Musical Painting Bot

Code etc. for a 3D printed robot that paints with music.

2019 Team: Benjie Genchel, Richard Yang, Ryan Rose, Yi Wu

2018 Team: Benjie Genchel, Richard Yang, Somesh Ganesh

Motor Control Installation

Controlling the painting robot motors requires both Python 3 and Arduino. The dependencies for each are listed below:

Python

• PyCmdMessenger

Arduino

• CmdMessenger

Running Motor Control

First, upload the painting_robot_motors.ino sketch onto the Arduino. The five motors and their PWM pin numbers are as follows:

Motor Name	Pin Number
elbow	2
wrist	3
finger	4
baseRotate	5
baseLinear	6

Then, run python -i motor_control.py. This will by default connect to the first Arduino it finds connected. You can then use the s object in the interpreter to send commands to the Arduino.

The list of commands implemented thus far are:

Command Name	Type Signature	Description
moveMotor	int, float, float	Motor ID (int), Position [deg] (float), Duration [s] (float)