source files to build and run a syringe pump

syringe pump model is built in freecad

Designed to use a Nema 17 stepper motor with an A4988 microstepping driver

Python code communicates with an arduino via USB serial using the PyFirmata package. Arduino controls the stepper driver with digital outputs.

Arduino should have StandardFirmata code uploaded (from the arduino IDE: File > Examples > Firmata > StandardFirmata)

Arduino wiring and microstepping logic follow the conventions described here: https://howtomechatronics.com/tutorials/arduino/how-to-control-stepper-motor-with-a4988-driver-and-arduino/

Pyro4 is used for remote communication

Usage:

On raspberry pi, both a Pyro4 nameserver and the stepper_server must be running

To run nameserver

$ conda activate syringe_pump
$ python -m Pyro4.naming -n <IP OF PI>

To run stepper_server:

$ conda activate syringe_pump
$ python stepper_server.py

On remote computer:

$ conda activate syringe_pump

Then, at a python prompt:

>> import Pyro4
>> s = Pyro4.Proxy("PYRONAME:stepper.server")
>> s.calibrate('1ml') #or '5ml'

To test remote connection:

>> s._pyroBind() # should return True
>> s.toggle_builtin_led() # should toggle the builtin arduino LED

To dispense 10 uL:

>> s.dispense(10)

To retract 100 uL

>> s.retract(100)

Pyro also allows connections through html. On raspberry pi:

$ python -m Pyro4.utils.httpgateway -H <IP OF PI> -e stepper.server

From a browser:

to deliver a 10 ul reward:

http://<IP OF PI>:8080/pyro/stepper.server/deliver_reward?volume=10

to check the step count:

http://<IP OF PI>:8080/pyro/stepper.server/step_count