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1		-[[image:PLTW-FlowArm.png||width="400"]]
	1	+[[image:lynxterm.jpg||width="400"]]
2	2
3		-[[[[image:[email protected]]]>>attach:setupflowarmpltw4_3_0_1.exe]]
	3	+[[[[image:[email protected]]]>>attach:ltrm111.zip]]
4	4
5	5	**Table of Contents**
6	6
...	...	@@ -8,30 +8,127 @@
8	8
9	9	= Description =
10	10
11		-**FlowARM PLTW** is a new graphical interface which provides the user with complete control over the Lynxmotion AL5D robotic arm, both offline and in real time. The user is presented with multiple views of the arm, allowing the user to click and drag the arm to the desired location while the software takes care of all inverse kinematics equations.
	11	+LynxTerm is a free downloadable utility, it makes it easy to quickly test all functionality of the SSC-32 Servo Controller.
12	12
13		-**Created for Project Lead The Way (PLTW)**
	13	+__**This program is legacy and is currently not supported.**__
14	14
15		-Project Lead The Way is the nation's leading science, technology, engineering and math (STEM) solution and is used in over 5,000 schools across the U.S. The PLTW Computer Integrated Manufacturing (CIM) curriculum includes creating an assembly line and use of the Lynxmotion AL5D arm. This software was created so students would have full control of the arm without having to spend significant time programming, and integrate it easily into a larger manufacturing / assembly system.
	15	+**To install:** Just download, unzip, and run the setup (lynx ssc 32 terminal.msi)
16	16
17		-**Complete Control**
	17	+= Versions =
18	18
19		-FlowARM PLTW works with the versatile Lynxmotion SSC-32 servo controller board which not only allows for control of the 6 servo motors of the AL5D arm (with wrist rotate), but also allows for control of additional digital I/O via the interface:
	19	+(% style="width:800px" %)
	20	+|**Download: **[[(% class="wikiattachmentlink" %)**ltrm111.zip**>>attach:ltrm111.zip]](%%)
	21	+**Version: **v1.11
	22	+**Size: **4.29MB(((
	23	+**Change Log:**
20	20
21		-* 2 additional servo outputs
22		-* 8 outputs available for lights, buzzers, and other devices
23		-* 4 inputs for receiving start and stop signals
	25	+Same as v1.10, except:
24	24
25		-The digital inputs and outputs are particularly useful for interfacing the Lynxmotion AL5D with other robot systems used in the PLTW CIM course. This way, the arm can move a object into place, activate another robot, wait until it is done, and then move the object away.
	27	+* Issue Corrected:
	28	+** Firmware V2 PO/QP bug patched within Lynxterm (QP returns 255 instead of 0 at startup if PO activated and value > 0)
	29	+** Old PO bug patch removed from H2 Seq, no more problem using PO registers with SSC-32 V2
	30	+* Improvement:
	31	+** COM port communication code now fully protected from exceptions (will avoid some very rare program crash).
	32	+* Main form:
	33	+** Pulse trackbar now sends commands with a "S1000" speed limitation.
	34	+* Macro:
	35	+** Bigger buttons.
	36	+** Support "$Pause x" instruction, with 0 < x < 65536 ms, insert a pause between instructions
	37	+** Support "$Macro x" instruction, x from 0 to 14, to call another macro (infinite loop not allowed)
	38	+* H2 Sequencer:
	39	+** "Link XL/XR" checkbox added to move XL and XR together
	40	+** Auto read Offsets from the SSC-32 V2 registers if detected, else it will use value from saved file.
	41	+** Pulse and Offset trackbars now sends commands with a "S1000" speed limitation.
	42	+* Registers:
	43	+** New message asking to read new data from registers if the write button was pressed in the H2 Seq form.
	44	+** "Read" and "Write" buttons disables all objects in the form while performing.
	45	+** "Read" and "Write" buttons performs now firstly a SSC-32 V2 recognition as the ones in H2 Seq form.
	46	+** Pulse and Offset trackbars now sends commands with a "S1000" speed limitation.
	47	+)))
	48	+|**Download: **[[(% class="wikiattachmentlink" %)**ltrm110.zip**>>attach:ltrm110.zip]](%%)
	49	+**Version:** v1.10
	50	+**Size:** 4.29MB(((
	51	+**Change Log:**
26	26
27		-The SSC-32 and SSC-32U servo controllers can be easily adapted for Bluetooth (wireless) control. As such, the software automatically scans all of the computer's COM ports at various Baud rates in order to automatically detect and connect to the controller, whether it is connected using a cable or via Bluetooth.
	53	+Same as v1.09, except:
28	28
29		-**Pattern Sequencer**
	55	+* Issue Corrected:
	56	+** "All = 1500" button no longer resets pulse offsets.
	57	+* Registers:
	58	+** "Read" button improved. Now pressing "Read" tests to see if EEPROM is initialized; if not, it performs a "RDFLT" command (like pressing the "Default" button). See SSC-32 manual for more about registers and RDFLT command.
