SunFounder PiArm, Manual

Page: 131 / 163

Piarm, Release 1.0
• Press the
w
key on the keyboard, the
alpha
increases and the Arm will extend forward.
• Press the
s
key on the keyboard, the
alpha
decreases and the Arm will retract backward.
• Press the a key on the keyboard, the gamma increases and the Arm will turn left.
• Press the d key on the keyboard, the gamma decreases and the Arm will turn right.
• Press the
i
key on the keyboard, the
beta
increases and the Arm will raise up.
• Press the
k
key on the keyboard, the
beta
decreases and the Arm will lower down.
• Finally, use the
k
and
l
keys to control the opening and closing of the Hanging Clip respectively.
4.5.3 Electromagnet - Keyboard Control
Run the code
cd / home / pi / piarm / examples
sudo python3 keyboard_control1 . py
After running the code, follow the prompts and press the keys on the keyboard to control the PiArm’s arms and
Electromagnet.
But you need to assemble Electromagnet to PiArm first.
Note:
• To switch the keyboard to lowercase English input.
• w , s , a , d , i and k are used to control the rotation of the arm.
• j and l are used to control the ON and OFF of the Electromagnet.
Code
from piarm import PiArm
from robot_hat import Pin,PWM,Servo,ADC
from time import time,sleep
from robot_hat.utils import reset_mcu
import sys
import tty
import termios
reset_mcu()
sleep( 0.01 )
arm = PiArm([ 1 , 2 , 3 ])
arm . electromagnet_init(PWM( 'P3' ))
arm . set_offset([ 0 , 0 , 0 ])
controllable = 0
manual = '''
Press keys on keyboard
w: extend
s: retract
a: turn left
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4.5. Keyboard Control 127