SD84 + Python

During the last school semester I had to work on a robotics project that used the SD84 board. This board is an 84 channel servomotor controller that receives commands over the USB bus. Each one of the 84 channels can be a Digital Input, Digital Output or Servomotor Output. Additionally, 36 of the channels can be 10-bit Analogue inputs.

SD84 board
SD84 board

These features were used to control a 10 degrees of freedom robotic arm, that also had distance sensors along its lenght to avoid obstacles. I wrote a very specific code for that aplication using Matlab ( just the interface between Matlab and the board, direct and inverse kinematics were made by Alex and Pedro ), thus not implementing all the capabilities of the SD84.

That being said I wrote some Python functions that do all the board features, but some of them are untested because the semester is over and I had to return the SD84 to the school before testing them…but they will work, I´m sure!

The scheme below explains how the code should be implemented just in case the example that comes with the functions isn´t explanatory enough.

SD84_scheme

You can download the file on the link bellow. Change its extention from .txt to .py .

SD84 (785)

 

Please share any new features you add to the code , and your projects done with the SD84 board!

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