Last modified by Eric Nantel on 2026/04/06 11:03
From version < 2.1 >
edited by Eric Nantel
on 2023/01/19 13:30
To version < 5.1
edited by Eric Nantel
on 2026/04/06 11:03
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1 -servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.WebHome
1 +ses-v1.ses-v1-robots.ses-v1-arms.WebHome
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1 -{{html wiki="false" clean="true"}}
1 +{{html wiki="false" clean="false"}}
2 +<style>
3 + .asm { font-family: Verdana, Helvetica, sans-serif; font-size: 14px; max-width: 960px; }
4 + .asm-step { background: #fff; border: 1px solid #ddd; border-radius: 8px; margin-bottom: 1.5rem; overflow: hidden; }
5 + .asm-step-header { background: #F5A800; display: flex; align-items: stretch; justify-content: space-between; }
6 + .asm-step-name { padding: 0.6rem 1rem; font-weight: bold; font-size: 15px; color: #2C1A00; }
7 + .asm-step-num { background: #1a1a1a; color: white; padding: 0.6rem 1.1rem; font-weight: bold; font-size: 15px; display: flex; align-items: center; white-space: nowrap; }
8 + .asm-step-body { display: flex; flex-wrap: wrap; gap: 1.25rem; padding: 1rem; align-items: flex-start; }
9 + .asm-step-text { flex: 1 1 250px; font-size: 13px; line-height: 1.6; }
10 + .asm-step-figure { flex: 0 1 280px; text-align: center; }
11 + .asm-step-figure img { max-width: 100%; height: auto; border: 1px solid #ccc; border-radius: 4px; }
12 + .asm-step-figure span { display: block; font-size: 12px; color: #666; margin-top: 0.3rem; }
13 + .asm-warning { color: #c00; font-weight: bold; }
14 + .asm h1 { font-size: 18px; margin-bottom: 0.25rem; }
15 + .code-block { background: #f4f4f4; border: 1px solid #ddd; border-radius: 4px; padding: 0.6rem 0.8rem; font-family: 'Courier New', monospace; font-size: 12px; line-height: 1.6; white-space: pre; overflow-x: auto; margin-top: 0.75rem; }
16 +</style>
2 2  
18 +<div class="asm">
19 +
20 + <!-- Header -->
21 + <div style="padding: 0.5rem 0 1rem 0;">
22 + <h1 class="asm">Controlling an Arm with the Bot Board (Basic Atom) and the SSC-32</h1>
23 + </div>
24 +
25 + <!-- Section 1: Make the connection -->
26 + <div class="asm-step">
27 + <div class="asm-step-header">
28 + <div class="asm-step-name">Make the Connection</div>
29 + <div class="asm-step-num">&nbsp;</div>
30 + </div>
31 + <div class="asm-step-body">
32 + <div class="asm-step-text">
33 + <p>Before writing a program to control the arm, the serial data connection must be made. The SSC-32 includes a short two-conductor cable assembly. The black wire goes to ground and the yellow wire carries the signal.</p>
34 + <p>The .1" spaced end connects to the SSC-32 at the pins marked RX and ground. Make sure the SSC-32 is set for <b>38.4k baud</b>. Remove the DB9 enable jumpers if present. Yellow goes to RX, black goes to ground.</p>
35 + <p>The .2" spaced end connects to Bot Board I/O <b>pin 15</b>. The black wire goes closer to the outside edge of the board; the yellow wire goes closer to the IC. Note: the nylon standoff has been removed for this photo.</p>
36 + </div>
37 + <div class="asm-step-figure">
38 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/controlling-arm-bot-board-basic-atom-ssc-32/WebHome/bbssc32.jpg">
39 + <span>Figure 1.</span>
40 + </div>
41 + </div>
42 + </div>
43 +
44 + <!-- Section 2: Enabling the servos -->
45 + <div class="asm-step">
46 + <div class="asm-step-header">
47 + <div class="asm-step-name">Enabling the Servos</div>
48 + <div class="asm-step-num">&nbsp;</div>
49 + </div>
