README ¶ leubot A middleware provides a web API for control PhantomX AX-12 Reactor Robot Arm See https://app.swaggerhub.com/apis/iomz/leubot for the API specification. Supported devices PhantomX AX-12 Reactor Robot Arm https://www.trossenrobotics.com/p/phantomx-ax-12-reactor-robot-arm.aspx Getting Started Follow the link and install the ArmLinkSerial firmware on the robot: https://learn.trossenrobotics.com/36-demo-code/137-interbotix-arm-link-software.html#firmware Add the user to dialout group so to be able to acesss the serial device. Connect the robot to your device with FTDI-USB cable. % go get github.com/Interactions-HSG/leubot % cd `go list -f '{{.Dir}}' github.com/Interactions-HSG/leubot` % go install ./... % leubot --help Reactor Arm Backhoe/Joint Positioning Limits These values are taken from: https://learn.trossenrobotics.com/arbotix/arbotix-communication-controllers/31-arm-link-reference.html Parameter Lower Limit Upper Limit Default Base Joint 0 1023 512 Shoulder Joint 205 810 400 Elbow Joint 210 900 400 Wrist Angle Joint 200 830 580 Wrist Rotate Joint 0 1023 512 Gripper Joint 0 512 128 Delta 0 254 128 Button 0 127 0 Extended 0 254 0 API Spec See the API documentation: https://interactions.ics.unisg.ch/leubot Setting Instruction TODO: overall diagram and system desgin License See the LICENSE file Expand ▾ Collapse ▴ Documentation ¶ There is no documentation for this package. Source Files ¶ View all Source files main.go Directories ¶ Show internal Expand all Path Synopsis api armlink cmd leubot-tool reactor-ctrl Click to show internal directories. Click to hide internal directories.