====================
Moving the Robot Arm
====================

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    <div style="background: #C3F8FF" class="admonition note custom">
        <p style="background: light-blue" class="admonition-title">
            Follow along: Moving the Robot Arm
        </p>
        <div class="line-block">
            <div class="line">The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.</div>
        </div>
        <ul>
            <li>Open the 05_01_left_right.ipynb Jupyter Notebook.</li>
            <li>Load Arm_Lib module and register the robot arm as an object.</li>
            <li>Follow and Execute the example codes.</li>

        </ul>
        <div class="line">(The Jetson Board used for these examples are => Jetson Nano)</div>
        
    </div>


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    <hr>

-   05_01_left_right.ipynb
-   | Running the cell code.
    | `Ctrl + Enter`
-   To control the robot arm from code, don't forget to shut down the docker container. See `here <https://zeta-edu-lecture.readthedocs.io/en/latest/lecture_courses/course_1/5.robot_arm_ex/2.basic_control/2.before_starting.html>`_.

.. thumbnail:: /_images/arm/arm1.png

-   Load Arm_Lib module and register the robot arm as an object.

.. code-block:: python

    import time
    from Arm_Lib import Arm_Device

    # Register robot arm object.
    Arm = Arm_Device()
    time.sleep(.1)


-   Run the below cell within your jupyter notebook.

.. code-block:: python

    # Repeat swinging the robot arm up and down
    # Arm range = 0 ~ 180
    def main():
        # Make all servos in the middle.
        Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 500)
        time.sleep(1)


        while True:
            # Move the 3rd and 4th servos up and down.
            Arm.Arm_serial_servo_write(3, 0, 1000)
            time.sleep(.001)
            Arm.Arm_serial_servo_write(4, 180, 1000)
            time.sleep(1)
            
            # Move the 1st and 5th servos left and right.
            Arm.Arm_serial_servo_write(1, 180, 500)
            time.sleep(.001)
            Arm.Arm_serial_servo_write(5, 180, 500)
            time.sleep(0.51)
            Arm.Arm_serial_servo_write(1, 0, 1000)
            time.sleep(.001)
            Arm.Arm_serial_servo_write(5, 0, 500)
            time.sleep(1.1)
            
            # Move servo to initial position.
            Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1000)
            time.sleep(1.5)


    try :
        main()
    except KeyboardInterrupt:
        # Move servo to initial position.
        Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 1000)
        print(" Program closed! ")
        pass


-   Remove the robot arm object.

.. code-block:: python

    del Arm  # Remove robot arm object.