Awesome

MultipleLineUs

Processing code to coordinate and control multiple Line-Us devices (robotic arms, see https://www.line-us.com)

This program lets you control 4 Line-Us devices simultaneously in a single coordinate system, preventing the devices to collide using a bounding box method.

Start by renaming your Line-Us devices to "line-us1", "line-us2", "line-us3" and "line-us4". Arrange as in the sketch (around a ca. 20 cm x 20 cm drawing area). Then start the program and connect to the devices by pressing 'C' + '1', 'C' + '2', ...

You can then control the 4 devices by mouse dragging (points A=device positions, point E = pen holders, point F=extension arm end points, depending on dragging mode activated by the Keyboard Controls shown below), the arrow keys or by a supplemented "positions.cvs" file containing target coordinates for the optional extension arms (F points).

Set the floating variable e to 1 ([mm]) if you do not need these extension arms (or interpret it as the offset of the fixed pen in the holder relative to its perfect center).

Keyboard Controls: 'C' + '1'-'4' : connect to Line-Us device 1, 2, 3, 4

'1'-'4' : select device 1, 2, 3, 4

'E' : edit-mode for E points

'F' : edit-mode for F points

'A' : edit-mode for A points

Up / Down / Left / Right : move A/E/F points (edit mode)

Ctrl + Left / Right : inc./dec. step size

'T' + '1'-'4' : start tipping for device 1, 2, 3, 4

Enter : start/cancel move to configuration

'+' / '-' : go through configurations

Ctrl + '1'-'4' : select configuration 1, 2, 3, 4

, / . : inc. / dec. scale of configuration

Ctrl + Up / Down : inc./dec. movement step size

'S' : save as current configuration

'I' : initial / default configuration (no collision check!)

'O' : home position (no collision check!)