Changes for page FlowArm LSS

Last modified by Eric Nantel on 2024/07/03 09:39
From version < 168.1 >
edited by Eric Nantel
on 2020/09/15 12:17
To version < 132.1 >
edited by Eric Nantel
on 2019/10/18 10:52
< >
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Summary

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1 1  {{lightbox image="LSS-FlowArm.png" width="400"/}}
2 2  
3 -[[[[image:[email protected]]]>>https://www.robotshop.com/en/lss-flowarm-app-download.html||rel="noopener noreferrer" target="_blank"]]
3 +[[[[image:[email protected]]]>>https://www.lynxmotion.com/tools/LSS_FlowArm.zip]]
4 4  
5 5  **Page Contents**
6 6  
7 -{{toc depth="2"/}}
7 +{{toc/}}
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 (SES) V2 robotic arms. Either the four degree of freedom (4DoF) or three degree of freedom (3DoF) arm is selected and 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 moves the arm 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  
15 15  = Features =
16 16  
17 -* Graphical interface for the Lynxmotion SES V2 3DoF and 4DoF robot arms
17 +* Graphical interface for the Lynxmotion SES V2 articulated robot arm
18 18  * Full featured sequencer allows recording and playback of many sequences via keyboard input
19 19  * Teach mode allows the user to move the arm and have the virtual arm follow
20 20  * Position the arm using rectangular or cylindrical coordinates, virtual joysticks or mouse drag
21 21  * Application can be modified via FlowBotics Studio
22 22  * Optional data log shows what commands are sent and received and can be saved as a .csv file.
23 -* LSS FlowArm is intended only for the Windows 7 operating system or higher.
23 +* LSS FlowArm is intended only for Windows operating systems 7 or higher.
24 24  
25 25  = Initial Setup =
26 26  
27 -In order to understand the features, functionality and nuances of the Lynxmotion smart servos, it is suggested to read through the [[doc:lynxmotion-smart-servo.WebHome]] section of the wiki. Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
27 +In order to understand the features, functionality and nuances of the Lynxmotion smart servos, it is suggested to read through the [[doc:lynxmotion-smart-servo.WebHome]] section of the wiki.
28 28  
29 -(% style="width:700px" %)
30 -|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
31 -|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-4dof-arm/4dof-arm-quickstart/4dof-servo-setup/WebHome/SESV2-LSS-ARTICULATED-ARM-IDS.PNG" width="350"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-3-dof-arm/3dof-arm-quickstart/3dof-servo-setup/WebHome/LSS-3DOF-IDS.PNG?=" width="350"/}}
32 -| |Gripper servo ID already assigned via LSS-2IO
29 +Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
33 33  
31 +{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v2-robots/ses-v2-arms/lss-articulated-arm/lss-articulated-arm-servo-setup/WebHome/SESV2-LSS-ARTICULATED-ARM-IDS.PNG" width="350"/}}
32 +
34 34  To do so, the [[LSS Configuration Software>>doc:lynxmotion-smart-servo.lss-configuration-software.WebHome]] is used. Follow the procedure outlined here: [[doc:lynxmotion-smart-servo.lss-configuration-software.lss-config-configure-ids.WebHome]]
35 35  
36 36  * Servo ID is correctly assigned to each servo and there are no duplicate IDs
... ... @@ -47,31 +47,28 @@
47 47  1. Connect the power to the LSS Adapter via the yellow XT60 plug
48 48  1. Power on the robot (On/Off switch)
49 49  1. Start the LSS FlowArm software
50 -1. Select the type of LSS Arm you are using (3 DoF / 4 DoF)
51 -1. Select the appropriate COM port from the drop-down list & the baud rate (115200)
49 +1. Select the appropriate COM port from the drop-down list & the baudrate (115200)
52 52  1. The software sends a query to servo ID1 and once a reply is received, it determines connection has been established.
53 53  
54 54  == Connecting via Bluetooth ==
55 55  
56 -If you have purchased a Bluetooth module which is in XBee format, ensure to have the right baud rate on your bluetooth adapter, the default is 115 200 for the LSS.
