Requirements
- Windows OS with .NET Framework 4.5 or later
- OWI 535 Robotic Arm
- USB port
## Installation
1. Install the USB driver from the `1. Driver/OWI_535_Robotic_Arm/` directory
2. Connect the OWI 535 Robotic Arm to your computer via USB
3. Reference the `OWI535.Library.dll` in your project
## Project Structure
```
.
├── 1. Driver/ # USB drivers for the robotic arm
├── 2. Library/ # C# Library source code
├── 3. DLLs/ # Compiled DLLs
└── 4. Demo Applications/ # Example applications
├── OWI535.Test.Console/ # Console application demo
└── OWI535.Test.WPF/ # WPF application with GUI controls
```
## Usage Example
```csharp
using OWI535.Library;
// Create a new arm controller (VendorID=4711, ProductID=0, ArmID=0)
ArmController arm = new ArmController(4711, 0, 0);
// Control the arm
arm.LightOn(); // Turn on the LED
arm.ClawOpen(1000); // Open the claw (duration: 1 second)
arm.ArmUp(2000); // Move arm up (duration: 2 seconds)
arm.RotateLeft(1500); // Rotate arm left (duration: 1.5 seconds)
arm.ClawClose(1000); // Close the claw (duration: 1 second)
arm.LightOff(); // Turn off the LED
// Predefined action
arm.Handshake(); // Perform handshake action
// Always reset and disconnect when done
arm.Disconnect();
```
## API Reference
### ArmController Class
The main class for controlling the OWI 535 Robotic Arm.
#### Constructor
```csharp
public ArmController(Int32 VendorID, Int32 ProductID, Int32 ArmID)
```
- `VendorID`: The vendor ID of the OWI 535 Robotic Arm (usually 4711)
- `ProductID`: The product ID of the OWI 535 Robotic Arm (usually 0)
- `ArmID`: The arm ID (0 for first arm, 1 for second, etc.)
#### Methods
**Connections**
- `Reset()` - Stop all arm movements
- `Disconnect()` - Reset and disconnect the arm
**Claw Control**
- `ClawOpen(int sleepTime)` - Open the claw
- `ClawClose(int sleepTime)` - Close the claw
- `ClawUp(int sleepTime)` - Move the claw up
- `ClawDown(int sleepTime)` - Move the claw down
**Elbow Control**
- `ElbowUp(int sleepTime)` - Move the elbow up
- `ElbowDown(int sleepTime)` - Move the elbow down
**Arm Control**
- `ArmUp(int sleepTime)` - Move the arm up
- `ArmDown(int sleepTime)` - Move the arm down
- `RotateLeft(int sleepTime)` - Rotate the arm left
- `RotateRight(int sleepTime)` - Rotate the arm right
**Light Control**
- `LightOn()` - Turn the light on
- `LightOff()` - Turn the light off
**Predefined Actions**
- `Handshake()` - Perform a handshake action
- `FlashEye(int times)` - Flash the light a specific number of times
## Building from Source
1. Open `2. Library/OWI535.Library/OWI535.Library.sln` in Visual Studio
2. Build the solution to generate the library DLL
3. Reference the generated DLL in your projects
## Demo Applications
The repository includes two demo applications:
1. **Console Application**: Simple console-based demo of arm movements
- Open `4. Demo Applications/OWI535.Test.sln` and run the Console project
2. **WPF Application**: GUI-based control of the robotic arm
- Open `4. Demo Applications/OWI535.Test.sln` and run the WPF project
## Contributing
Contributions are welcome! Please feel free to submit a Pull Request.
## License
Copyright (c) Alexandros Sigaras. All rights reserved.
Licensed under the [MIT](LICENSE) License.