Follow the guides for each of the components:
Instead of attaching the gripper to the end of the snapper, we will be making a spout system and running the silicone tubing up the arm, from the pump to the spout. Pictured are just a couple of ways to make a spout. Get creative with this step, there are many ways to do this.
We will also be attaching the Arduino, Pump, a pushbutton, and the Snapper Arm to the Mega workbench. This is so that we have a place to clearly define where to set glasses of a certain size. Put the pushbutton somewhere it can be easily reached, out of the way of the other components.
|Device||Sensor Shield Port|
| Base Rotation ||Digital 3|
| Activation Button ||Digital 2|
Make sure that the 6V power supply is running the pump, and the 7V power supply is plugged into the Arduino. The Power pins on the Sensor Shield should be set to VIN to supply the full 7V power to the servos in the Snapper Arm.
In order to use this arm, we're going to need to set up the Arm Link software. This isn't hard, but it is involved, so make sure to follow along carefully.
File -> Examples -> ArmLink -> SnapperArmLinkSerial
//#define GRIPPER_TYPE ROBOT_GEEK_9G_GRIPPER#define GRIPPER_TYPE ROBOT_GEEK_PARALLEL_GRIPPERIt doesn't matter which, because we will not be using a gripper for this project
Tools -> Add Tool...and in the window that pops up, click on the Libraries tab.
G4Pand install it.
Video, and install the Video Library authored by the Processing Foundation
ARMLink.pde. Processing 3 should open to a window with the InterbotiX Arm Link code.
Cylindricalin the Mode Panel. This mode gives us easy to understand control with good reach. The Control Panel will change.
Save Digital Outputsbox.
New Pose. This will let us save each position we set the arm to.
Auto Updatebox at the bottom of the control panel. This will move the arm as we adjust the sliders in real time.
Save Posebutton to save it to the active sequence.
Save Pose. If you want to turn the pump on, tick box
13in the Digital Output section of the I/O Panel. Mind the
Pause (Ms)section of the control panel. This will be the amount of time your pump will stay on. Be sure that if you would like the pump to turn off before moving that the next pose you create has box
Save to Filebutton in the Sequence Panel.
SnapperArm -> SnapperArmPlaybackfolder that you downloaded earlier, and click
Now that your sequence is complete, we can open the
SnapperArm -> SnapperArmPlayback
sketch and upload it to the arduino. Set it up, let it do a dry run, and then run the input tube from the pump to the liquid you'd like to serve up!
Now that you've made a robot arm that can serve up drinks, what else can you do? What would happen if you swapped the input and output tubes on the pumps? Can you make a robot arm that mixes drinks to be served to one glass instead of sending one drink to many? What about adding sensors other than the button to initiate serving drinks? Maybe instead you'd like to use the robot arm to prank an unsuspecting interloper? There's so much you can do, we'd love to know what you come up with!