OpenSandbot is an open-source robotic kinetic art table. It has four components: parts, hardware, firmware, and app.
This firmware is written in rust for the $4 Raspberry Pi Pico (RP2040) and provides a UART API on UART0 to control the sandbot.
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 0.5would move to theta 1.2 rho 0.5.
The API also emits the status messages
STATUS IDLE: the sandbot is idle and not currently movingSTATUS MOVINGthe sandbot is currently moving to a target position