Interface with servos and steppers using RAMPS 1.4 Controller Board

[camieac]

Use the RAMPS controller board to control the arm actuators (one servo and three steppers).

A python driver will need to be created in the control module, interfacing with the RAMPS board using serial through a USB cable.

The marlin firmware running on the RAMPS board may also need to be modified, as it is designed for controlling 3D printers, not robot arms.

At the moment we can use the RAMPS board from the chess board, until we get a dedicated one.

[camieac]

@AndrewRigg : Your task, should you choose to accept it, is to interface with the RAMPS board using GCODE, in order to move the stepper motors and servo motor on the robot arm. You'll be working closely with @TechAUmNu who is willing to assist.

The basic functions you need to implement are:

def move_shoulder(angle):
    ...
def move_elbow(angle)
    ...
def move_gripper(angle)
    ...
def rotate_arm(angle):
    ...

Where angle is the angle of the joint. The gripper uses a servo and the rest use steppers. rotate_arm(angle) can rotate fully (360 degrees)

GCODE reference