	59	+)))
	60	+|**Download: **[[(% class="wikiattachmentlink" %)**ltrm109.zip**>>attach:ltrm109.zip]](%%)
	61	+**Version:** v1.09
	62	+**Size:** 4.28MB(((
	63	+**Change Log:**
30	30
31		-FlowArm PLTW 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 or hours, instead of days or weeks. The sequencer also allows you to vary the speed of playback of a routine.
	65	+Same as v1.08, except:
32	32
33		-= Specifications =
	67	+* H2 Sequencer:
	68	+** Offset Registers support added for SSC-32 v2 (Atmega 168).
	69	+** Offset increments by 1 instead of 5.
	70	+** All trackbars are now autofocused.
	71	+)))
	72	+|**Download: **[[(% class="wikiattachmentlink" %)**ltrm108.zip**>>attach:ltrm108.zip]](%%)
	73	+**Version:** v1.08
	74	+**Size:** 4.28MB(((
	75	+**Change Log:**
34	34
35		-* Compatible with Windows XP SP2 (with .NET Framework), Windows 7, and Windows 8. Requires internet connection.
36		-* Minimum requirements for Windows XP: 2 GHz (single core), 1 GB RAM, and 1024x768 resolution.
37		-* Requires Lynxmotion robotic arm with [[Lynxmotion SSC-32 Servo Controller>>url:https://www.robotshop.com/en/lynxmotion-ssc-32-servo-controller.html]]
	77	+Same as v1.07, except:
	78	+
	79	+* Registers support for SSC-32 v2 (Atmega 168).
	80	+)))
	81	+|**Download: **[[(% class="wikiattachmentlink" %)**ltrm107.zip**>>attach:ltrm107.zip]](%%)
	82	+**Version:** v1.07
	83	+**Size:** 4.27MB(((
	84	+**Change Log:**
	85	+
	86	+Same as v1.06, except:
	87	+
	88	+* COM port component rolled back from 3.1 to 3.0 (an effort to fix a known Vista bug with Bluetooth dongle issues).
	89	+* Terminal panel autofocus system removed.
	90	+)))
	91	+|**Download: **[[(% class="wikiattachmentlink" %)**ltrm106.zip**>>attach:ltrm106.zip]](%%)
	92	+**Version:** v1.06
	93	+**Size: **4.27MB(((
	94	+**Change Log:**
	95	+
	96	+* Firmware update process now recognizes new SSC-32 v3 (based on Atmega 168), and firmware version is checked before updating to ensure the correct firmware version is used.
	97	+* Improvement:
	98	+** LynxTerm's full installshield no longer includes the "Params.ini" file (Com port parameters), which avoids overwriting the settings from a previous installation. If this file is missing, the program will rebuild it automatically with default values. Entering the Firmware form now detects the SSC-32's Firmware version again instead of using the one stored upon connection, in order to show up to date information.
	99	+)))
	100	+|**Download:** [[(% class="wikiattachmentlink" %)**ltrm105.zip**>>attach:ltrm105.zip]](%%)
	101	+**Version:** v1.05
	102	+**Size: **4.27MB(((
	103	+**Change Log:**
	104	+
	105	+* Minor aesthetic changes. New "All = 0" button to disable all servos at once. New "Timeout" button, as in RIOS and SEQ. Horizontal channel (pin) chooser hanging bug fixed. Offsets "QP" value bug fixed.
	106	+)))
	107	+|**Download: **[[(% class="wikiattachmentlink" %)**ltrm104.zip**>>attach:ltrm104.zip]](%%)
	108	+**Version:** v1.04
	109	+**Size:** 4.24MB(((
	110	+**Change Log:**
	111	+
	112	+* "All = 1500" sets all 32 servos to 1500uS. Long macro word-wrap bug fixed.
	113	+)))
	114	+|**Download: **[[(% class="wikiattachmentlink" %)**ltrm103.zip**>>attach:ltrm103.zip]](%%)
	115	+**Version:** v1.03
	116	+**Size:** 4.24MB(((
	117	+**Change Log:**
	118	+
	119	+* Added support for multiple Hexapod config files. Fixed several communication bugs.
	120	+)))
	121	+|**Download: **[[(% class="wikiattachmentlink" %)**ltrm101.zip**>>attach:ltrm101.zip]](%%)
	122	+**Version: **v1.01
	123	+**Size: **4.24MB(((
	124	+**Change Log:**
	125	+
	126	+* Added Pulse-width Offset (PO) command support.
	127	+)))
	128	+|**LynxTerm.zip** //(Initial release. Download a newer version above.)//
	129	+**Version:** Beta v1.00
	130	+**Size: **4.24MB(((
	131	+Small terminal program written specifically for the SSC-32. Effortlessly test all functionality.
	132	+)))
	133	+
	134	+