Joystick Control

Open-loop direct control to help prototyping. A simple analog joystick lets you drive the robot arm manually — perfect for calibration, testing, or just having fun.

  • X-Axis: Controls the base joint (shoulder)
  • Y-Axis: Controls the elbow joint
  • Platform: Arduino or Raspberry Pi reads analog signals and sends angles to the motors

The joystick input is mapped to joint angles in real-time:

```python theta1 = map(joystick.x, 0, 1023, -pi/2, pi/2) theta2 = map(joystick.y, 0, 1023, -pi/2, pi/2) set_joint_angles(theta1, theta2)

Computer Vision

Work in progress

Obstacle Avoidance with Sensors

Safety is non-negotiable when working with physical systems. This arm is equipped with two sensors for obstacle detection and thermal awareness:

  • Ultrasonic Sensor

–Measures distance to nearby objects or humans. –Mounted near the end-effector. –Stops motion if something is too close.

if distance < 15: halt_motion()

  • Temperature Sensor (IR) –Scans the scene for hot objects (e.g. cookware, electronics). –Flags objects over a temperature threshold (e.g., 50°C) as unsafe to touch.