braccino

A simple Elixir application to control the Tinkerkit Braccio robotic arm through a web interface.

The name comes from Braccio (which is the name of the robot but also the Italian word for "arm") + Arduino.

Hardware

• Raspberry Pi 3b
• Arduino Due
• Tinkerkit Braccio

Project structure

• braccino: shared code between the firmware and the web interface
• braccino_firmware: the firmware for the Raspberry Pi 3b, created using Nerves
  • arduino-sketch: contains Arduino sketch files
• braccino_ui: the web interface, created using Phoenix Live View

How it works

The Tinkerkit Braccio robotic arm is controlled by an Arduino Due. The Arduino Due is connected to the Raspberry Pi 3b via a USB cable and they communicate through UART. The Raspberry Pi hosts a web interface to control the arm.

Setting up

1. Clone this repository

2. Install the dependencies of braccino

   # inside braccino/
   mix deps.get

3. Install the dependencies of braccino_ui

   # inside braccino_ui/
   mix deps.get
   npm install --prefix assets

4. Build static assets of the web UI.

   # inside braccino_ui/
   npm install --prefix assets --production
   npm run deploy --prefix assets
   mix phx.digest

5. Install the dependencies of braccino_firmware

   # inside braccino_firmware/
   export MIX_TARGET=rpi3
   mix deps.get

6. Build the firmware

   # inside braccino_firmware/
   export MIX_TARGET=rpi3
   mix firmware

7. Either burn the firmware to an SD card or upload it to the Raspberry Pi 3b.

   # inside braccino_firmware/
   export MIX_TARGET=rpi3
   
   # to burn the firmware to an SD card
   mix firmware.burn
   
   # to upload the firmware
   mix upload

Development

If you are using vscode there are two workspaces:

• frontend.code-workspace to use in the development of the web interface
• full-stack.code-workspace to use in the development of the firmware + web interface

These workspaces contain extension recommendations and configuration.

Frontend

This workspace includes only the braccino and braccino_ui folders.

To start the development server, first install the dependencies, then run mix phx.server.

Fullstack

This workspace includes the braccino, braccino_firmware and braccino_ui folders. It also contains various tasks to automate building the firmware and the web interface and to deploy to the Raspberry Pi.