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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.
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	15	+
	16	+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.
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	18	+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.
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15	15	= Features =
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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
	27	+* LSS FlowArm is intended only for Windows operating systems 7 or higher.
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23	23	= Initial Setup =
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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.
	57	+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.
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53	53	[[image:lss-flowarm-offsets.jpg]]
54	54
55	55	**LIMP**
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57		-Causes all servos to go LIMP (i.e. lose torque). The arm will collapse.
	63	+Causes all servos to go LIMP (i.e. lose torque). The arm will collapse.
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	65	+Important note: The software will not constantly query all servos for their position, and as such the virtual arm on screen will not update. If you want the arm on screen to update, use the TEACH mode described below.
	66	+
59	59	**STOP**
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61	61	Causes all servos to stop their motion and hold their position.
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63	63	**TEACH**
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65		-Teach mode allows a user to physically move the arm to a designed location
	73	+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.
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67	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.
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126	126	**Gripper**
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	136	+Assuming the gripper has been properly calibrated, The number below represents the opening at the tip.
	137	+
128	128	[[image:lss-flowarm-gripper-view.jpg]]
129	129
130		-The gripper and wrist rotate can be controlled from this menu
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132	132	**Wrist**
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	143	+The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
	144	+
134	134	[[image:lss-flowarm-wrist-view.jpg]]
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136	136	**End Effector Position**
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149	149
150	150	[[image:lss-flowarm-sequencer.jpg]]
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152		-The sequencer allows the user to record sequences. From left to right:
	163	+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:
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154		-Sequence association
	165	+(% style="width:1303px" %)
	166	+|(% 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
	167	+|(% 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
	168	+|(% style="width:257px" %)[[image:lss-flowarm-patterns.jpg]]|(% style="width:306px" %)Pattern Options|(% style="width:758px" %)Add, remove, copy, save, open and delete patterns.
	169	+|(% 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.
	170	+|(% style="width:257px" %)[[image:lss-flowarm-copy-paste.jpg]]|(% style="width:306px" %)Copy / Paste Frame|(% style="width:758px" %)Copy and paste a frame
	171	+|(% 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
	172	+|(% style="width:257px" %)[[image:lss-flowarm-lock.jpg]]|(% style="width:306px" %)Lock |(% style="width:758px" %)
	173	+|(% 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.
	174	+|(% 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	157
158	158	[[image:lss-flowarm-keyboard-liveupdate.jpg]]
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