54 +If you have purchased a Bluetooth module which is in XBee format, ensure to have the right baudrate on your bluetooth adapter, the default is 115 200 for the LSS.
57 57  
58 58  = Interface =
59 59  
60 -[[image:lss-flowarm-size.jpg]]
58 +Following are informations regarding the user interface of LSS FlowArm.
61 61  
62 -A the top right of the window, there are three dark rectangles allowing you to change the application's window size.
63 -
64 64  == Header ==
65 65  
66 66  [[image:lss-flowarm-header.png||alt="lss-flowarm-header"]]
67 67  
68 -=== ARM TYPE ===
64 +**EMERGENCY STOP**
69 69  
70 -This drop-down allows you to select either the 3DoF or 4DoF robotic arm. The 3DoF is selected by default.
66 +At any given time you can click this button to stop the arm. This will send a "LIMP" command directly to all servos.
71 71  
72 -=== STORE OFFSETS ===
68 +**STORE OFFSETS**
73 73  
74 -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.
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.
75 75  
76 76  * Base servo aligned with the x axis
77 77  * Shoulder to elbow along z axis (straight up)
... ... @@ -79,38 +79,34 @@
79 79  * Wrist servo along R axis (parallel to elbow to wrist)
80 80  * Gripper servo closed
81 81  
82 -|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**4 DoF**|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**3 DoF **
83 -|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left.png||alt="lss-flowarm-left.png" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left-3dof.png||alt="lss-flowarm-left-3dof.png" width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-left-3dof.png" width="200"]]
78 +(% style="width:700px" %)
79 +|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-left.png||alt="lss-flowarm-left.png" height="300" width="300"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-offset-top.png||alt="lss-flowarm-top.png" height="300" width="300"]]
84 84  
85 -=== LIMP ===
81 +**LIMP**
86 86  
87 -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.
83 +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.
88 88  
89 -=== HALT & HOLD ===
85 +**HALT & HOLD**
90 90  
91 91  Causes all servos to immediately stop their motion and hold their position.
92 92  
93 -=== TEACH ===
89 +**TEACH**
94 94  
95 95  Teach mode allows a user to physically move the arm and have the virtual arm on screen follow. This is used primarily to manually add frames to sequences, determine the optimal closed position for the gripper etc. In order to ensure the arm does not collapse, pressing the TEACH button will start a 5 second countdown during which the arm will slowly lose torque (angular force) until all servos are limp. When in teach mode, an orange outline appears over all on-screen fields which would cause a conflict and therefore cannot be used.
96 96  
97 -CAREFUL: Do not move the servos or the arm too quickly. We suggest holding the gripper servo to move the arm. In the case of the 4DoF arm, temporarily remove the arm's aesthetic plastic shell.
93 +CAREFUL: Do not move the servos or the arm too quickly. We suggest holding the gripper servo to move the arm, or temporarily removing the arm's aesthetic shell.
98 98  
99 99  Once the arm is limp, it can be moved physically, and the application will regularly send position query commands to all of the servos and update the virtual arm on screen to match the servo's responses. Use the sequencer to record each position (frame) while in teach mode. For more information on the sequencer, refer to the sequencer section below.
100 100  
101 -=== EMERGENCY STOP ===
97 +**GRID / Units**
102 102  
103 -At any given time you can click this button to stop the arm. This will send a "LIMP" command directly to all servos.
99 +Grid spacing can be toggled between Metric or Imperial. Options include 2cm, 3cm, 5cm and 1in, 2in and 3in.
104 104  
105 -=== GRID ===
101 +**BAUD**
106 106  
107 -Grid spacing can be toggled between Metric (centimeters) or Imperial (inches). Options include 2cm, 3cm, 5cm and 1in, 2in and 3in.
108 -
109 -=== BAUD ===
110 -
111 111  The default (and suggested) baud rate is 115200, which is the baud rate at which the servos are shipped. Should a user have changed the baud rate on the servos, it can be selected using the drop down. Note that the baud rate must be configured to the same value for all servos in order to work.
