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https://github.com/pcrnjak/source-robotics-toolbox
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https://github.com/pcrnjak/source-robotics-toolbox
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- Host: GitHub
- URL: https://github.com/pcrnjak/source-robotics-toolbox
- Owner: PCrnjak
- License: mit
- Created: 2024-06-04T20:06:25.000Z (7 months ago)
- Default Branch: main
- Last Pushed: 2024-07-10T10:18:32.000Z (6 months ago)
- Last Synced: 2024-11-27T02:37:12.295Z (about 1 month ago)
- Language: Python
- Size: 84 KB
- Stars: 0
- Watchers: 1
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Source Robotics Toolbox
[](https://opensource.org/licenses/MIT)  
## How to install?
pip install SourceRoboticsToolbox
## How to use?
This lib was created to simplify the control of your robot with Source robotic line of motor drivers.
Pairing it the with [Spectral-BLDC lib](https://github.com/PCrnjak/Spectral-BLDC-Python) allows you to write extremely simple yet capable code for robotic control.
Some features it offers:
* Sector homing
* Robot joint mastering/calibration
* Converting encoder ticks to joint position and speed
* Converting joint position and speed to encoder ticks
* Radian 2 degreee, degree 2 radian position and speed manipulation
## What is sector homing?
The image represents a 6:1 gear reduction with a Spectral micro BLDC driver. Each sector represents one full rotation of the BLDC motor. For the motor encoder, each sector begins at 0 encoder ticks and ends at 16,383 encoder ticks. Sector homing allows you to record the initial position of the encoder and map it to a specific value for your joint. With this setup, if your robot joint boots in the correct sector, it will know its true position.
Note: This is a simplified explanation. The algorithm is a bit more complex and includes some smart features. To learn more, check the source code.
As the gear reduction ratio increases, this method becomes less effective. However, it works well for ratios up to 15:1.
Examples can be found [here!](https://github.com/PCrnjak/Source-Robotics-Toolbox/tree/main/Examples)
## Skeleton sketch
``` py
import SourceRoboticsToolbox
import time
# This is represents encoder ticks where your joint should be at 0 rad
# Usually you know that joint position from your robots DH table / kinematic diagram
Master_position = 14000
Joint_reduction_ratio = 6 # Joint has reduction ratio of 6:1
Joint = SourceRoboticsToolbox.Joint(encoder_resolution = 14,
master_position=Master_position,
gear_ratio = Joint_reduction_ratio,
offset = 0, #Change If your motor is not at 0 rad at master position
dir = 0) # Change joint direction
current_motor_encoder_position = 10000 #This emulates the data you would get from your motor encoder
# Init flag; used to run .determine_sector once
Intial = 0
while True:
# This will give you Joint position in radians
# NOTE that joint position is value after the gear reduction of your actuator
position_values = Joint.get_joint_position(current_motor_encoder_position)
print(position_values)
# This will perform sector homing and determine the sector motor is in
if Intial ==0 :
Intial = 1
Joint.determine_sector(current_motor_encoder_position)
time.sleep(0.5)
```
# More about our projects
- [Youtube](https://www.youtube.com/channel/UCp3sDRwVkbm7b2M-2qwf5aQ)
- [Instagram](https://www.instagram.com/source_robotics/)
- [Twitter](https://twitter.com/SourceRobotics)
- [Discord](https://discord.com/invite/prjUvjmGpZ )
- [Forum](https://discourse.source-robotics.com/)
- [Blog](https://source-robotics.com/blogs/blog)
# Liability
1. The software and hardware are still in development and may contain bugs, errors, or incomplete features.
2. Users are encouraged to use this software and hardware responsibly and at their own risk.
# Support the project
The majority of this project is open source and freely available to everyone. Your assistance, whether through donations or advice, is highly valued. Thank you!
[](https://paypal.me/PCrnjak?locale.x=en_US)
[](https://www.patreon.com/PCrnjak)
# Project is under MIT Licence