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8	8
9	9	= Description =
10	10
11		-{Coming soon}
	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		-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.
	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		-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		-
19	19	= Features =
20	20
21	21	* Graphical interface for the Lynxmotion SES V2 articulated robot arm
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23	23	* Teach mode allows the user to move the arm and have the virtual arm follow
24	24	* Position the arm using rectangular or cylindrical coordinates, virtual joysticks or mouse drag
25	25	* Application can be modified via FlowBotics Studio
	22	+* Optional data log shows what commands are sent and received and can be saved as a .csv file.
26	26	* LSS FlowArm is intended only for Windows operating systems 7 or higher.
27	27
28	28	= Initial Setup =
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39	39
40	40	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]]
41	41
42		-Important note: The software does not take into consideration if a servo has been improperly assembled. If you see that your arm moves differently than the arm on screen, be sure to check the following:
43		-
44	44	* Servo ID is correctly assigned to each servo and there are no duplicate IDs
45	45	* Servos have been assembled in correct orientation (as per assembly manual)
46	46	* Servo offsets have been updated if necessary (see procedure below).
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53	53
54	54	**STORE OFFSETS**
55	55
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.
	51	+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.
57	57
	53	+* Base servo aligned with the x axis
	54	+* Shoulder to elbow along z axis (straight up)
	55	+* Elbow to wrist along R axis (horizontal at 90 degrees to shoulder to elbow)
	56	+* Wrist servo along R axis (parallel to elbow to wrist)
	57	+* Gripper servo closed
	58	+
58	58	[[image:lss-flowarm-offsets.jpg]]
59	59
60	60	**LIMP**
61	61
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.
	63	+Causes all servos to immediately 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 virtual arm on screen to update as you move the real arm, use TEACH mode described below.
63	63
64	64	**STOP**
65	65
66		-Causes all servos to stop their motion and hold their position.
	67	+Causes all servos to immediately stop their motion and hold their position.
67	67
68	68	**TEACH**
69	69
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.
	71	+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.
71	71
72		-CAREFUL: Do not move the servos too quickly. We suggest moving the gripper servo, or temporarily removing the aesthetic shell.
	73	+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.
73	73
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.
	75	+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.
75	75
76	76	**GRID / Units**
77	77
78		-Units can be toggled between Metric or Imperial units. Options include 2cm, 3cm, 5cm and 1in, 2in and 3in.
	79	+Grid spacing can be toggled between Metric or Imperial. Options include 2cm, 3cm, 5cm and 1in, 2in and 3in.
79	79
80	80	**BAUD**
81	81
82		-The baud rate suggested is 115200, which is the default baud rate of the servos. Should a user have changed the baud rate on the servos, it can be selcted using the drop down. Note that the baud rate must be configured to the same value for all servos in order to work.
	83	+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.
83	83
84	84	**COM**
85	85
86		-This field selects which of your computer's COM ports is connected to the LSS Adapter, which is provided with the standard SES v2 articulated robot arm. Be sure to select the appropriate COM port to which the LSS adapter is connected. If you are unsure, go to Device Manager in Windows, and view the list of USB devices connected. The LSS Adapter uses an FTDI USB to serial chip.
	87	+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.
87	87
88		-When the software is opened, a scan of all COM ports is done automatically and 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).
	89	+* If the red and green lights next to the field are flashing, the correct COM port has not yet been found, and the user may need to manually select the correct COM port.
	90	+* If the red light is solid, then no correct COM port has been located.
	91	+* If the green light is solid, the a COM port has been located.
89	89
90		-If the red and green lights next to the field are flashing, the correct COM port has not yet been found, and the user may need to manually select the correct CIM port.
91		-
92		-If the red light is solid, then no correct COM port has been located.
93		-
94		-If the green light is solid, the a COM port has been located.
95		-
96	96	**Window Size**
97	97
98	98	**[[image:lss-flowarm-size.jpg]]**
99	99
100		-A the top right of the window, there are three dark rectangles representing the window size.
	97	+A the top right of the window, there are three dark rectangles allowing you to change the application's window size.
101	101
102		-== 2D Views & Grid ==
	99	+== Virtual Arm ==
103	103
104		-== Arm Configuration ==
	101	+(% class="wikigeneratedid" id="HArmConfiguration" %)
	102	+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.
105	105
106		-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.
107		-
108		-The aesthetics of the arms will be changing for the final / release version of the LSS Flowarm software.
109		-
110	110	**Side View**
111	111
	106	+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.
	107	+
112	112	[[image:lss-flowarm-side-view.jpg]]
113	113
114		-The left view is a representation {more to come|
115		-
116	116	**Top View**
117	117
	112	+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.
	113	+
118	118	**[[image:lss-flowarm-top-view.jpg]]**
119	119
120		-The top view shows the arm {more to come}
121		-
122	122	== Left Menu ==
123	123
124	124	**Gripper**
125	125
126		-Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees.
	120	+Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. In order to grasp an object, DO NOT have the servo rotate to a position which it cannot reach. In order to ensure the gripper servo does not go into error mode, the gripper should not exert much force on the object.
127	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	130	1. Close the gripper to a position just slightly larger than the object
131	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.
	124	+1. DO NOT apply too much pressure, or else the servo's current will spike and it will go into error mode and need to be reset.
	125	+1. Use the last position as the "fully closed" position for the gripper for that object, in that specific orientation.
134	134
135	135	[[image:lss-flowarm-gripper-view.jpg]]
136	136
137		-
138	138	**Wrist**
139	139
140	140	The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
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143	143
144	144	**End Effector Position**
145	145
	137	+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.
	138	+
146	146	[[image:lss-flowarm-positioning.jpg]]
147	147
148		-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.
	141	+== **Data Log** ==
149	149
150		-Data Log
	143	+The optional Data log 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.
151	151
152	152	[[image:lss-flowarm-data-log.jpg]]
153	153
154		-The console will be used as a serial command interface to manually send commands to the bus.
155		-
156	156	== Sequencer ==
157	157
158	158	[[image:lss-flowarm-sequencer.jpg]]
159	159
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:
	151	+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. From left to right:
161	161
162	162	(% style="width:1303px" %)
163	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
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172	172
173	173	[[image:lss-flowarm-keyboard-liveupdate.jpg]]
174	174
175		-= Downloads =
	166	+Just above the sequencer, you can find the following:
176	176
177		-Download LSS Flowarm 3.0.8.12 [[here>>http://www.lynxmotion.com/tools/LSS%20FlowArm%20BETA%20(3.0.8.12).rar]].
	168	+Keyboard: {More to come}
178	178
179		-Password: beta
	170	+Live Update:{More to come}
180	180
181		-BETA: Note that information described here is subject to change, and is available for BETA testers.
	172	+= Troubleshooting =
182	182
	174	+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]]
	175	+
183	183	{Work in progress}