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8	8
9	9	= Description =
10	10
11		-The LSS FlowArm application is intended to allow easy control of the standard Lynxmotion Servo Erector Set (S.E.S.) v2 articulated robotic arm. The graphical interface shows multiple views of the arm which can be controlled via drag and drop, as well as by manually inputting coordinates. The full-featured built-in sequencer allows you create sequences which have the arm move automatically from one position ("frame") to the next. Make use of the "teach mode" to position the arm where you want and record frames which can be modified and played back. Associating each pattern with input keys means you can easily play back and test multiple sequences.
	11	+The LSS FlowArm application is intended to allow easy control of the standard Lynxmotion Servo Erector Set (S.E.S.) v2 articulated robotic arm. The graphical interface shows multiple views of the arm which can be controlled via drag and drop, as well as by manually inputting coordinates. The full-featured built-in sequencer allows you create sequences which have the arm move automatically from one position ("frame") to the next. Make use of the "teach mode" to position the arm where you want and record frames which can be modified and played back. Associating each pattern with input keys means you can easily play back and test multiple sequences.
12	12
13	13	FlowBotics Studio was used to create this app and includes hundreds of built-in components that allow you to interface your PC to many standard computer peripherals and robotics components, and you can quickly design new components for new hardware. Easily create new projects with custom GUI screens, knobs, buttons, switches, etc. that will run live from within FlowBotics Studio without needing to wait for compilation, or export as stand-alone executable files. FlowBotics Studio includes a powerful graphics engine that allows you to make custom graphical objects by using standard bitmaps or by drawing your own shapes on the screen. Using this system, you can build entirely custom interfaces like this one for your projects and integrate photographs, drawings, and graphs.
14	14
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55	55
56	56	= Interface =
57	57
	58	+Following are informations regarding the user interface of LSS FlowArm.
	59	+
58	58	== Header ==
59	59
60	60	[[image:lss-flowarm-header.png||alt="lss-flowarm-header"]]
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65	65
66	66	**STORE OFFSETS**
67	67
68		-The "STORE OFFSETS" button configures all of the servo offsets (this makes use of the CO command as part of the [[LSS Communication Protocol>>doc:lynxmotion-smart-servo.lss-communication-protocol.WebHome]]). Before pressing the button, orient the arm as shown below (with the gripper closed), and only then click the STORE OFFSETS button.
	70	+The "STORE OFFSETS" button configures all of the servo offsets (this makes use of the CO command as part of the [[LSS Communication Protocol>>doc:lynxmotion-smart-servo.lss-communication-protocol.WebHome]]). Before pressing the button, orient the arm as shown below (with the gripper closed), and only then click the STORE OFFSETS button. This setup only need to be done once when first setting up the arm.
69	69
70	70	* Base servo aligned with the x axis
71	71	* Shoulder to elbow along z axis (straight up)
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80	80
81	81	Causes all servos to slowly go LIMP (i.e. lose torque), gradually loosing torque until hitting the ground. It's important to note that the software will not constantly query all servos for their position, and as such the virtual arm on screen will not update frequently if at all. If you want the virtual arm on screen to update as you move the real arm, use TEACH mode described below.
82	82
83		-**STOP**
	85	+**HALT & HOLD**
84	84
85	85	Causes all servos to immediately stop their motion and hold their position.
86	86
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121	121
122	122	**Side View**
123	123
124		-The left view is a representation of the arm, where the orange circles represent the location of each axis of rotation. You can move the arm in this view by clicking on and dragging the wrist rotation servo.
	126	+The left view is a representation of the arm, where the orange circles represent the location of each axis of rotation. You can move the arm in this view by clicking on and dragging anywhere in that side view screen.
125	125
126	126	[[image:lss-flowarm-left.png||width="300"]]
127	127
128	128	**Top View**
129	129
130		-The top view shows the arm top down. You can move the arm within this view by clicking on and dragging the wrist rotation servo.
	132	+The top view shows the arm top down. You can move the arm within this view by clicking on and dragging the dot right next to the gripper.
131	131
132	132	**[[image:lss-flowarm-top.png||width="300"]]**
133	133
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336	336
337	337	= Notifications =
338	338
	341	+(% style="width:1300px" %)
	342	+|(% style="text-align:center; width:450px" %)**Displayed Error**|(% style="text-align:center; width:100px" %)**LED Status**|(% style="text-align:center" %)**Informations**
	343	+|{{lightbox image="lss-flowarm-notification-limp.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
	344	+[[image:LSS-UserColor.png||alt="LSS-Error-SafeMode.gif"]]
339	339
	346	+User Defined
	347	+)))|User clicked on the "LIMP" button or FlowArm noticed an error and put the arm in "LIMP" by himself.
	348	+|{{lightbox image="lss-flowarm-notification-firmware.png"/}}|(((
	349	+FlowArm noticed an earlier firmware version which is not compatible (SERVO 1 in this example).
340	340
341		-(% style="width:700px" %)
342		-| |
343		-| |
344		-| |
	351	+* As suggested, use the LSS-Config software to update the servo(s)
	352	+)))
	353	+|{{lightbox image="lss-flowarm-notification-current.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
	354	+[[image:LSS-Error-SafeMode.gif]]
345	345
	356	+Red Flashing
	357	+)))|(((
	358	+FlowArm noticed a high current error on the specified servo (SERVO 4 in this example)
	359	+
	360	+* Verify that noting is in the way of the servo that can block it's movement.
	361	+* Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.
	362	+)))
	363	+|{{lightbox image="lss-flowarm-notification-temperature.png"/}}|(((
	364	+FlowArm noticed a high temperature error on the specified servo (SERVO 5 in this example).
	365	+
	366	+* Let it cool down for a minute.
	367	+* Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.
	368	+)))
	369	+
346	346	= Troubleshooting =
347	347
348	348	If you encounter any bugs or issues when installing or using the LSS FlowArm application, please submit a new post on the Lynxmotion community sub-forum here: [[https:~~/~~/www.robotshop.com/community/forum/c/lynxmotion/electronics-software>>url:https://www.robotshop.com/community/forum/c/lynxmotion/electronics-software]]
349		-
350		-{Work in progress}

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