112 112  
113 -=== COM ===
105 +**COM**
114 114  
115 115  When the software is opened, a scan of all of your computer's COM ports is done automatically and a list of all available COM ports will be found in the drop down menu, along with OFF (stop searching for a COM port), and AUTO (the application tries to automatically find the correct COM port by sending a query command at the corresponding BAUD rate). Select which of your computer's COM ports is connected to the [[LSS Adapter>>doc:servo-erector-set-system.ses-electronics.ses-modules.lss-adapter-board.WebHome]] (which is provided with the standard SES v2 articulated robot arm). If you have a list of available COM ports and are unsure which is associated with the LSS Adapter, go to Device Manager in Windows, and view the list of USB devices connected. The LSS Adapter uses an FTDI USB to serial chip. Alternatively, simply unplug the USB from the arm and see which of the COM ports disappears from the list.
116 116  
... ... @@ -118,42 +118,34 @@
118 118  * If the red light is solid, then no correct COM port has been located.
119 119  * If the green light is solid, the a COM port has been located.
120 120  
121 -(% class="wikigeneratedid" %)
122 -= VIEWS =
113 +**Window Size**
123 123  
124 -=== Side view ===
115 +**[[image:lss-flowarm-size.jpg]]**
125 125  
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.
117 +A the top right of the window, there are three dark rectangles allowing you to change the application's window size.
127 127  
128 -Keyboard shortcuts in the side view include (W, A, S, D):
119 +== Simulator ==
129 129  
130 -**W**, **S**: Up & down
121 +(% class="wikigeneratedid" id="HArmConfiguration" %)
122 +The arm shown on screen is based on the assembly guide. The aesthetics of the arms will be changing for the next release version of the LSS Flowarm software.
131 131  
132 -**A**, **D**: Left & right (closer / farther from base)
124 +**Side View**
133 133  
134 -(% style="width:700px" %)
135 -|(% style="text-align:center" %)**4 DoF**|(% style="text-align:center" %)**3 DoF**
136 -|(% style="text-align:center" %)[[image:lss-flowarm-left.png||width="300"]]|(% style="text-align:center" %)[[image:lss-flowarm-left-3dof.png||alt="lss-flowarm-left.png" width="300"]]
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.
137 137  
138 -=== Top view ===
128 +[[image:lss-flowarm-left.png||width="300"]]
139 139  
130 +**Top View**
131 +
140 140  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.
141 141  
142 -Keyboard Shortcuts: Arrow keys (▲▼◄►)
134 +**[[image:lss-flowarm-top.png||width="300"]]**
143 143  
144 -▲▼: Along Y
145 -
146 -◄►: Along X
147 -
148 -(% style="width:700px" %)
149 -|(% style="text-align:center" %)**LSS - 4 DoF Arm **|(% style="text-align:center" %)**LSS - 3 DoF Arm **
150 -|(% style="text-align:center" %)[[image:lss-flowarm-top.png||width="300"]]|(% style="text-align:center" %)[[image:lss-flowarm-top-3dof.png||alt="lss-flowarm-top.png" width="300"]]
151 -
152 152  == Shortcuts ==
153 153  
154 154  **Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
155 155  
156 -**Wrist Tilt**: You can tilt the hand by right-clicking and dragging the mouse up and down.
140 +**Wrist Tilt**: You can tilt the hand by right-clicking and fragging the mouse up and down.
157 157  
158 158  **Gripper:** By holding the CTRL key whilst right-clicking and dragging you can open and close the gripper
159 159  
... ... @@ -167,28 +167,27 @@
167 167  
168 168  == Left Menu ==
169 169  
170 -=== Gripper ===
154 +**Gripper**
171 171  
172 -Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. Because the 4DoF uses a smart servo, it includes the 'CH' modifier command which causes the servo to stop when it detects a specific current. This allows the user to send a "close" command and the servo will automatically stop when a specific force is applied to the object. The 3DoF uses an RC servo which does not have this feature, so be sure to set the appropriate position when grasping an object.
156 +Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. We added a feature where the servo stop when it feel a current raising, this allows the user to ask for a full close and have a good grip on the item picked.
