Mission Project

Project Name: Make Your Robot Dance to the Music!

- This mission is a group project.
- Within your team, create a custom robot arm control system.
- System should be able to:
 2. Controls that would allow the robot arm to move and pick up objects.
 3. Ability to play and stop the music while operating above tasks.
- It is recommended that the final code be on the Leaders computer. (Simultaneous commands to the robot must be avoided!)

Libraries used for this Mission

Here are the libraries needed for our Mission.

time and Arm_Lib Library

  • To control the robot arm we will import:

    • time library for delays on robot arm.

    • Arm_Lib library for controlling the robot arm.

    import time
from Arm_Lib import Arm_Device

os Library

  • To control the music we will import:

    • os library to publish ROS topic

    import os

Lets Start the Mission!!!

Open the mission folder and open the mission-dance.ipynb file.

  • mission-dance.ipynb

  • To control the robot arm from code, don’t forget to shut down the docker container. See here.

  • First, import in the necessary libraries.

import os
import time
from Arm_Lib import Arm_Device

Arm = Arm_Device()
time.sleep(.1)

  • Initialize the Arm Device.

Arm.Arm_serial_servo_write6(0, 90, 0, 180, 90, 90, 2000)

  • Check out what music you can choose from.

!ls /root/scripts/sensor/arm_sounds

  • Select the music you want by changing the data of the play_specific topic.

os.system('rostopic pub -1 /play_specific std_msgs/String "data: \'/root/scripts/sensor/arm_sounds/music_1.mp3\'"')

  • You can stop the music if you wish.

os.system('rostopic pub -1 /play_specific std_msgs/String "data: \'stop\'"')

  • Be sure to delete the robot after running the code.

del Arm

Make Your Robot Dance to the Music!

Now let the robot dance to the music you want. Don’t forget to add sleep() code between robot movements.

(IMPORTANT) - The servo’s operating angle is 0-180 degrees, but in practice, collisions may occur due to the operating range between each joint. - Code with crashes and injuries in mind.