Installation

This guide will help you install the Mini-Arm Python client library and set up your development environment.

Requirements

  • Python 3.8 or higher

  • A Mini-Arm robot (or you can use the simulator)

  • USB cable for connecting to the Pico

Quick Install

Install directly from GitHub:

pip install git+https://github.com/Jshulgach/Mini-Arm.git

Or clone and install in development mode:

git clone https://github.com/Jshulgach/Mini-Arm.git
cd Mini-Arm
pip install -e .

Dependencies

The following packages will be installed automatically:

  • pyserial - Serial communication with the Pico

  • numpy - Mathematical operations

  • scipy - Trajectory interpolation

Optional Dependencies

For visualization and advanced features:

# For 3D visualization
pip install matplotlib

# For Xbox controller support
pip install pygame

# For ROS2 integration
# See the ROS2 Setup guide

Firmware Installation

Your Mini-Arm’s Raspberry Pi Pico needs to be flashed with the CircuitPython firmware:

  1. Download the latest CircuitPython UF2 from circuitpython.org

  2. Hold the BOOTSEL button on the Pico and connect USB

  3. Drag the UF2 file to the RPI-RP2 drive

  4. Copy the contents of pico/ folder to the CIRCUITPY drive

Verifying Installation

Test your installation:

from mini_arm import MiniArm

# Connect to Mini-Arm
arm = MiniArm()
arm.connect()

# Check connection
print(f"Connected: {arm.is_connected}")
print(f"Firmware version: {arm.firmware_version}")

# Move to home position
arm.home()

Next Steps