notes on the Robot Arm Kit for Romi

This post delves into the experiences and observations of working with the Robot Arm Kit designed for the Romi chassis [1]. It provides a hands-on account of building, assembling, and programming this versatile robotic arm.

The Romi chassis, a popular platform for robotics projects due to its modularity and ease of use, serves as the foundation for this arm kit. The post breaks down critical insights on the hardware involved, assembly challenges, and software integration, particularly focusing on control and movement accuracy. It also explores the use of various sensors and actuators that enhance the functionality of the arm, allowing it to perform precise tasks.

Example

Materials

- ‎Robot Arm Kit for Romi

- ‎Romi Chassis Kit with 32U4 Control Board

- Step-Down Voltage Regulator

Sketch

#include <Servo.h>

#include <Romi32U4.h>

Romi32U4ButtonA buttonA;

Romi32U4Motors motors;

Servo myServoLift;

Servo myServoTilt;

Servo myServoClaw;

int delayTime = 1000;

void setup() {

buttonA.waitForButton();

myServoLift.attach(12);

myServoTilt.attach(A2);

myServoClaw.attach(5);

Serial.begin(9600);

Serial.println("init!");

}

void loop() {

Serial.println("test!");

motors.setLeftSpeed(50);

motors.setRightSpeed(-50);

myServoLift.writeMicroseconds(2400);

delay(delayTime);

myServoClaw.writeMicroseconds(800);

delay(delayTime);

myServoTilt.writeMicroseconds(1200);

delay(delayTime);

myServoTilt.writeMicroseconds(1600);

delay(delayTime);

myServoClaw.writeMicroseconds(2400);

delay(delayTime);

myServoLift.writeMicroseconds(1900);

delay(delayTime);

motors.setLeftSpeed(-50);

motors.setRightSpeed(50);

delay(delayTime);

}

Additional illustrative examples

References

[1] https://www.pololu.com/docs/0J76/all#4