Changes for page FlowArm PLTW

Last modified by Eric Nantel on 2022/11/29 14:02
From version < 6.1 >
edited by Coleman Benson
on 2019/02/19 15:46
To version < 4.1 >
edited by Eric Nantel
on 2019/01/30 07:03
< >
Change comment: There is no comment for this version

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2 2  
3 3  {{toc/}}
4 4  
5 +(% class="wikigeneratedid" %)
5 5  = Description =
6 6  
7 -**FlowARM PLTW** is a new graphical interface which provides the user with complete control over the Lynxmotion AL5D robotic arm, both offline and in real time. The user is presented with multiple views of the arm, allowing the user to click and drag the arm to the desired location while the software takes care of all inverse kinematics equations.
8 += Features =
8 8  
9 -**Created for Project Lead The Way (PLTW)**
10 += Initial Setup =
10 10  
11 -Project Lead The Way is the nation's leading science, technology, engineering and math (STEM) solution and is used in over 5,000 schools across the U.S. The PLTW Computer Integrated Manufacturing (CIM) curriculum includes creating an assembly line and use of the Lynxmotion AL5D arm. This software was created so students would have full control of the arm without having to spend significant time programming, and integrate it easily into a larger manufacturing / assembly system.
12 += Servo IDs =
12 12  
13 -**Complete Control**
14 +Before using / connecting the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
14 14  
15 -FlowARM PLTW works with the versatile Lynxmotion SSC-32 servo controller board which not only allows for control of the 6 servo motors of the AL5D arm (with wrist rotate), but also allows for control of additional digital I/O via the interface:
16 +* Base: 1
17 +* Shoulder: 2
18 +* Elbow: 3
19 +* Wrist: 4
20 +* Wrist rotate (optional): {Not connected}
21 +* Gripper: 5
16 16  
17 -* 2 additional servo outputs
18 -* 8 outputs available for lights, buzzers, and other devices
19 -* 4 inputs for receiving start and stop signals
23 += Interface =
20 20  
21 -The digital inputs and outputs are particularly useful for interfacing the Lynxmotion AL5D with other robot systems used in the PLTW CIM course. This way, the arm can move a object into place, activate another robot, wait until it is done, and then move the object away.
25 +== Header ==
22 22  
23 -The SSC-32 and SSC-32U servo controllers can be easily adapted for Bluetooth (wireless) control. As such, the software automatically scans all of the computer's COM ports at various Baud rates in order to automatically detect and connect to the controller, whether it is connected using a cable or via Bluetooth.
27 +**Information {Not implemented}**
24 24  
25 -**Pattern Sequencer**
29 +The circular button with "i" in the middle is used to overlay useful information
26 26  
27 -FlowArm PLTW has a powerful pattern sequencer component (normally found only in the full version of FlowBotics Studio) that is used to create reusable patterns within minutes or hours, instead of days or weeks. The sequencer also allows you to vary the speed of playback of a routine.
31 +**Gear ratio**
28 28  
29 -= DOWNLOAD =
33 +The gear ratio toggle (per servo) is implemented for BETA testers only.
30 30  
31 -[[Download FlowArm PLTW here>>https://www.robotshop.com/en/flowarm-pltw.html]]
35 +**Teach**
36 +
37 +The "Teach" button allows offsets to be stored and uploaded. Press the "Teach" button once, then move the arm physically to the same position as what is shown on screen. Press the "Store offsets" button to change the offsets.
38 +
39 +**Units**
40 +
41 +Units can be toggled between Metric or Imperial
42 +
43 +**Baud**
44 +
45 +The baud rate suggested is 9600, though other (standard) baud rates can be used.
46 +
47 +**COM**
48 +
49 +Be sure to select the appropriate COM port to which the LSS adapter is connected.
50 +
51 +**Window Size**
52 +
53 +A the top right, there are three dark rectangles representing the window size.
54 +
55 +== 2D Views & Grid ==
56 +
57 +== Arm Configuration ==
58 +
59 +The arm shown on screen is based on the assembly guide. BETA testers have been encouraged to use the 3:1 gear ratio in the shoulder and as such should have toggled switch 1 in the header.
60 +
61 +The aesthetics of the arms will be changing for the final / release version of the LSS Flowarm software.
62 +
63 +**Left View**
64 +
65 +The left view is a representation {more to come|
66 +
67 +**Top View**
68 +
69 +The top view shows the arm {more to come}
70 +
71 +== Left Menu ==
72 +
73 +**Gripper & Wrist**
74 +
75 +The gripper and wrist rotate can be controlled from this menu
76 +
77 +**End Effector Position**
78 +
79 +The position of the end effector can be controlled either by manually entering the information for R (radius), or x,y,z coordinate, or using the arrows.
80 +
81 +**IO Information {Not implemented}**
82 +
83 +This section will be used to display sensor data from the LSS IO interface board
84 +
85 +**Console {Not implemented}**
86 +
87 +The console will be used as a serial command interface to manually send commands to the bus.
88 +
89 +== Sequencer ==
90 +
91 +The sequencer allows the user to record sequences.
92 +
93 +{Work in progress}
94 +
95 += Downloads =
96 +
97 +Download LSS Flowarm 3.0.8.12 [[here>>http://www.lynxmotion.com/tools/LSS%20FlowArm%20BETA%20(3.0.8.12).rar]].
98 +
99 +Password: beta
100 +
101 +BETA: Note that information described here is subject to change, and is available for BETA testers.
102 +
103 +{Work in progress}
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