173 173  
174 -(% style="width:700px" %)
175 -|(% style="text-align:center" %)**4 DoF**|(% style="text-align:center" %)**3 DoF **
176 -|(% style="text-align:center" %)[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]|(% style="text-align:center" %)[[image:lss-flowarm-gripper-view-3dof.png||alt="lss-flowarm-gripper-view.jpg"]]
158 +[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
177 177  
178 -=== Wrist ===
160 +**Wrist**
179 179  
180 -The wrist angle can be locked or unlocked. The input field on the 4 DoF allows for decimal input (click the numbers) or fine adjustments using the arrows. The 3DoF does not have wrist articulation, but since the bracket can be installed horizontally or vertically, clicking this will change the orientation of the gripper.
162 +The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
181 181  
182 -|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**4 DoF**|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**3 DoF**
183 -|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-angle-view.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-view-3dof.png||alt="lss-flowarm-wrist-view.jpg"]]|(% style="text-align:center; vertical-align:middle" %)[[image:lss-flowarm-wrist-angle-view-3dof.png||alt="lss-flowarm-wrist-view.jpg"]]
164 +[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
184 184  
185 -=== End Effector Position ===
166 +**End Effector Position**
186 186  
187 -The position of the end effector can be controlled either by manually entering the information for R (radius), or the Cartesian x, y, z coordinates, or using the arrows. When in keyboard mode, there is an overlay indicating which keys do what motion.
168 +The position of the end effector can be controlled either by manually entering the information for R (radius), or the Cartesian x, y, z coordinates, or using the arrows.
188 188  
170 +When in keyboard mode, there is an overlay indicating which keys do what motion.
171 +
189 189  [[image:lss-flowarm-positioning.png||alt="lss-flowarm-positioning.jpg"]]
190 190  
191 -== Data Log ==
174 +== **Data Log** ==
192 192  
193 193  The optional Data log (normally hidden) can be toggled on or off and allows the user to see all commands being sent to and received from the smart servos. The data can be saved to a file in a Comma Separated Values (.csv) format.
194 194  
... ... @@ -200,99 +200,102 @@
200 200  
201 201  LSS FlowArm 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, instead of hours or days.
202 202  
203 -(% style="width:1037px" %)
204 -|(% style="width:207px" %)[[image:lss-flowarm-association.jpg]]|(% style="width:186px" %)Assign Input|(% style="width:662px" %)Patterns can be associated to keyboard keys F1 to F12, and keys E, F, G, and H
205 -|(% style="width:207px" %)[[image:lss-flowarm-pattern-list.jpg]]|(% style="width:186px" %)Sequence List|(% style="width:662px" %)The sequence list is the first control on the sequencer.
206 -|(% style="width:207px" %)[[image:lss-flowarm-patterns.jpg]]|(% style="width:186px" %)Sequence Management|(% style="width:662px" %)(((
186 +(% style="width:1303px" %)
187 +|(% style="width:257px" %)[[image:lss-flowarm-association.jpg]]|(% style="width:306px" %)Assign Input|(% style="width:758px" %)Patterns can be associated to keyboard keys F1 to F12, and keys E, F, G, and H
188 +|(% style="width:257px" %)[[image:lss-flowarm-pattern-list.jpg]]|(% style="width:306px" %)Sequence List|(% style="width:758px" %)The sequence list is the first control on the sequencer.
189 +|(% style="width:257px" %)[[image:lss-flowarm-patterns.jpg]]|(% style="width:306px" %)Sequence Management|(% style="width:758px" %)(((
207 207  Add, remove, duplicate, save, load and clear all patterns.
208 208  )))
209 -|(% style="width:207px" %)[[image:lss-flowarm-frames.jpg]]|(% style="width:186px" %)Frame Options|(% style="width:662px" %)Adding a frame adds a blank frame to the list. The drop-down list gives "useful" pre-made frames. Recording a frame copies the arm's current on-screen position. The X removes a selected frame.
