OpenSandbot

OpenSandbot is an open-source robotic kinetic art table. It has four components: parts, hardware, firmware, and app.

Firmware

This firmware is written in rust for the $4 Raspberry Pi Pico (RP2040) and provides a UART API on UART0 to control the sandbot.

API

The API expects messages to be formatted as METHOD[ ARG0][ ARG1]\n. All messages (rx and tx) expect the new line character (\n) at the end of each message.

• Movement: Ex. MOVE 1.2 0.5 would move to theta 1.2 rho 0.5.

The API also emits the status messages

• STATUS IDLE: the sandbot is idle and not currently moving
• STATUS MOVING the sandbot is currently moving to a target position
• ERROR INVALID_UTF8: command contains invalid UTF-8
• ERROR MISSING_ARGS: command is missing required arguments
• ERROR INVALID_NUMBERS: arguments could not be parsed as numbers

Testing

# Install just (one time)
cargo install just

# Run tests
just test-host     # Run integration tests
just test-embedded # Check embedded build
just test-all      # Run all tests