Raspberry Pi - Robot Arm

Project and Code

1. Robot Configuration

• 1 * Raspberry Pi processor.

• 4 * SG90 servos.
  

• 1 * PCA9685.
  

• 1 * 5V(2A/4A) adaptor.

• 3D printed arm model EEZYbotARM.
  

1.1 Configure PCA9685

I have followed this post

• Install I2C tools

sudo apt-get install python-smbus
sudo apt-get install i2c-tools
sudo i2cdetect -y 0

• Connect pins

• Install python PCA9685 library

sudo pip3 install adafruit-circuitpython-servokit

1.2 servokit lib

This library offers simple usage of servos.

• Initialize the system (PCA9685 is a 16 channels system):

from adafruit_servokit import ServoKit
kit = ServoKit(channels=16)

• Standard servos, control the desire angle.

kit.servo[servo_id].angle = 180
kit.servo[servo_id].angle = 0
kit.servo[servo_id].set_pulse_width_range(1000, 2000)

• Continuous servo (which is our case with SG90):

kit.continuous_servo[servo_id].throttle = -1
kit.continuous_servo[servo_id].throttle = 1
kit.continuous_servo[servo_id].throttle = 0
kit.continuous_servo[servo_id].throttle = 0.5

Control

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def change_servo(angle, ids=[1]):
    print("  Rotate to %f"%(angle))
    direction = -1
    if angle > 0:
        direction = 1
    for id_servo in ids:
        kit.continuous_servo[id_servo].throttle = direction
        
    # rotate the servos
    time.sleep(abs(angle))
    
    # stop the servos
    for id_servo in ids:
        kit.continuous_servo[id_servo].throttle = 0

def go_forward(angle=magnitude, direction=1):
    kit.continuous_servo[1].throttle = direction
    # rotate the servos
    time.sleep(abs(angle))
    kit.continuous_servo[1].throttle = 0

def go_left(angle=magnitude, direction=1):
    kit.continuous_servo[0].throttle = direction
    time.sleep(abs(angle))
    kit.continuous_servo[0].throttle = 0
    
def hands_up(angle=magnitude, direction=1):
    kit.continuous_servo[3].throttle = direction
    time.sleep(abs(angle))
    kit.continuous_servo[3].throttle = 0

def go_up(angle=magnitude, direction=1):
    kit.continuous_servo[2].throttle = direction
    time.sleep(abs(angle))
    kit.continuous_servo[2].throttle = 0