Wiki source code of LSS FlowArm

Version 33.1 by Coleman Benson on 2019/09/09 12:22

14.1	1	[[image:LSS-FlowArm.png\|\|width="350"]]
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30.1	3	[[[[image:wiki-download.png]]>>https://www.robotshop.com/en/lynxmotion-smart-servo-lss-configuration-software.html\|\|rel="noopener noreferrer" target="_blank"]]
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16.1	5	Page Contents
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14.1	7	{{toc/}}
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15.1	9	= Description =
14.1	10
16.1	11	{Coming soon}
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30.1	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.
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15.1	15	= Features =
4.2	16
30.1	17	* Graphical interface for the Lynxmotion SES V2 articulated robot arm
	18	* Full featured sequencer allows recording and playback of many sequences via keyboard input
	19	* Teach mode allows the user to move the arm and have the virtual arm follow
	20	* Position the arm using rectangular or cylindrical coordinates, virtual joysticks or mouse drag
	21	* Application can be modified via FlowBotics Studio
16.1	22
15.1	23	= Initial Setup =
9.1	24
30.1	25	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.
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15.1	27	= Servo IDs =
2.1	28
30.1	29	Before assembling the arm, each of the IDs assigned to the servos must correspond with what is needed in the software.
3.1	30
4.1	31	* Base: 1
	32	* Shoulder: 2
	33	* Elbow: 3
	34	* Wrist: 4
	35	* Gripper: 5
3.1	36
31.1	37	To do so, the [[LSS Configuration Software>>doc:lynxmotion-smart-servo.lss-configuration-software.WebHome]] is used. Follow the procedure outlined here
30.1	38
15.1	39	= Interface =
3.1	40
15.1	41	== Header ==
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30.1	43	[[image:lss-flowarm-header.jpg]]
3.1	44
30.1	45	STORE OFFSETS
3.1	46
30.1	47	Press the "Store offsets" button to change 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]]).
3.1	48
30.1	49	LIMP
3.1	50
30.1	51	Causes all servos to go LIMP (i.e. lose torque). The arm will collapse.
3.1	52
30.1	53	STOP
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	55	Causes all servos to stop their motion and hold their position.
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	57	TEACH
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	59	Teach mode allows a user to physically move the arm to a designed location
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	61	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.
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	63	When in teach mode, an orange outline appears over all on-screen fields which would cause a conflict and therefore cannot be used.
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	65	CAREFUL: Do not move the servos too quickly. We suggest moving the gripper servo, or temporarily removing the aesthetic shell.
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	67	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.
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	69	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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	71
	72	GRID / Units
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3.1	74	Units can be toggled between Metric or Imperial
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30.1	76	BAUD
3.1	77
31.1	78	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.
3.1	79
	80	COM
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30.1	82	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.
3.1	83
30.1	84	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).
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	86	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.
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	88	If the red light is solid, then no correct COM port has been located.
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	90	If the green light is solid, the a COM port has been located.
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3.1	92	Window Size
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30.1	94	[[image:lss-flowarm-size.jpg]]
3.1	95
30.1	96	A the top right of the window, there are three dark rectangles representing the window size.
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15.1	98	== 2D Views & Grid ==
3.1	99
15.1	100	== Arm Configuration ==
3.1	101
	102	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.
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	104	The aesthetics of the arms will be changing for the final / release version of the LSS Flowarm software.
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30.1	106	Side View
3.1	107
30.1	108	[[image:lss-flowarm-side-view.jpg]]
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3.1	110	The left view is a representation {more to come\|
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	112	Top View
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30.1	114	[[image:lss-flowarm-top-view.jpg]]
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3.1	116	The top view shows the arm {more to come}
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15.1	118	== Left Menu ==
3.1	119
30.1	120	Gripper
3.1	121
30.1	122	[[image:lss-flowarm-gripper-view.jpg]]
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3.1	124	The gripper and wrist rotate can be controlled from this menu
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30.1	126	Wrist
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	128	[[image:lss-flowarm-wrist-view.jpg]]
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3.1	130	End Effector Position
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30.1	132	[[image:lss-flowarm-positioning.jpg]]
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3.1	134	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.
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30.1	136	Data Log
3.1	137
30.1	138	[[image:lss-flowarm-data-log.jpg]]
3.1	139
	140	The console will be used as a serial command interface to manually send commands to the bus.
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15.1	142	== Sequencer ==
3.1	143
30.1	144	[[image:lss-flowarm-sequencer.jpg]]
3.1	145
30.1	146	The sequencer allows the user to record sequences. From left to right:
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	148	Sequence association
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11.1	150	{Work in progress}
15.1	151
30.1	152	[[image:lss-flowarm-keyboard-liveupdate.jpg]]
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15.1	154	= Downloads =
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	156	Download LSS Flowarm 3.0.8.12 [[here>>http://www.lynxmotion.com/tools/LSS%20FlowArm%20BETA%20(3.0.8.12).rar]].
	157
	158	Password: beta
	159
	160	BETA: Note that information described here is subject to change, and is available for BETA testers.
	161
	162	{Work in progress}

Wiki source code of LSS FlowArm

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