feat: udpate arm docs

arm_config.toml

@@ -0,0 +1,148 @@
+title = "Example robot arm configuration"
+
+# These are the default values, if you set them here they will be used for all joints
+#  If set again in a joint section, the joint specific value will be used
+
+[joint_configuration]
+    speed_rad_per_s = 0.35
+    steps_per_rev_motor_axis = 800 # Microstepping
+    homing_direction = 1 # 1 or -1
+    max_angle_rad = 7.0
+    min_angle_rad = -7.0
+    conversion_rate_axis_joint = 1.0 
+    homing_offset_rad = 0.0 # Offset from homing position
+    dir_inverted = 1 # 1 or -1 
+
+# Physical parameters of the arm
+[arm_parameters]
+# J1 
+    a1x= 0
+    a1y= 0
+    a1z= 0
+# J2
+    a2x= 0
+    a2y= 0
+    a2z= 172.48
+# J3
+    a3x= 0
+    a3y= 0
+    a3z= 173.5
+# J4
+    a4x= 126.2
+    a4y= 0
+    a4z= 0
+# J5
+    a5x= 64.1
+    a5y= 0
+    a5z= 0
+# J6
+    a6x= 169.0
+    a6z= 0
+    a6y= 0
+
+# Tool parameters
+[tool]
+    name = "tool"
+    max_angle_rad = 0.0
+    min_angle_rad = 0.0
+    [tool.driver]
+        type = "servo"
+        pin = 27
+
+# Joint configuration
+[[joints]]
+    name = "joint_1"
+    homing_direction = -1 # 1 or -1
+    conversion_rate_axis_joint = 9.7 # Gear ratio
+    homing_offset_rad = 0.0 # Offset from home position
+
+    speed_rad_per_s = 0.2
+    [joints.driver]
+        type = "stepper"
+        dir_pin = 14
+        step_pin = 13
+
+    # [joints.driver]
+    #     type = "servo"
+    #     pin = 20
+    [joints.endstop]
+        type = "none" # none, dummy or hall (hall may work with other sensors)
+        pin = 26
+    # [joints.endstop]
+    #     type = "dummy"
+
+[[joints]]
+    name = "joint_2"
+    homing_direction = 1 
+    dir_inverted = -1
+    conversion_rate_axis_joint = 7.0 
+    homing_offset_rad = 0.0 
+    speed_rad_per_s = 0.1
+    [joints.driver]
+        type = "stepper"
+        dir_pin = 5
+        step_pin = 4
+    [joints.endstop]
+        type = "none"
+        pin = 25
+
+[[joints]]
+    name = "joint_3"
+    homing_direction = 1 
+    conversion_rate_axis_joint = 15.0
+    homing_offset_rad = 0.0
+    speed_rad_per_s = 0.1
+    steps_per_rev_motor_axis = 400 # Microstepping
+    [joints.driver]
+        type = "stepper"
+        dir_pin = 16
+        step_pin = 15
+    [joints.endstop]
+        type = "none"
+        pin = 33
+
+[[joints]]
+    name = "joint_4"
+    homing_direction = 1
+    conversion_rate_axis_joint = 5.0
+    speed_rad_per_s = 0.3
+    homing_offset_rad = 0.0 
+    dir_inverted = -1
+    [joints.driver]
+        type = "stepper"
+        dir_pin = 18
+        step_pin = 17
+    [joints.endstop]
+        type = "none"
+        pin = 32
+
+[[joints]]
+    name = "joint_5"
+    homing_direction = 1 
+    conversion_rate_axis_joint = 5.0
+    homing_offset_rad = 0.0
+    speed_rad_per_s = 0.4
+    dir_inverted = -1
+    [joints.driver]
+        type = "stepper"
+        dir_pin = 21
+        step_pin = 19
+    [joints.endstop]
+        type = "none"
+        pin = 35
+
+[[joints]]
+    name = "joint_6"
+    homing_direction = 1
+    conversion_rate_axis_joint = 1.0
+    homing_offset_rad = 0.0
+    dir_inverted = -1
+    speed_rad_per_s = 0.4
+    [joints.driver]
+        type = "stepper"
+        dir_pin = 23
+        step_pin = 22 
+    [joints.endstop]
+        type = "none"
+        pin = 34
+

arm_docs/.eslintrc.json

@@ -0,0 +1,52 @@
+{
+    "extends": [
+        "eslint:recommended",
+        "plugin:react/recommended",
+        "plugin:react-hooks/recommended",
+        "plugin:prettier/recommended"
+    ],
+    "plugins": ["react", "prettier", "import"],
+    "parserOptions": {
+        "ecmaVersion": "latest",
+        "sourceType": "module",
+        "ecmaFeatures": {
+            "jsx": true
+        }
+    },
+    "ignorePatterns": ["**/components/ui/**"],
+    "rules": {
+        "prettier/prettier": ["error", {}, { "usePrettierrc": true }],
+        "react/react-in-jsx-scope": "off",
+        "react/jsx-filename-extension": [1, { "extensions": [".jsx"] }],
+        "react-hooks/rules-of-hooks": "error",
+        "react-hooks/exhaustive-deps": "warn",
+        "import/order": [
+            "error",
+            {
+                "groups": [["builtin", "external", "internal", "parent", "sibling", "index"]],
+                "newlines-between": "always",
+                "alphabetize": {
+                    "order": "asc",
+                    "caseInsensitive": true
+                }
+            }
+        ]
+    },
+    "settings": {
+        "react": {
+            "version": "detect"
+        },
+        "import/resolver": {
+            "alias": {
+                "map": [["@", "./src"]],
+                "extensions": [".js", ".jsx", ".ts", ".tsx"]
+            }
+        }
+    },
+    "env": {
+        "browser": true,
+        "node": true,
+        "es2021": true,
+        "jest": true
+    }
+}

arm_docs/.prettierrc.json

@@ -0,0 +1,11 @@
+{
+    "printWidth": 100,
+    "tabWidth": 4,
+    "useTabs": false,
+    "semi": true,
+    "singleQuote": true,
+    "trailingComma": "es5",
+    "bracketSpacing": true,
+    "arrowParens": "avoid",
+    "plugins": ["prettier-plugin-tailwindcss"]
+}

arm_docs/babel.config.js

@@ -1,3 +1,3 @@
 module.exports = {
-  presets: [require.resolve('@docusaurus/core/lib/babel/preset')],
+    presets: [require.resolve('@docusaurus/core/lib/babel/preset')],
 };

arm_docs/docs/implementation/_category_.json

@@ -0,0 +1,8 @@
+{
+    "label": "Hardware Implementation",
+    "position": 2,
+    "link": {
+        "type": "generated-index",
+        "description": "How to implement the control system on your hardware."
+    }
+}