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node_robot_ctrl

Robot control app using node.js

This app's main goal is to serve as a back-end for a web based application to control the Ftobler's robot. To do so it provides a REST API to communicate with a Web based graphical user interface. It also provides an interface to control the robot using a game controller (like xbox or playstation).

As of now, the following API end points are defined:

  • GET: /
    Display a test message if working (Welcome to our robot restful API)

  • GET: /home
    Send the home command to the robot (G28)

  • GET: /power/:io (Where :io is 1=ON; 0=OFF)
    Power ON or OFF the stepper motors

  • GET: /info
    Returns the actual absolute position of all axis.

  • POST: /move
    Move a single axis of the arm in relative mode a certain distance and a certain speed. The post data should have this format:

    axis:X 
mode:relative
value:150
speed:100

  • POST: /movefull
    Move all the arm axis to a specific absolute position. The POST data should look like this:

    X:50
Y:100
Z:0
speed:100

Note: The Node_robot_ctrl assumes the robot firmware supports the following gcode commands:

  • G90 & G91: Used to set the coordinates in Absolute / Relative mode.
  • M114: Used to get Current Position.
  • M17 & M18: Used repectively to power up or down the stepper motors.
  • Support for partial coordinate movements commands like: G1 X100

All these features are available in my version of the firmware available at: https://github.com/intensite/robotarm

Ideas

  • Use button to save positions for programming complex movements