I spent the majority of the week programming the Arduino to control the stepper motors to move the gantry’s xy movement. I spent a significant amount of time figuring out how to move each stepper motor to yield a specific spot on the xy coordinate plane. I can now calculate a specific location on the xy plane and move the location where the end effector is to be placed to that specific location. The C++ code is written inside an Arduino file that controls all of the movement and stepper motors. Additionally, I fixed the issue with the web app streaming by moving the server to run on Powershell so that there are no port confusion or firewall issues when running it from WSL on my Windows machine.
My progress is currently on schedule.
For next week, I plan on writing the code to translate the coordinates given from the Jetson to the values needed for the motors of the gantry due to its unique pulley configuration. Additionally, I’ll work on controlling the end effector once it’s physically been added to the system.