Hardware - GarrisonJohnston123/LeArm_ros_controller GitHub Wiki
This page details all the hardware needed to control the robot in ROS using this package. Other hardware configurations may be possible, but this is the setup used to develop the package.
Bill of Materials
| Description | Picture | Vendor | Part Number/Name and Link | Cost | Quantity |
|---|---|---|---|---|---|
| The main robot arm, gripper, actuators, and power supply used for the project |  |
HiWonder | LeArm | $189.99 | 1 |
| 16-Channel 12-bit PWM/Servo Shield |  |
Adafruit | 1411 | $17.50 | 1 |
| Arduino compatible microcontroller |  |
Adafruit | 2488 | $17.50 | 1 |
| Power supply to servo shield adapter |  |
Adafruit | 368 | $2.00 | 1 |
Setup Instructions
Assembling the LeArm
The LeArm manufacturer has a great video detailing how to assemble the robot. The video can be found by clicking on the image below.
The end of the video shows how to assemble the provided controller. However, this package uses the Adafruit METRO 328 controller paired with an adafruit servo shield (see the Bill of Materials section). The steps to set up this controller can be found in the coming sections.
Assembling the Servo Shield
Adafruit has a great set of assembly instructions for the servo shield used in this package. The instructions can be found here: https://learn.adafruit.com/adafruit-16-channel-pwm-slash-servo-shield/assembly
Wiring
First, mount the servo shield to the controller and then attach the power supply adapter by cutting two small pieces of wire and inserting them into the screw terminals on both the power supply adapter and the servo shield. Next, insert the servo connectors into the servo shield. There are sixteen servo slots on the shield numbered 0 through 15. Make sure to wire the servo closest to the base (the yaw joint) to slot 0 and then, counting from the base to the gripper, wire each servo sequentially until the gripper is inserted into slot 5. Lastly, insert the power supply provided in the LeArm kit into the power supply adapter and connect the microcontroller to your computer using a micro-usb cable.