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131	131
132	132	**[[image:lss-flowarm-top-view.jpg]]**
133	133
134		-=== Shortcuts ===
	134	+== Shortcuts ==
135	135
136	136	**Base**: If you hold the SHIFT key while dragging with the mouse you can control base rotation.
137	137
...	...	@@ -170,17 +170,15 @@
170	170
171	171	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.
172	172
173		-When in keyboard mode, there is an overlay indicating which keys do what motion.
174		-
175	175	[[image:lss-flowarm-positioning.jpg]]
176	176
177	177	== **Data Log** ==
178	178
179		-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.
	177	+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.
180	180
181	181	[[image:lss-flowarm-data-log.jpg]]
182	182
183		-= Sequencer =
	181	+== Sequencer ==
184	184
185	185	[[image:lss-flowarm-sequencer.jpg]]
186	186
...	...	@@ -190,17 +190,16 @@
190	190	|(% 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
191	191	|(% 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.
192	192	|(% style="width:257px" %)[[image:lss-flowarm-patterns.jpg]]|(% style="width:306px" %)Sequence Management|(% style="width:758px" %)(((
193		-Add, remove, duplicate, save, load and clear all patterns.
	191	+Add, remove, copy, save, load and clear all patterns.
194	194	)))
195	195	|(% 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.
196	196	|(% style="width:257px" %)[[image:lss-flowarm-copy-paste.jpg]]|(% style="width:306px" %)Copy / Paste Frame|(% style="width:758px" %)Copy and paste a frame
197		-|(% 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
198		-|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)Timeline locking
	195	+|(% 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
	196	+|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)
199	199	|(% 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.
200	200	|(% style="width:257px" %)[[image:lss-flowarm-play.jpg]]|(% style="width:306px" %)Sequence Playback|(% style="width:758px" %)Restart sequence, play or stop
201	201
202	202	**Sequences**
203		-
204	204	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.
205	205
206	206	**Sequence List**
...	...	@@ -213,16 +213,13 @@
213	213
214	214	[[image:lss-flowarm-patterns.jpg]]
215	215
216		-**Add a Sequence**
	213	+**Add Sequence**
217	217
218	218	To add a sequence click the add button. A new sequence will appear in the list and its name will open for editing.
	216	+Remove Sequence: 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.
219	219
220		-**Remove a Sequence**
	218	+**Duplicate Sequence**
221	221
222		-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.
223		-
224		-**Duplicate a Sequence**
225		-
226	226	If you want to make a new sequence based on an existing one then you can duplicate it.
227	227
228	228	**Saving Sequences**
...	...	@@ -236,7 +236,7 @@
236	236	The sequences in the file will be added to the list. They do not replace the sequence list. Also it doesn't
237	237	matter how many sequences the file contains, all of them will be imported.
238	238
239		-**Clear All Sequences**
	233	+**Clear All**
240	240
241	241	If you want to start from scratch you can clear all the sequences from the list using the clear all button.
242	242
...	...	@@ -253,10 +253,6 @@
253	253
254	254	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.
255	255
256		-**Recording to a Frame**
257		-
258		-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.
259		-
260	260	**Deleting Frames**
261	261
262	262	To delete a sequence or frame from a sequence, click the Delete button.
...	...	@@ -267,8 +267,6 @@
267	267
268	268	**Timeline Locking**
269	269
270		-[[image:lss-flowarm-lock.jpg]]
271		-
272	272	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.
273	273
274	274	**Moving and Resizing**
...	...	@@ -276,6 +276,10 @@
276	276	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
277	277	the right of the selected frame will be moved so that the time interval between the selected frame and the next one is maintained.
278	278
	267	+**Recording to a Frame**
	268	+
	269	+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.
	270	+
279	279	**Auto Record**
280	280
281	281	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.
...	...	@@ -297,7 +297,7 @@
297	297
298	298	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.
299	299
300		-== Sequencer ==
	292	+== SEQUENCER ==
301	301
302	302	**Reverse Frames**
303	303
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322	322
323	323	**Decision Frame**
324	324
325		-**[[image:lss-flowarm-decision-frame.jpg]]**
	317	+At the end of every sequence there is a permanent frame called the decision frame (it is orange for easy identification):
	318	+Click on the top part (orange) to change the last action of the sequence. There are 3 options:
	319	+• STOP: once the sequence is completed, nothing else will happen
	320	+• LOOP: once the sequence is completed, it will repeat a set amount of time
	321	+• GOTO: once the sequence is completed, it will trigger the input selected
	322	+If another sequence is associated with that input, it will then play Playback Control
	323	+You can change the speed of playback by changing the speed multiplier. Click the up and down arrows to alter this.
	324	+Normally a sequence plays to the end then stops. However, sometimes you want a sequence to repeat. You can toggle this by clicking the Loop button.
326	326
327		-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:
328		-
329		-* STOP: once the sequence is completed, nothing else will happen
330		-* LOOP: once the sequence is completed, it will repeat a set amount of time
331		-* GOTO: once the sequence is completed, it will trigger the input selected
332		-
333		-If another sequence is associated with that input, it will then play Playback Control. You can change the speed of playback by changing the speed multiplier. Click the up and down arrows to alter this. Normally a sequence plays to the end then stops. However, sometimes you want a sequence to repeat. You can toggle this by clicking the Loop button.
334		-
335	335	= Troubleshooting =
336	336
337	337	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]]