Tactigon Arduino Braccio

This package enables to comunicate with Arduino Braccio using a Bluetooth to UART device such as Adafruit Bluefruit LE Uart.

This package can be used alongside with Tactigon Gear and Tactigon Speech libraries to drive the Braccio robot using gesture and "edge" voice command detection.

Prerequisites

In order to use the Tactigon Arduino Braccio library you need:

• Python version: following versions has been used and tested. It is STRONGLY recommended to use these ones depending on platform.
  • Win10: 3.8.7

Installing

Install and update using pip:

pip install tactigon-arduino-braccio

A Simple Example

import time

from tactigon_arduino_braccio import Braccio, BraccioConfig, Wrist, Gripper

if __name__ == "__main__":
    cfg = BraccioConfig("D1:EF:85:90:07:DE")

    with Braccio(cfg) as braccio:

        print("Connecting...")
        while not braccio.connected:
            time.sleep(0.1)

        print("Connected!")
        
        x = 120
        y = 50
        z = 20
        wrist = Wrist.HORIZONTAL
        gripper = Gripper.OPEN
        res, status, time = braccio.move(x, y, z, wrist, gripper)

        print(res, status, time)

    print("disconnected")

Links

• Arduino code
• Solver
• Tactigon integration