This repository contains the Typescript code used to control the WLKata robot arms (https://www.wlkata.com) used in the Schuberg Philis demo setup.
The arms are controlled over the serial bus using the g codes (https://document.wlkata.com/?doc=/wlkata-mirobot-user-manual-platinum/18-g-code-instruction-set/)
Each hardware item has a related class abstracting away implementation.
Node 18 NPM
Install the dependencies using NPM: npm install
Configure the correct ports or network connections for the boxes in src/main.ts and run npm run start to kick start the application.
The repository contains a couple of constructs that help structure things.
This folders contains all the code abstractions for the hardware. Each "real world" item will have an class that abstracts away implementation.
Contains helpers functions/classes that can support other pieces of code.
This is were most of the logic recides, see sequences as a combination of commands to achieve a particular goal.
This is the entry point of the application it sets up the connections to the boxes, and orchestrates between sequences etc.
Sometimes you might want to send raw commands for debugging purposes to the arms.
When the arms are connected over the network, you can't use WLKata studio for this.
The prompt script in the root can be used in this case to run a commandline tool that allows you to send raw commands straight to the arm. npm run prompt.