Roarm (RoArm v0.1.1)

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Elixir library for controlling Waveshare RoArm robot arms.

This library provides a high-level interface for controlling Waveshare RoArm robot arms using Circuits.UART for serial communication. It replicates the functionality of the official Waveshare RoArm SDK in Elixir.

Features

  • Serial communication with RoArm devices
  • Position and joint control
  • LED control and torque control
  • Concurrent robot control using GenServer
  • Support for multiple RoArm models

Configuration

Configure Roarm in your config.exs:

config :roarm,
  port: "/dev/cu.usbserial-110",
  baudrate: 115200,
  robot_type: :roarm_m2

Quick Start

# With configuration - just start the robot
{:ok, _pid} = Roarm.start_robot()

# Or override specific options
{:ok, _pid} = Roarm.start_robot(port: "/dev/ttyUSB0", robot_type: :roarm_m3)

# Move to a position (coordinates in mm, t in degrees)
Roarm.Robot.move_to_position(%{x: 100.0, y: 0.0, z: 150.0, t: 0.0})

# Partial position update - only change Y coordinate
Roarm.Robot.move_to_position(%{y: 50.0})

# Control joints (all angles in degrees)
Roarm.Robot.move_joints(%{j1: 0.0, j2: 45.0, j3: -30.0, j4: 0.0})

# Partial joint update - only move joint 1
Roarm.Robot.move_joints(%{j1: 90.0})

# Move a single joint directly
Roarm.Robot.move_joint(1, 45.0)  # Move base joint to 45 degrees
Roarm.Robot.move_joint(4, -30.0, speed: 2000)  # Move wrist joint with custom speed

# Set LED color
Roarm.Robot.set_led(%{r: 255, g: 0, b: 0})

# Control gripper (0=open, 100=closed, 30=practical max opening)
Roarm.Robot.gripper_open()      # Open to maximum practical position (30%)
Roarm.Robot.gripper_close()     # Close gripper completely
Roarm.Robot.gripper_control(50) # Half-way position

# Enable/disable torque (for manual movement)
Roarm.set_torque_enabled(false)  # Allow manual movement
Roarm.set_torque_enabled(true)   # Lock joints in position

Modules

Summary

Functions

list_ports()

List available serial ports on the system.

registry_name()

Get the registry name used by Roarm.

set_torque_enabled(enabled, opts \\ [])

Enable or disable torque control for the robot joints.

start_registry()

Start the Roarm registry.

start_robot(opts \\ [])

Convenience function to start a robot with given configuration.

test_connection(port, opts \\ [])

Quick connection test to verify robot communication.

Functions

list_ports()

List available serial ports on the system.

registry_name()

Get the registry name used by Roarm.

set_torque_enabled(enabled, opts \\ [])

Enable or disable torque control for the robot joints.

When torque is enabled, joints are locked in position. When disabled, joints can be moved manually.

Parameters

  • enabled - true to enable torque (lock joints), false to disable
  • opts - Options including :server_name and :timeout

Examples

# Enable torque (lock joints)
Roarm.set_torque_enabled(true)

# Disable torque (allow manual movement)
Roarm.set_torque_enabled(false)

start_registry()

Start the Roarm registry.

start_robot(opts \\ [])

Convenience function to start a robot with given configuration.

Uses application configuration as defaults, with provided options taking precedence.

Parameters

  • opts - Configuration options (overrides config.exs values)
    • :robot_type - Type of robot (:roarm_m2, :roarm_m2_pro, :roarm_m3, :roarm_m3_pro)
    • :port - Serial port path
    • :baudrate - Communication speed (default: 115200)
    • :name - Process name for registry

Examples

# Using configuration from config.exs
Roarm.start_robot()

# Override specific options
Roarm.start_robot(port: "/dev/ttyUSB1", robot_type: :roarm_m3)

test_connection(port, opts \\ [])

Quick connection test to verify robot communication.