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https://github.com/osestic/widowx_arm_hiwonder_bionic_hand_embedded_system
We embarked on integrating a WidowX Robotic Arm controlled by an Arbotix - M Arduino with a robotic hand controlled by a Tiva C Series TM4C123G microcontroller. Through the microcontroller's Universal Asynchronous Receiver-Transmitter module, commands were sent to the microcontroller to make the hand and arm perform creative gestures and actions.
https://github.com/osestic/widowx_arm_hiwonder_bionic_hand_embedded_system
c-programming-language microcontroller python robotics
Last synced: about 8 hours ago
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We embarked on integrating a WidowX Robotic Arm controlled by an Arbotix - M Arduino with a robotic hand controlled by a Tiva C Series TM4C123G microcontroller. Through the microcontroller's Universal Asynchronous Receiver-Transmitter module, commands were sent to the microcontroller to make the hand and arm perform creative gestures and actions.
- Host: GitHub
- URL: https://github.com/osestic/widowx_arm_hiwonder_bionic_hand_embedded_system
- Owner: Osestic
- License: other
- Created: 2023-12-16T20:04:56.000Z (9 months ago)
- Default Branch: main
- Last Pushed: 2024-07-09T12:19:03.000Z (3 months ago)
- Last Synced: 2024-09-24T21:17:52.447Z (about 13 hours ago)
- Topics: c-programming-language, microcontroller, python, robotics
- Language: C
- Homepage: https://oriekaose.com/projects/
- Size: 2.89 MB
- Stars: 2
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE.txt
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README
# WidowX_Arm_HIWONDER_Bionic_Hand_Embedded System
## Description
For our Introduction to Microcontrollers course final project, [Evan Varga](https://www.linkedin.com/in/evan-varga-2a21aa221/) and I embarked on integrating a WidowX Robotic Arm controlled with an Arbotix - M Arduino, a robocontroller, with a HIWONDER Bionic hand controlled by a Tiva C Series TM4C123G microcontroller, creating an embedded system, to perform various hand and arm gestures, play a game and play an instrument.
Through the microcontroller's Universal Asynchronous Receiver-Transmitter (UART) module, commands can be sent to the microcontroller to cause the fingers of the HIWONDER bionic hand to move into certain positions through pulse-width modulations. These commands also cause digital signals to be sent through parallel communication to the Arbotix -M robotcontroller. These signals make the WidowX arm move into certain position or perform sequences of positions. All these working together lead to creative gestures and actions being performed.
## Set up
1. Unscrew the plastic claw piece from the from Widowx Arm.
2. Screw the HIWONDER BIONIC Hand onto it.
3. Connect the pins to be configured as pulse-width modulation pins to hand.
4. Connect the pins to be configured for parallel communication to pins on the Arbotix -M
Arduino.
### Note:
1. The codes to be mentioned below contain the specific pins configured for steps 3 and 4 above. Your own pins can be configured as well.
2. Employ good cable/wire management to ensure proper connections and to easily debug issues which often stem from disconnections. Breadboards are quite useful, and one was used for this project.
3. When the motors fault out due to exceeding the limits of their possible positions or as safety measures to protect users, they flash red and are disabled. Unplug the power cord and plug back in to rest them.
4. Unplug the power cord to relax the motors or run ```PyPose.py``` , to be mentioned below.
## Programmed With
## Installation
There are 2 different folders containing the two major pieces of the project:
- [Microcontroller_Hand](https://github.com/Osestic/WidowX_Arm_HIWONDER_Bionic_Hand-Interface/tree/main/Microcontroller_Hand)/
- [Robocontroller_Arm](https://github.com/Osestic/WidowX_Arm_HIWONDER_Bionic_Hand-Interface/tree/main/Robocontroller_Arm)/
As the names imply, the former folder contains the code that programs the microcontroller and the UART that sends commands to the robocontroller using C, and the latter contains the code that programs the robocontroller using C++ and python.
Steps to install the programs:
1. Download the project in [Microcontroller_Hand](https://github.com/Osestic/WidowX_Arm_HIWONDER_Bionic_Hand-Interface/tree/main/Microcontroller_Hand)/ and run it on Code Composer studio to install it on a Tiva C Series TM4C123G microcontroller.
2. Download the python project in the [Arm_Position_Capture](https://github.com/Osestic/WidowX_Arm_HIWONDER_Bionic_Hand-Interface/tree/main/Robocontroller_Arm/Arm_Position_Capture)/ folder contained in [Robocontroller_Arm](https://github.com/Osestic/WidowX_Arm_HIWONDER_Bionic_Hand-Interface/tree/main/Robocontroller_Arm)/ and run it on a Integrated Development Environment (IDE) or text editor that can support Python 2 such as Pycharm.
3. You may need to install a virtual interpreter for Python 2.
4. Run ```PyPose.py``` from the folder which will bring up the Arm position software.
5. Run ```pypose.ino``` on the robocontroller with Arduino 1.8.5 (Do so for all arduino files). This will work with the python software to capture the position of the robot arm by just moving it and pressing the capture button.
6. Run ```main.ino```, and do so with ```poses.h``` being in its same location. This contains the code that interfaces the robocontroller with the microcontroller. You can create more gestures and include the robot commands in it.
## Usage
To run the current capabilities of the WidowX_Arm_HIWONDER_Bionic_Hand-Interface, do the following:
1. Run the ```main.c``` of the project in Code Composer studio to install it on the microcontroller.
2. Run the ```main.ino```.
3. Type in a character that enacts a specific functionality as specificied in the ```main.c``` mentioned.
The following are pictures of the WidowX_Arm_HIWONDER_Bionic_Hand-Interface in performing different hand positions.
- Playing the piano:
- Playing rock, paper and scissors:
[Video Demo](https://youtu.be/vg_HYsMw0Hg)
To capture new positions and sequences for the WidowX_Arm_HIWONDER_Bionic_Hand-Interface, do the following:
1. Run the ```PyPose.py```.
2. Run the ```pypose.ino```.
3. Select the maximum resolution, 4096.
4. Select a serial port from the config tab.
5. Select the pose editor from the tools and create a new position.
6. Select capture position.
7. Set can be used to set the position.
8. Select the tools tab and select sequence editor.
9. Load in the positions you have captured and choose the duration you wish for each one.
10. Export the positions and sequences you have created by clicking the export to AVR fromt the tools tab.
11. You can save the application as a file you can always load.
The image of how the pose capturing looks like is shown below:
## Authors
This project was a result of the collaborative effort of:
1. Oriekaose Chukwuyem Agholor - Aspiring Robotics and Mechatronic Systems Engineer [https://github.com/Osestic]
2. Evan Varga - Aspiring Electrical Engineer [https://github.com/EvanVarga]
## License
This project is licensed under the “Commons Clause” License Condition v1.0. See ```LICENSE``` for more information.
## How to Contribute
[](https://www.contributor-covenant.org/version/2/1/code_of_conduct/)
## Recommendations
- In the ```main.c``` , spend less time in the interrupts
- Include your own gestures and actions
- Allow other persons to view the project
- Act on their feedback accordingly