A terminal interface for USB communication with the TAAR robotic arm.
To start, clone the repository:
git clone https://github.com/Hydle-Research-Group/taarable.gitThen run via cargo run. This will start a REPL for USB communication with the arm.
TAAR firmware implements an interface standard set by TAARABLE. The sender (TAARABLE) can send raw GCODE commands, while the receiver (TAAR) can respond with a JSON-based format.
TAAR uses a GCODE style similar to that of Marlin. Many commands listed share similar arguments and formats to the Marlin project, allowing for Marlin-flavored sequences to be ran on TAAR machines.
| GCODE Command | Description |
|---|---|
G0 X<position> Y<position> Z<position> F<rate> |
Moves the end affector in a linear motion See Marlin Equivalent |
G4 P<ms> |
Pause the command queue for a set amount of time See Marlin Equivalent |
G6 X<direction> Y<direction> Z<direction> A<direction> |
Step an individual motor in a specified direction (where X is the base, Y is the shoulder, Z is the elbow, and A is the hand) See Marlin Equivalent |
G60 |
Save the current end effector position in memory |
G61 |
Move the end effector to a previously saved position |
G92 X<position> Y<position> Z<position> |
Set end effector position See Marlin Equivalent |
M02 |
End the sequence, ignoring all commands after |
| JSON String | Description |
|---|---|
{ "info": "<message>" } |
An information response |
{ "warning": "<message>" } |
A warning response |
{ "error": "<message>" } |
An error response |
{ "queue": "<continue|quit>" } |
A command queue response (continue or quit) |
TAARABLE is 100% free with no drawbacks or limitations. There is no "premium" version; you get the latest and greatest, all licensed under the GPL-3.0.
All source code is public, to anyone. There is no "hidden mechanism" included in this repository; every reference and used factor exists completely and fully.