Tapster 3 - Demo Script - Tap "Hello, World!!"

requirements.txt

pyserial

tap-hello-world.py

import serial
from time import sleep

clearance_height = "Z-5"
tap_height = "Z-19"

# Open grbl serial port
# TODO: Make this a command line flag...
s = serial.Serial('/dev/cu.SLAB_USBtoUART', 115200)

def init():
  # Wake up Grbl
  s.write(b"\r\n\r\n")
  sleep(2)   # Wait for Grbl to initialize
  s.flushInput()  # Flush startup text in serial input

def send(command, pause=0.2):
  message = str.encode(command + '\n')
  s.write(message)
  result = s.readline()
  print(result.strip().decode('utf-8'))
  sleep(pause)

def tap(position):
  send("G1 " + position + " " + clearance_height)
  send("G1 " + position + " " + tap_height)
  send("G1 " + position + " " + clearance_height)

#Initialize
init()

# Set speed
send("G1 F8000")

# Go to home position
send("G1 X0 Y0 Z30", 2)

# Open Twitter app
send("G1 X3.25 Y-3.5 Z-20")

# Return to home position
send("G1 X3.25 Y-3.5 Z30")

# Tap "Hello, World!" on the keyboard
tap("X-23.5 Y-67")        # Shift
tap("X10.5 Y-56")         # H
tap("X-13.5 Y-47.5")      # e
tap("X29.5 Y-58")         # l
tap("X29.5 Y-58")         # l
tap("X26 Y-47.5")         # o
tap("X-17 Y-75")          # ,
tap("X5 Y-75")            # <space>
tap("X-23.5 Y-67")        # Shift
tap("X-20 Y-46.5")        # W
tap("X26 Y-47.5")         # o
tap("X-8 Y-47")           # r
tap("X29.5 Y-58")         # l
tap("X-10.5 Y-56.5")      # d
tap("X-25 Y-75")          # Shift to extra characters screen
tap("X15 Y-63")           # !

# Return to home position
send("G1 X0 Y0 Z30")

Tapster-3-Demo.md

Python Sample Code

Demo Video

https://twitter.com/hugs/status/1291798092950441990

Setup

python3 -m venv env
source env/bin/activate
pip install -r requirements.txt

Run demo

1. First, make sure the Tapster 3 robot is plugged in and running.

2. Run demo:

python tap-hello-world.py

Deactivate enviroment

deactivate