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12	12
13	13	The LSS FlowArm application was created using FlowBotics Studio software and is intended to allow easy control of the standard configuration Lynxmotion Servo Erector Set (S.E.S.) v2 articulated robotic arm. The graphical interface shows a side and top view of the arm, as well as the gripper and wrist. The full-featured built-in sequencer allows you create sequences which have the arm move automatically from one position ("frame") to the next.
14	14
	15	+FlowBotics Studio includes hundreds of built-in components that allow you to interface your PC to many of the standard computer peripherals and you can quickly create new components for new hardware. You can also 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.
	16	+
	17	+The FlowBotics Studio programming language 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 for your projects and integrate photographs, drawings, and graphs.
	18	+
15	15	= Features =
16	16
17	17	* Graphical interface for the Lynxmotion SES V2 articulated robot arm
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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
	26	+* LSS FlowArm is intended only for Windows operating systems 7 or higher.
22	22
23	23	= Initial Setup =
24	24
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48	48
49	49	**STORE OFFSETS**
50	50
51		-During the assembly process, if the servo's driving output horn was not rotated (they are shipped with the servo driving horn centered at 0 degrees), and was connected to the brackets at the correct angle (parallel or perpendicular depending on the servo being assembled), there should not be any significant servo offset needed and the arm should match what is displayed on screen. However, should the driving horn have rotated and/or the brackets were not connected at optimal angles, the "STORE OFFSETS" button configures the 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, be sure to orient the arm as follows (with the base a, and THEN click the STORE OFFSETS button.
	56	+During the assembly process, if the servo's driving output horn was not rotated (they are shipped with the servo driving horn centered at 0 degrees), and was connected to the brackets at the correct angle (parallel or perpendicular depending on the servo being assembled), there should not be any significant servo offset needed and the arm should match what is displayed on screen. However, should the driving horn have rotated and/or the brackets were not connected at optimal angles, the "STORE OFFSETS" button configures the 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, be sure to orient the arm as follows (with the gripper closed), and only then click the STORE OFFSETS button.
52	52
53	53	[[image:lss-flowarm-offsets.jpg]]
54	54
55	55	**LIMP**
56	56
57		-Causes all servos to go LIMP (i.e. lose torque). The arm will collapse.
	62	+Causes all servos to go LIMP (i.e. lose torque). The arm will collapse. 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 arm on screen to update as you move the arm, use TEACH mode described below.
58	58
59	59	**STOP**
60	60
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62	62
63	63	**TEACH**
64	64
65		-Teach mode allows a user to physically move the arm to a designed location
	70	+Teach mode allows a user to physically move the arm to a designed locations and have the virtual arm on screen follow. This is used primarily to manually add frames to the sequence. 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.
66	66
67		-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.
68		-
69		-When in teach mode, an orange outline appears over all on-screen fields which would cause a conflict and therefore cannot be used.
70		-
71	71	CAREFUL: Do not move the servos too quickly. We suggest moving the gripper servo, or temporarily removing the aesthetic shell.
72	72
73		-Once the arm is limp, it can be moved physically, and the application will regularly read the physical position of each of the servos and move the virtual arm on screen to match.
	74	+Once the arm is limp, it can be moved physically, and the application will regularly read the physical position of each of the servos and move the virtual arm on screen to match. Use the sequencer to save each position (frame). Intermediate frames can be added as needed. For more information on the sequencer, refer to the sequencer section below.
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75		-Use the sequencer to save each position (frame). Intermediate frames can be added as needed. For more information on the sequencer, refer to the sequencer section below.
76		-
77		-
78	78	**GRID / Units**
79	79
80		-Units can be toggled between Metric or Imperial
	78	+Units can be toggled between Metric or Imperial units. Options include 2cm, 3cm, 5cm and 1in, 2in and 3in.
81	81
82	82	**BAUD**
83	83
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125	125
126	126	**Gripper**
127	127
	126	+Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees.
	127	+
	128	+In order to grasp an object, DO NOT have the servo rotate to a position which it cannot reach. Plan in advance:
	129	+
	130	+1. Close the gripper to a position just slightly larger than the object
	131	+1. Using the arrows, close the gripper until friction between the foam and the object prevent the object from falling out or moving.
	132	+1. DO NOT apply too much pressure, or else the servo's current will spike and it will go into error mode.
	133	+1. Use the last position as the "fully closed" position for the gripper for that object.
	134	+
128	128	[[image:lss-flowarm-gripper-view.jpg]]
129	129
130		-The gripper and wrist rotate can be controlled from this menu
131	131
132	132	**Wrist**
133	133
	140	+The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
	141	+
134	134	[[image:lss-flowarm-wrist-view.jpg]]
135	135
136	136	**End Effector Position**
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149	149
150	150	[[image:lss-flowarm-sequencer.jpg]]
151	151
152		-The sequencer allows the user to record sequences. From left to right:
	160	+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. The sequencer also allows you to vary the speed of playback of a routine. From left to right:
153	153
154		-Sequence association
	162	+(% style="width:1303px" %)
	163	+|(% style="width:257px" %)[[image:lss-flowarm-association.jpg]]|(% style="width:306px" %)Keyboard Association|(% style="width:758px" %)Patterns can be associated to keyboard keys F1 to F12, and keys E, F, G, and H
	164	+|(% style="width:257px" %)[[image:lss-flowarm-pattern-list.jpg]]|(% style="width:306px" %)Active Pattern Name|(% style="width:758px" %)Click on the text to change the pattern name. Use the arrows to navigate between patterns
	165	+|(% style="width:257px" %)[[image:lss-flowarm-patterns.jpg]]|(% style="width:306px" %)Pattern Options|(% style="width:758px" %)Add, remove, copy, save, open and delete patterns.
	166	+|(% 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.
	167	+|(% style="width:257px" %)[[image:lss-flowarm-copy-paste.jpg]]|(% style="width:306px" %)Copy / Paste Frame|(% style="width:758px" %)Copy and paste a frame
	168	+|(% style="width:257px" %)[[image:lss-flowarm-settings.jpg]]|(% style="width:306px" %)Settings|(% style="width:758px" %)Useful features include: Toggle pause before frame; Remove gaps between frames; Reverse frames
	169	+|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)
	170	+|(% 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.
	171	+|(% style="width:257px" %)[[image:lss-flowarm-play.jpg]]|(% style="width:306px" %)Playback Options|(% style="width:758px" %)Restart sequence, play or stop
155	155
156		-{Work in progress}
157		-
158	158	[[image:lss-flowarm-keyboard-liveupdate.jpg]]
159	159
160	160	= Downloads =

lss-flowarm-play.jpg

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