The code below works when iPad mini is centered and in line with the uArm feet.
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import time import serial # configure the serial connection # Over USB: /dev/cu.usbserial-A600CVSD # Over BT 4.0: /dev/cu.usbserial-A600CVR4 ser = serial.Serial(port='/dev/cu.usbserial-A600CVSD', baudrate=9600, bytesize=serial.EIGHTBITS, parity = serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE) # Check if port is open ser.isOpen() # Check which port is used ser.portstr # Write data to port # Base Rotation, Arm Stretch, Arm Height, Wrist Rotation, Pump/Grip ser.write('16 165 -32 0 0 \n') # X menu ser.write('35 113 -63 0 0 \n') # Toolbar ser.write('12 155 -40 0 0 \n') # X small menu ser.write('0 133 -50 0 0 \n') # Top choice select menu ser.write('0 130 -55 0 0 \n') # OK - center |
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