Changes for page Controlling an Arm with the Bot Board (Basic Atom) and the SSC-32
Last modified by Eric Nantel on 2023/01/19 13:37
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... ... @@ -1,3 +1,127 @@ 1 1 {{html wiki="false" clean="true"}} 2 - 2 +<table border="0" bordercolor="#FFFFFF" cellpadding="5"> 3 + <tbody><tr> 4 + <td colspan="2" > 5 + <p align="center"><strong><font size="2" face="Verdana">Controlling an Arm with the Bot Board (Basic Atom) and the SSC-32</font></strong></p> 6 + </td> 7 + </tr> 8 + <tr> 9 + <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 10 + </tr> 11 + <tr> 12 + <td valign="top" ><strong><font size="2" face="Verdana">Make the connection</font></strong><font size="2" face="Verdana"><br> 13 + Before I discuss how to write a program to control the arm, we need to make the serial data connection. The SSC-32 includes a short two 14 + conductor cable assembly. The black wire goes to ground and the yellow wire is for the signal. The .1" spaced end goes to the SSC-32 where 15 + it is marked with RX and the ground symbol. You will need to make sure the SSC-32 is set for 38.4k baud. It will be necessary to remove the DB9 16 + enable jumpers if present to make this connection. The yellow wire goes to RX, and the black wire goes to ground. The .2" spaced end goes 17 + to the Bot Board I/O pin 15. The black wire goes closer to the outside edge of the board, and the yellow wire goes closer to the IC. Note, the 18 + nylon standoff has been removed for this photo. </font></td> 19 + <td valign="top" align="center" width="50%"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/controlling-arm-bot-board-ssc-32/WebHome/bbssc32.jpg" width="320" height="240"><br> 20 + <font face="Verdana" size="2">Figure 1.</font></td> 21 + </tr> 22 + <tr> 23 + <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 24 + </tr> 25 + <tr> 26 + <td valign="top" ><strong><font size="2" face="Verdana">Enabling the servos</font></strong><font size="2" face="Verdana"><br> 27 + SSC-32 will not send out servo pulses until it receives the proper command. The program to the right will enable channels 10 through 15. This 28 + will make all of the servos go to their mid positions, or 1500uS. Note, all serout commands need to be one continuous line of text. If you cut 29 + and paste from here you will need to remove the CR's. Note, later you can substitute the 1500's with other starting positions to prevent the arm 30 + from jumping. </font></td> 31 + <td valign="top" bordercolor="#000000"> 32 + <table border="1" bordercolor="#FFFFFF"> 33 + <tbody><tr> 34 + <td bordercolor="#000000"><font face="Courier New" size="2">serout p15,i38400,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 35 + #14 P1500 #15 P1500",13] <br> 36 + <br> 37 + start:<br> 38 + goto start 'loop</font></td> 39 + </tr> 40 + </tbody></table> 41 + </td> 42 + </tr> 43 + <tr> 44 + <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 45 + </tr> 46 + <tr> 47 + <td valign="top" ><strong><font size="2" face="Verdana">Move the arm smoothly</font></strong><font size="2" face="Verdana"><br> 48 + The next program will move the arm from the initial position, to a new position, then to another new position, then cycle back and forth. The 49 + moves are slow and smooth. They will each take 2 seconds to complete. Note, these servo values are arbitrary, you will need to replace them with 50 + the actual positions you want the arm to move to. </font></td> 51 + <td valign="top" bordercolor="#000000"> 52 + <table border="1" bordercolor="#FFFFFF"> 53 + <tbody><tr> 54 + <td bordercolor="#000000"><font face="Courier New" size="2">serout p15,i38400,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 55 + #14 P1500 #15 P1500",13] <br> 56 + <br> 57 + start:<br> 58 + serout p15,i38400,["#10 P1400 #11 P1400 #12 P1400 #13 P1400 #14 P1400 #15 P1400 T2000",13]<br> 59 + pause 2000<br> 60 + serout p15,i38400,["#10 P1600 #11 P1600 #12 P1600 #13 P1600 #14 P1600 #15 P1600 T2000",13]<br> 61 + pause 2000<br> 62 + goto start 'repeat</font></td> 63 + </tr> 64 + </tbody></table> 65 + </td> 66 + </tr> 67 + <tr> 68 + <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 69 + </tr> 70 + <tr> 71 + <td valign="top" ><strong><font size="2" face="Verdana">Code specific to the arm</font></strong><font size="2" face="Verdana"><br> 72 + By using variables and the gosub command the code can be simplified to read easier. This program will accomplish the same thing as the previous 73 + one, but you can change the position with a name instead of a number. The first serout still uses the servo channel number though.</font></td> 74 + <td valign="top" bordercolor="#000000"> 75 + <table border="1" bordercolor="#FFFFFF"> 76 + <tbody><tr> 77 + <td bordercolor="#000000"><font face="Courier New" size="2">base var word 'Base rotate<br> 78 + shld var word 'Shoulder pivot<br> 79 + elbo var word 'Elbow pivot<br> 80 + wrst var word 'Wrist pivot<br> 81 + grip var word 'Gripper open/close<br> 82 + grpr var word 'Gripper rotate (L6 only)<br> 83 + ttm var word 'Amount of time to take to move<br> 84 + <br> 85 + serout p15,i38400,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 P1500",13] <br> 86 + <br> 87 + start:<br> 88 + 'first move...<br> 89 + base=1400: shld=1400: elbo=1400:<br> 90 + wrst=1400: grip=1400: grpr=1400: <br> 91 + ttm=2000<br> 92 + gosub send_data<br> 93 + <br> 94 + 'second move...<br> 95 + base=1600: shld=1600: elbo=1600: <br> 96 + wrst=1600: grip=1600: grpr=1600: <br> 97 + ttm=2000<br> 98 + gosub send_data<br> 99 + <br> 100 + 'add more moves here...<br> 101 + goto start<br> 102 + <br> 103 + send_data:<br> 104 + serout p15,i38400,["#10P", DEC base, "#11P", DEC shld, "#12P", DEC elbo, "#13P", DEC wrst, 105 + "#14P", DEC grip, "#15P", DEC grpr, "T", DEC ttm, 13]<br> 106 + pause ttm<br> 107 + return <br> 108 + </font></td> 109 + </tr> 110 + </tbody></table> 111 + </td> 112 + </tr> 113 + <tr> 114 + <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 115 + </tr> 116 + <tr> 117 + <td valign="top" ><strong><font size="2" face="Verdana">In conclusion</font></strong><font size="2" face="Verdana"><br> 118 + I hope you find this simple tutorial helpful. I will add more content in the future. Now you can control the Lynx arms easily and eloquently 119 + from a BASIC Atom / SSC-32.</font> 120 + <p><font size="2" face="Verdana">Happy Roboting,</font> 121 + </p><p><font size="2" face="Verdana">Jim Frye</font></p> 122 + </td> 123 + <td valign="top" ></td> 124 + </tr> 125 +</tbody></table> 126 +</body> 3 3 {{/html}}