Robotic Arm Simulation and Control Platform

Description

A desktop GUI application is designed to control a real robotic arm. The GUI communicates with a server, which maintains the "true state" of the arm segment positions. When the first GUI client connects to the server, it automatically becomes the "Controller," thereby gaining the ability to control the robotic arm. Subsequent GUI clients can connect but are assigned a "Viewer" role, allowing them to observe the current position of the arm.

The project is organized into various project directories, along with a libs/commonlib folder where the JSON schema and logging are defined. Within the projects folder, there are three seperate projects: robo_arm_sim (PySide6 GUI), server (via WebSocket), and esp32_client (written in Arduino).

Table of Contents

• Installation
• Usage
• Project Directory Structure
• Future Plans
• Contributing
• License
• Acknowledgements
• Contact

Installation

Prerequestites

• Python 3.x
• Arduino framework / manual upload to ESP32

Steps

1. Clone the repository

   git clone https://github.com/Abishevs/RobotArmSimulator.git 

2. Navigate to the project directory

   cd RobotArmSimulator 

3. Activate install/ start scripts

   source scripts/setup.sh

4. Install apps (same name as the dir of the project)

   install-app robo_arm_sim
   install-app server

5. ESP32 setup Update sample-config.h with your WIFI settings. Compile Arduino file and upload to ESP32.

Usage

Starting apps

```bash
start-app robo_arm_sim &
start-app server
```

Future plans include

• Devolopment of real robotic arm is ongoing to test it fully.
• version 2.0 of the software (GUI) is under devolement because software lacks feedback loop and restrictions of movement.

<iframe width="560" height="315" src="https://www.youtube.com/embed/qluetKPBPwk?si=8fZOAtvAbCLjRqGj" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" referrerpolicy="strict-origin-when-cross-origin" allowfullscreen></iframe>

Project directory structure

.
├── dev-requirements.txt
├── libs
│   └── commonlib
│       ├── pyproject.toml
│       └── src
│           ├── commonlib
│           │   ├── enums.py
│           │   ├── errors.py
│           │   ├── __init__.py
│           │   ├── json_schema.py
│           │   └── logger.py
│           └── json_schemas
│               ├── command.json
│               ├── error.json
│               ├── general.json
│               └── positionUpdate.json
├── projects
│   ├── esp32_client
│   │   ├── build.txt
│   │   ├── connect_serial.py
│   │   ├── main
│   │   │   ├── main.ino
│   │   │   └── sample-config.h
│   │   ├── Makefile
│   │   └── servo
│   │       └── servo.ino
│   ├── mock_client
│   │   ├── main.py
│   │   ├── pwm_test.py
│   │   ├── pyproject.toml
│   │   ├── requirements.txt
│   │   ├── src
│   │   │   └── mock_client
│   │   │       ├── client.py
│   │   │       └── __init__.py
│   │   └── test_hpwm.py
│   ├── robo_arm_sim
│   │   ├── main.py
│   │   ├── pyproject.toml
│   │   ├── requirements.txt
│   │   ├── src
│   │   │   └── robo_arm_sim
│   │   │       ├── constants.py
│   │   │       ├── controllers.py
│   │   │       ├── entities.py
│   │   │       ├── __init__.py
│   │   │       ├── robotic_arm.py
│   │   │       ├── ui
│   │   │       │   ├── __init__.py
│   │   │       │   ├── ui_angle_controll_widget.py
│   │   │       │   └── ui_mainwindow.py
│   │   │       ├── utils.py
│   │   │       └── views.py
│   │   └── ui_files
│   │       ├── controll_widget.ui
│   │       └── ui_main_window.ui
│   └── server
│       ├── main.py
│       ├── pyproject.toml
│       ├── requirements.txt
│       ├── sample-env
│       └── src
│           └── ws_server
│               ├── __init__.py
│               └── ws_server.py
├── sample-env
├── scripts
│   ├── install.sh
│   ├── setup.sh
│   ├── start.sh
│   └── win-start.sh
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