210 -|(% style="width:207px" %)[[image:lss-flowarm-copy-paste.jpg]]|(% style="width:186px" %)Copy / Paste Frame|(% style="width:662px" %)Copy and paste a frame
211 -|(% style="width:207px" %)[[image:lss-flowarm-settings.jpg]]|(% style="width:186px" %)Operations / Settings|(% style="width:662px" %)Useful features include: Toggle pause before frame; Remove gaps between frames; Reverse frames
212 -|(% style="width:207px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:186px" %)Lock |(% style="width:662px" %)Timeline locking
213 -|(% style="width:207px" %)[[image:lss-flowarm-loop.jpg]]|(% style="width:186px" %)Repeat / Loop Pattern|(% style="width:662px" %)Play once or loop; Set the playback speed using the up and down arrows.
214 -|(% style="width:207px" %)[[image:lss-flowarm-play.jpg]]|(% style="width:186px" %)Sequence Playback|(% style="width:662px" %)Restart sequence, play or stop
215 -|(% style="width:207px" %)[[image:lss-flowarm-inspector.png]]|(% style="width:186px" %)Frame Inspector|(% style="width:662px" %)Allows to modify the values sent in a particular frame manually.
192 +|(% style="width:257px" %)[[image:lss-flowarm-frames.jpg]]|(% style="width:306px" %)Frame Options|(% style="width:758px" %)Adding a frame adds a blank frame to the list. The drop-down list gives "useful" pre-made frames. Recording a frame copies the arm's current on-screen position. The X removes a selected frame.
193 +|(% style="width:257px" %)[[image:lss-flowarm-copy-paste.jpg]]|(% style="width:306px" %)Copy / Paste Frame|(% style="width:758px" %)Copy and paste a frame
194 +|(% style="width:257px" %)[[image:lss-flowarm-settings.jpg]]|(% style="width:306px" %)Operations / Settings|(% style="width:758px" %)Useful features include: Toggle pause before frame; Remove gaps between frames; Reverse frames
195 +|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)Timeline locking
196 +|(% style="width:257px" %)[[image:lss-flowarm-loop.jpg]]|(% style="width:306px" %)Repeat / Loop Pattern|(% style="width:758px" %)Play once or loop; Set the playback speed using the up and down arrows.
197 +|(% style="width:257px" %)[[image:lss-flowarm-play.jpg]]|(% style="width:306px" %)Sequence Playback|(% style="width:758px" %)Restart sequence, play or stop
198 +|(% style="width:257px" %)[[image:lss-flowarm-inspector.png]]|(% style="width:306px" %)Frame Inspector|(% style="width:758px" %)Allows to modify the values sent in a particular frame manually.
216 216  
217 -=== Sequences ===
200 +**Sequences**
218 218  
219 -The sequencer allows you to make your robot move over time by transitioning from one position to another. Each transition is called a "frame" and a sequence of frames is called a "sequence". You can create and save as many sequences as you like. Sequences can be played back manually or using the keyboard inputs mentioned below.
202 +The sequencer allows you to make your robot move over time by transitioning from one position to another. Each transition we call a frame and a sequence of frames we call a sequence. You can create as many sequences as you like. You can play sequences back manually or using the keyboard inputs mentioned below. This section describes the sequence management functions of the Sequencer.
220 220  
221 -=== Sequence List ===
204 +**Sequence List**
222 222  
223 223  [[image:lss-flowarm-pattern-list.jpg]]
224 224  
225 -If you click on the drop-down arrow on the right-hand you'll see a list of available sequences that have been created. Selecting one opens that sequence. You can also scroll through the list one-by-one using the up and down arrow buttons. Clicking on the name of a sequence to change it by typing in the box then pressing the Enter / Return key or clicking away.
208 +The sequence list is the first control on the sequencer. If you click on the arrow on the right-hand edge you'll see a list of the sequences that have been created and by selecting one you can move to that sequence. You can also scroll through the list one-by-one using the up and down arrow buttons. Clicking on the name of a sequence will allow you to change this. Simply type in the box then press the Return key or click away.
226 226  
227 227  == Sequence Management ==
228 228  
229 229  [[image:lss-flowarm-patterns.jpg]]
230 230  
231 -=== Add a Sequence ===
214 +**Add a Sequence**
232 232  
233 -To add a sequence click the plus (+) button. A new sequence will appear in the list and its name will open for editing.
216 +To add a sequence click the add button. A new sequence will appear in the list and its name will open for editing.
