Software

RaspberryPi software

The RaspberryPi is used to sending and receiving Data from to Android App to the OpenCr card. Also, it is used to save The Data of the Position Registers and Programs Two csv files are created when the data are saved, POINTS_FILE AND PROGRAMS_FILE The RaspberryPi starts the bluetooth connection and the python program for the data transmission on startup.

• RasberryPi setup instructions

OpenCR or Arduino

The code for these devices is used to control the robotic arm's servos, the gripper and the drawer. Because the drawer mechanism currently utilises a Dynamixel motor, the use of an OpenCR card is necessary for that part to work. However, all the other functions will work if an Arduino is used. The code for the Arduino is slightly different but the setup remains largely the same, appart from the use of the main designed for arduino.

• OpenCR or Arduino setup instructions