arduino

This directory contains information about the control circuit for the Soft Robotics mGrip gripper, and Arduino Uno code for controlling it. The code allows for

• opening and closing the gripper,
• adjusting the gripper opening amount (also called stroke), and
• adjusting the grip strength.

Overall block diagram

Control Circuit

Notes

• The port connections in the control circuit diagram above are ports on the SoftRobotics Inc. control unit. It was tested with the SRCU-Mini-P Mounted, but should also work with the SRCU-Mini.
• The California Air Tools 4610AC compressor works well with this setup.

Steps

1. Set up rosserial_arduino: tutorial.
2. Through the Arduino IDE, compile and burn interactive.ino on the Arduino Uno.
3. Set up the softgrasp_ros ROS package on the workstation from the ros_drivers_utils directory.
4. Connect the Arduino Uno to the workstation with a USB cable. Note its serial port (likely /dev/ttyACM0) and then

$ roslaunch softgrasp_ros hand_control_interface.launch serial_port:=/dev/ttyACM0

in another terminal, grasp close: rosservice call /grasp_state true, grasp open: rosservice call /grasp_state false. More details in README.md.