234 234  
235 -=== Remove a Sequence ===
218 +**Remove a Sequence**
236 236  
237 -Click the remove sequence button (-) to delete the currently selected sequence from the list. This action is irreversible so you will be asked for confirmation.
220 +Click the remove sequence button to delete the currently selected sequence from the list. This action is irreversible so you will be asked for confirmation.
238 238  
239 -=== Duplicate a Sequence ===
222 +**Duplicate a Sequence**
240 240  
241 -If you want to make a new sequence based on an existing one then you can duplicate it using the icon with superimposed squares.
224 +If you want to make a new sequence based on an existing one then you can duplicate it.
242 242  
243 -=== Saving Sequences ===
226 +**Saving Sequences**
244 244  
245 245  IMPORTANT: If you want to keep any sequences you create then you must export them otherwise they will be lost when you return to the project browser. 
246 -To save a sequence click the export button (Save icon). You can choose whether to export all sequences or just the one currently selected. Sequences are saved to files so you'll need to pick a filename and folder to save to. If a sequence uses sub-sequences these will be saved even if you choose only to save the selected sequence.
229 +To do this click the export button. You can choose whether to export all your sequences or just the currently selected one. Sequences are saved to files so you'll need to pick a filename and folder to save to. If a sequence uses sub sequences these will be saved even if you choose only to save the selected sequence.
247 247  
248 -=== Loading Sequences ===
231 +**Loading Sequences**
249 249  
250 -If you have saved sequences that you want to restore then click the Import button (open folder icon). You will be asked to choose a previously saved sequence file. The sequences in the file will be added to the list. They do not replace the sequence list. Also it doesn't matter how many sequences the file contains, all of them will be imported.
233 +If you have saved sequences that you want to restore then click the Import button. You will be asked to choose a previously saved sequence file.
234 +The sequences in the file will be added to the list. They do not replace the sequence list. Also it doesn't
235 +matter how many sequences the file contains, all of them will be imported.
251 251  
252 -=== Clear All Sequences ===
237 +**Clear All Sequences**
253 253  
254 -If you want to start from scratch you can clear all the sequences from the list using the clear all button (multiple squares and X).
239 +If you want to start from scratch you can clear all the sequences from the list using the clear all button.
255 255  
256 -== Frames ==
241 +== **Frames** ==
257 257  
258 -[[image:lss-flowarm-frame.jpg]]
243 +**[[image:lss-flowarm-frame.jpg]]**
259 259  
260 -Knowing how to manage sequences will now allow you to create one. As indicated earlier a sequence is made up of frames. A frame represents a transition between robot states over time. In addition to frames, you can also add other sequences to a sequence. This allows quite complex series of movements to be built up very quickly and easily.
245 +We now know how to manage sequences now lets see how you build one. As we said earlier a sequence is made up of frames. A frame represents a transition between robot states over time.
246 +In addition to frames, you can also add other sequences to a sequence. This allows quite complex series of movements to be built up very quickly and easily.
261 261  
262 262  [[image:lss-flowarm-frames.jpg]]
263 263  
264 -=== Adding Frames ===
250 +**Adding Frames**
265 265  
266 -To add a frame click the Add (+) button. A new frame will be added at the end of the sequence. The duration of the frame will be whatever the last frame duration was. The frame will record whatever position the robot is currently set to. You can add a sub sequence to the sequence by clicking the arrow to the right of the Add button. A drop list of the available sequences will appear. Select one and it will be added to the end of the sequence.
252 +To add a frame click the Add button. A new frame will be added at the end of the sequence. The duration of the frame will be whatever the last frame duration was. The frame will record whatever position the robot is currently set to. You can add a sub sequence to the sequence by clicking the arrow to the right of the Add button. A drop list of the available sequences will appear. Select one and it will be added to the end of the sequence.
267 267  
268 -=== Recording to a Frame ===
254 +**Recording to a Frame**
269 269  
270 -When you add a frame it will record the state that the robot is currently in. If you want to change this state first select the frame by clicking on it. Next move the robot to the position you want to record. When you're happy press the record button (circle with red dot). The frame will flash to indicate that it has been updated.
