Changes for page Controlling an Arm with the Bot Board (Basic Stamp 2) and the SSC-32
Last modified by Eric Nantel on 2023/01/19 13:40
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... ... @@ -1,3 +1,158 @@ 1 1 {{html wiki="false" clean="true"}} 2 +<body bgcolor="#FFFFFF"> 2 2 4 +<table border="0" bordercolor="#FFFFFF" cellpadding="5"> 5 + <tbody><tr> 6 + <td colspan="2" > 7 + <p align="center"><strong><font size="2" face="Verdana">Controlling an Arm 8 + with the Bot Board (Basic Stamp 2) and the SSC-32</font></strong></p> 9 + </td> 10 + </tr> 11 + <tr> 12 + <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 13 + </tr> 14 + <tr> 15 + <td valign="top" ><strong><font size="2" face="Verdana">Make the 16 + connection</font></strong><font size="2" face="Verdana"><br> 17 + Before I discuss how to write a program to control the arm, we need to 18 + make the serial data connection. The SSC-32 includes a short two conductor 19 + cable assembly. The black wire goes to ground and the yellow wire is for 20 + the signal. The .1" spaced end goes to the SSC-32 where it is marked 21 + with RX and the ground symbol. It will be necessary to remove the DB9 22 + enable jumpers if present to make this connection. The yellow wire goes to 23 + RX, and the black wire goes to ground. The .2" spaced end goes to the 24 + Bot Board I/O pin 15. The black wire goes closer to the outside edge of 25 + the board, and the yellow wire goes closer to the IC. Note, the nylon 26 + standoff has been removed for this photo. These examples are for a BS2, 27 + BS2-E, or stamps with similar timing. The 6 in the "serout" 28 + command refers to non-inverted, 8 data bits, no parity communication with 29 + a baud rate of 38400.</font></td> 30 + <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-basic-stamp-ssc-32/WebHome/bbssc32.jpg" width="320" height="240"><br> 31 + <font face="Verdana" size="2">Figure 1.</font></td> 32 + </tr> 33 + <tr> 34 + <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 35 + </tr> 36 + <tr> 37 + <td valign="top" ><strong><font size="2" face="Verdana">Enabling 38 + the servos</font></strong><font size="2" face="Verdana"><br> 39 + SSC-32 will not send out servo pulses until it receives the proper 40 + command. The program to the right will enable channels 10 through 15. This 41 + will make all of the servos go to their mid positions, or 1500uS. Note, 42 + all serout commands need to be one continuous line of text. If you cut and 43 + paste from here you will need to remove the CR's. Note, later you can 44 + substitute the 1500's with another starting positions to prevent the arm 45 + from jumping.</font></td> 46 + <td valign="top" bordercolor="#000000"> 47 + <table border="1" bordercolor="#FFFFFF"> 48 + <tbody><tr> 49 + <td bordercolor="#000000"><font face="Courier New" size="2">serout 50 + 15,6,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 51 + P1500",13] <br> 52 + <br> 53 + start:<br> 54 + goto start 'loop</font></td> 55 + </tr> 56 + </tbody></table> 57 + </td> 58 + </tr> 59 + <tr> 60 + <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 61 + </tr> 62 + <tr> 63 + <td valign="top" ><strong><font size="2" face="Verdana">Move the 64 + arm smoothly</font></strong><font size="2" face="Verdana"><br> 65 + The next program will move the arm from the initial position, to a new 66 + position, then to another new position, then cycle back and forth. The 67 + moves are slow and smooth. They will each take 2 seconds to complete. 68 + Note, these servo values are arbitrary, you will need to replace them with 69 + the actual positions you want the arm to move to.</font></td> 70 + <td valign="top" bordercolor="#000000"> 71 + <table border="1" bordercolor="#FFFFFF"> 72 + <tbody><tr> 73 + <td bordercolor="#000000"><font face="Courier New" size="2">serout 74 + 15,6,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 75 + P1500",13] <br> 76 + <br> 77 + start:<br> 78 + serout 15,6,["#10 P1400 #11 P1400 #12 P1400 #13 P1400 #14 P1400 79 + #15 P1400 T2000",13] <br> 80 + pause 2000<br> 81 + serout 15,6,["#10 P1600 #11 P1600 #12 P1600 #13 P1600 #14 P1600 82 + #15 P1600 T2000",13] <br> 83 + pause 2000<br> 84 + goto start 'repeat</font></td> 85 + </tr> 86 + </tbody></table> 87 + </td> 88 + </tr> 89 + <tr> 90 + <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 91 + </tr> 92 + <tr> 93 + <td valign="top" ><strong><font size="2" face="Verdana">Code 94 + specific to the arm</font></strong><font size="2" face="Verdana"><br> 95 + By using variables and the gosub command the code can be simplified to 96 + read easier. This program will accomplish the same thing as the previous 97 + one, but you can change the position with a name instead of a number. The 98 + first serout still uses the servo channel number though.</font></td> 99 + <td valign="top" bordercolor="#000000"> 100 + <table border="1" bordercolor="#FFFFFF"> 101 + <tbody><tr> 102 + <td bordercolor="#000000"><font face="Courier New" size="2">base var 103 + word 'Base rotate<br> 104 + shld var word 'Shoulder pivot<br> 105 + elbo var word 'Elbow pivot<br> 106 + wrst var word 'Wrist pivot<br> 107 + grip var word 'Gripper open/close<br> 108 + grpr var word 'Gripper rotate (L6 only)<br> 109 + ttm var word 'Amount of time to take to move<br> 110 + <br> 111 + serout 15,6,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 112 + #15 P1500",13] <br> 113 + <br> 114 + start:<br> 115 + 'first move...<br> 116 + base=1400: shld=1400: elbo=1400:<br> 117 + wrst=1400: grip=1400: grpr=1400: <br> 118 + ttm=2000<br> 119 + gosub send_data<br> 120 + <br> 121 + 'second move...<br> 122 + base=1600: shld=1600: elbo=1600: <br> 123 + wrst=1600: grip=1600: grpr=1600: <br> 124 + ttm=2000<br> 125 + gosub send_data<br> 126 + <br> 127 + 'add more moves here...<br> 128 + goto start<br> 129 + <br> 130 + send_data:<br> 131 + serout 15,6,["#10P", DEC base, "#11P", DEC shld, 132 + "#12P", DEC elbo, "#13P", DEC wrst, 133 + "#14P", DEC grip, "#15P", DEC grpr, 134 + "T", DEC ttm, 13]<br> 135 + pause ttm<br> 136 + return <br> 137 + </font></td> 138 + </tr> 139 + </tbody></table> 140 + </td> 141 + </tr> 142 + <tr> 143 + <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 144 + </tr> 145 + <tr> 146 + <td valign="top" ><strong><font size="2" face="Verdana">In 147 + conclusion</font></strong><font size="2" face="Verdana"><br> 148 + I hope you find this simple tutorial helpful. I will add more content in 149 + the future. Now you can control the Lynx arms easily and eloquently from a 150 + Basic Stamp 2 / SSC-32.</font> 151 + <p><font size="2" face="Verdana">Happy Roboting,</font> 152 + </p><p><font size="2" face="Verdana">Jim Frye</font></p> 153 + </td> 154 + <td valign="top" ></td> 155 + </tr> 156 +</tbody></table> 157 +</body> 3 3 {{/html}}