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uArm Scripts
serial_test.py is used to configure the Serial Port connection of the Arduino. The Serial Port number and the baud rate are set in this script.
device_info.py is used to retrieve hardware and firmware versions, device ID, and the power status of the uArm. This script tests the serial connection of the uArm and can be run immediately after the uArm is powered On.
arm_range_test.py is used to find the minimum and maximum range that the arm can extend upto. "E22" is an error message that occurs when the arm cannot execute a set_position() command.
We print out the test coordinate map on an A4 size sheet for this test. Cut the page such that includes only the 200mmx200mm square. We align the centerline of the uArm Base with line y=100 on the test coordinate map.
In coordinate_test.py, we set the coordinates (66, -100, 10) as the origin. When the test coordinate map is aligned as mentioned above, the (0,0)marking on the paper corresponds to the origin coordinates - (66, -100, 10).
The arm moves to all the test point coordinates relative to the origin that has been set.
This test simulates the action of removing the petri dish lid, dispensing a liquid via the syringe, rotating the petri dish in order to take an image and placing the petri dish lid back on.
rotator_test.py is used to communicate with the Arduino and uArm as well as to control the servo angle and arm position.
The coordinates of the center of the lid as well as the test points are predetermined using get_position().
servo_control.ino is used to receive servo angles over serial and ensure that the petri dish holder rotates smoothly without sudden jerks.