256 +When you add a frame it will record the state that the robot is currently in. If you want to change this state first select the frame by clicking on it. Next move the robot to the position you want to record. When you're happy press the record button. The frame will flash to indicate that it has been updated.
271 271  
272 -=== Deleting Frames ===
258 +**Deleting Frames**
273 273  
274 -To delete a sequence or frame from a sequence, click the Delete button (X).
260 +To delete a sequence or frame from a sequence, click the Delete button.
275 275  
276 -=== Naming Frames ===
262 +**Naming Frames**
277 277  
278 278  To name a frame, simply double-click the top blue part of it. You will then be able to enter a name by typing text directly. Save the new name by pressing the [Enter] key once donce. Warning: please note that when double-clicking a frame to name it, it will play the frame which may move your robotic arm suddenly. You may want to activate the STOP button first to prevent movement when naming frames.
279 279  
280 -=== Timeline Locking ===
266 +**Timeline Locking**
281 281  
282 -[[image:lss-flowarm-lock.jpg||height="20" width="21"]]
268 +[[image:lss-flowarm-lock.jpg]]
283 283  
284 284  The timeline is locked by default. This means that frames will automatically run from one to the next – you cannot create space in between. Moving a frame past another one will move it along the order in the timeline. If the timeline is unlocked then you can move frames independently of each other and also create gaps of time in between.
285 285  
286 -=== Moving and Resizing ===
272 +**Moving and Resizing**
287 287  
288 288  To move a frame on the timeline, simply click on it and drag it to the time you want it to start. The start time will be displayed as you drag. How frames move relative to each other is determined by whether the timeline is locked (see previous section). To resize a frame grab the right-hand edge and drag it. When moving or resizing the mouse snaps to the nearest unit on the timeline. If you hold SHIFT while moving or resizing no snap will be applied. When the timeline is unlocked then if you hold CTRL while dragging or resizing a frame all frames to
289 289  the right of the selected frame will be moved so that the time interval between the selected frame and the next one is maintained.
290 290  
291 -=== Auto Record ===
277 +**Auto Record**
292 292  
293 293  If you want changes you make to be automatically recorded you can lock the record button in place by double-clicking on it. Now whenever you change the robot position the currently elected frame will be updated. The record button will light up to show that auto record is on. To switch auto record off, double-click on the record button again.
294 294  
295 -=== Copy and Paste ===
281 +**Copy and Paste**
296 296  
297 297  [[image:lss-flowarm-copy-paste.jpg]]
298 298  
... ... @@ -299,17 +299,17 @@
299 299  Sometimes you might want to copy the robot state from one frame to another. To do this we have copy and paste. To copy the data from a frame, select it then click the Copy button.
300 300  To duplicate the data on another frame, select the target frame and click the Paste button.
301 301  
302 -=== Pause Before Frame ===
288 +**Pause Before Frame**
303 303  
304 304  You can insert a pause before a frame commences. This is useful if you want the sequencer to stop and wait for some external event before continuing. First select the frame then click the Operations button and select Toggle Pause Before Frame. A red line will show at the start of the frame to show the pause. To remove the pause select the frame again and select Toggle Pause Before Frame after clicking on the Operations button.
305 305  
306 -=== Remove Gaps Between Frames ===
292 +**Remove Gaps Between Frames**
307 307  
308 308  [[image:lss-flowarm-settings.jpg]]
309 309  
310 310  If the timeline is unlocked then you can instantly remove all the gaps between frames and push them up against each other by clicking the Operations button and choosing Remove Gaps Between Frames from the menu.
311 311  
312 -=== Frame Inspector ===
298 +**Frame Inspector**
313 313  
314 314  [[image:lss-flowarm-inspector-frame.png]]
315 315  
... ... @@ -317,13 +317,13 @@
317 317  
318 318  == Sequencer ==
319 319  
320 -=== Reverse Frames ===
306 +**Reverse Frames**
321 321  
322 322  [[image:lss-flowarm-settings.jpg]]
323 323  
324 324  It's useful to be able to reverse the order of frames in a sequence. To do this click the Operations button and choose Reverse Frames.
