AllMyServos - A free robotics app for Raspberry Pi
Posted: Wed Jan 20, 2016 4:37 pm
Hi Everyone,
I have been experimenting with the Raspberry Pi (model B), Adafruit PCA9685 16 Channel Servo Driver and InvenSense MPU6050 gyro and accelerometer for a fair while. I put together an app (AllMyServos), written in Python, to help me work with them. I created a repo for it on GitHub and I did intend to add it on the Pi Store but that seems to be defunct.
I built a 16 DOF (degrees of freedom) humanoid biped based on the SainSmart 17 DOF biped but the app is designed to handle any servo configuration (although I haven't been able to test multiple Adafruit servo drivers yet). The 17th degree of freedom is the head (which is currently not connected).
The configuration is done through a Graphical User Interface (provided by TkInter) but there is also a command line script which can be run over SSH to start the motion scheduler, RPC (remote procedure call) server and keyboard services.
The party piece is the Blender integration. Blender is an open source 3D modelling and animation program. AllMyServos includes a Blender addon which allows live commands to be sent from a Blender armature (in pose mode) to the servos. Keyframed animations can also be exported to AllMyServos for later use. The app also includes the specification for my robot (Vanguard) and the blend file so you can reproduce it quickly without doing all of the setup. Any specifications you create in the app can be packaged and shared.
I would appreciate any feedback from the community on the project so far.
I have uploaded some demo videos to YouTube: http://www.youtube.com/user/allmyservos
The GitHub repo is here: https://github.com/allmyservos/allmyservos
I have been experimenting with the Raspberry Pi (model B), Adafruit PCA9685 16 Channel Servo Driver and InvenSense MPU6050 gyro and accelerometer for a fair while. I put together an app (AllMyServos), written in Python, to help me work with them. I created a repo for it on GitHub and I did intend to add it on the Pi Store but that seems to be defunct.
I built a 16 DOF (degrees of freedom) humanoid biped based on the SainSmart 17 DOF biped but the app is designed to handle any servo configuration (although I haven't been able to test multiple Adafruit servo drivers yet). The 17th degree of freedom is the head (which is currently not connected).
The configuration is done through a Graphical User Interface (provided by TkInter) but there is also a command line script which can be run over SSH to start the motion scheduler, RPC (remote procedure call) server and keyboard services.
The party piece is the Blender integration. Blender is an open source 3D modelling and animation program. AllMyServos includes a Blender addon which allows live commands to be sent from a Blender armature (in pose mode) to the servos. Keyframed animations can also be exported to AllMyServos for later use. The app also includes the specification for my robot (Vanguard) and the blend file so you can reproduce it quickly without doing all of the setup. Any specifications you create in the app can be packaged and shared.
I would appreciate any feedback from the community on the project so far.
I have uploaded some demo videos to YouTube: http://www.youtube.com/user/allmyservos
The GitHub repo is here: https://github.com/allmyservos/allmyservos