325 325  
326 -=== Sequence Playback ===
312 +**Sequence Playback**
327 327  
328 328  [[image:lss-flowarm-play.jpg]]
329 329  
... ... @@ -331,7 +331,7 @@
331 331  
332 332  [[image:lss-sequencer-handle.jpg||height="70" width="241"]]
333 333  
334 -=== Assign an input to a sequence ===
320 +**Assign an input to a sequence**
335 335  
336 336  [[image:lss-flowarm-association.jpg]]
337 337  
... ... @@ -338,11 +338,11 @@
338 338  You can assign an input to a sequence by choosing one in the drop-down list left of the sequence name. By default a sequence does not have a input associated with it. When you click on that box, you will be presented with a list of possible inputs. A sequence can only have one input associated with it. Similarly, an input can only be associated with one sequence at a time. If you choose an input in the list that is already associated, it will be removed from its previous sequence and assigned to the current one. By clicking on the sequence list, you will see which input is associated to each sequence to the right of their name:
339 339  If a sequence is already playing when its associated input is triggered, it will ignore that input and continue playing as normal. If an input that is associated is triggered when a different sequence is playing, it will be stopped and the
340 340  
341 -=== Decision Frame ===
327 +**Decision Frame**
342 342  
343 -[[image:lss-flowarm-decision-frame.jpg]]
329 +**[[image:lss-flowarm-decision-frame.jpg]]**
344 344  
345 -At the end of every sequence there is a permanent frame called the "decision frame" (it is orange for easy identification). Click on the top part (orange) to change the last action of the sequence. There are 3 options:
331 +At the end of every sequence there is a permanent frame called the decision frame (it is orange for easy identification). Click on the top part (orange) to change the last action of the sequence. There are 3 options:
346 346  
347 347  * STOP: once the sequence is completed, nothing else will happen
348 348  * LOOP: once the sequence is completed, it will repeat a set amount of time
... ... @@ -352,17 +352,17 @@
352 352  
353 353  = Notifications =
354 354  
355 -(% style="width:1037px" %)
356 -|(% style="text-align:center; width:450px" %)**Displayed Error**|(% style="text-align:center; width:100px" %)**LED Status**|(% style="text-align:center" %)**Information**
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**
357 357  |{{lightbox image="lss-flowarm-notification-limp.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
358 358  [[image:LSS-UserColor.png||alt="LSS-Error-SafeMode.gif"]]
359 359  
360 360  User Defined
361 -)))|User clicked on the "LIMP" button or FlowArm noticed an error and put the arm "LIMP" by itself.
347 +)))|User clicked on the "LIMP" button or FlowArm noticed an error and put the arm in "LIMP" by himself.
362 362  |{{lightbox image="lss-flowarm-notification-firmware.png"/}}|(((
363 -Old firmware version which is not compatible (SERVO 1 in this example).
349 +FlowArm noticed an earlier firmware version which is not compatible (SERVO 1 in this example).
364 364  
365 -* Use the LSS-Config software to update the servo's firmware
351 +* As suggested, use the LSS-Config software to update the servo(s)
366 366  )))
367 367  |{{lightbox image="lss-flowarm-notification-current.png"/}}|(% colspan="1" rowspan="2" style="text-align:center; vertical-align:middle" %)(((
368 368  [[image:LSS-Error-SafeMode.gif]]
... ... @@ -369,13 +369,13 @@
369 369  
370 370  Red Flashing
371 371  )))|(((
372 -Over-current error on the specified servo (SERVO 4 in this example)
358 +FlowArm noticed a high current error on the specified servo (SERVO 4 in this example)
373 373  
374 374  * Verify that noting is in the way of the servo that can block it's movement.
375 375  * Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.
376 376  )))
377 377  |{{lightbox image="lss-flowarm-notification-temperature.png"/}}|(((
378 -Over-temperature error on the specified servo (SERVO 5 in this example).
364 +FlowArm noticed a high temperature error on the specified servo (SERVO 5 in this example).
379 379  
380 380  * Let it cool down for a minute.
381 381  * Try to "RELEASE SERVOS" which will "RESET" the servo(s) in error.
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