50 + <div class="asm-step-body">
51 + <div class="asm-step-text" style="flex: 1 1 100%;">
52 + <p>The SSC-32 will not send servo pulses until it receives the proper command. The program below enables channels 10 through 15, moving all servos to their mid positions (1500µs). Note: all <code>serout</code> commands must be one continuous line — if you copy and paste, remove any line breaks. You can substitute the 1500 values with other starting positions to prevent the arm from jumping.</p>
53 + <div class="code-block">serout p15,i38400,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 P1500",13]
54 +
55 +start:
56 +goto start 'loop</div>
57 + </div>
58 + </div>
59 + </div>
60 +
61 + <!-- Section 3: Move the arm smoothly -->
62 + <div class="asm-step">
63 + <div class="asm-step-header">
64 + <div class="asm-step-name">Move the Arm Smoothly</div>
65 + <div class="asm-step-num">&nbsp;</div>
66 + </div>
67 + <div class="asm-step-body">
68 + <div class="asm-step-text" style="flex: 1 1 100%;">
69 + <p>The program below moves the arm from an initial position to a new position, then to another, then cycles back and forth. Each move takes 2 seconds to complete. These servo values are arbitrary — replace them with the actual positions you want the arm to move to.</p>
70 + <div class="code-block">serout p15,i38400,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 P1500",13]
71 +
72 +start:
73 +serout p15,i38400,["#10 P1400 #11 P1400 #12 P1400 #13 P1400 #14 P1400 #15 P1400 T2000",13]
74 +pause 2000
75 +serout p15,i38400,["#10 P1600 #11 P1600 #12 P1600 #13 P1600 #14 P1600 #15 P1600 T2000",13]
76 +pause 2000
77 +goto start 'repeat</div>
78 + </div>
79 + </div>
80 + </div>
81 +
82 + <!-- Section 4: Code specific to the arm -->
83 + <div class="asm-step">
84 + <div class="asm-step-header">
85 + <div class="asm-step-name">Code Specific to the Arm</div>
86 + <div class="asm-step-num">&nbsp;</div>
87 + </div>
88 + <div class="asm-step-body">
89 + <div class="asm-step-text" style="flex: 1 1 100%;">
90 + <p>Using variables and the <code>gosub</code> command makes the code easier to read. This program accomplishes the same thing as the previous one, but lets you set positions by name instead of raw numbers. The first <code>serout</code> still uses servo channel numbers directly.</p>
91 + <div class="code-block">base var word 'Base rotate
92 +shld var word 'Shoulder pivot
93 +elbo var word 'Elbow pivot
94 +wrst var word 'Wrist pivot
95 +grip var word 'Gripper open/close
96 +grpr var word 'Gripper rotate (L6 only)
97 +ttm var word 'Amount of time to take to move
98 +
99 +serout p15,i38400,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 P1500",13]
100 +
101 +start:
102 +'first move...
103 +base=1400: shld=1400: elbo=1400:
104 +wrst=1400: grip=1400: grpr=1400:
105 +ttm=2000
106 +gosub send_data
107 +
108 +'second move...
109 +base=1600: shld=1600: elbo=1600:
110 +wrst=1600: grip=1600: grpr=1600:
111 +ttm=2000
112 +gosub send_data
113 +
114 +'add more moves here...
115 +goto start
116 +
117 +send_data:
118 +serout p15,i38400,["#10P", DEC base, "#11P", DEC shld, "#12P", DEC elbo, "#13P", DEC wrst, "#14P", DEC grip, "#15P", DEC grpr, "T", DEC ttm, 13]
119 +pause ttm
120 +return</div>
121 + </div>
122 + </div>
123 + </div>
124 +
125 + <!-- Conclusion -->
126 + <div class="asm-step">
127 + <div class="asm-step-header">
128 + <div class="asm-step-name">In Conclusion</div>
129 + <div class="asm-step-num">&nbsp;</div>
130 + </div>
131 + <div class="asm-step-body">
132 + <div class="asm-step-text">
133 + <p>I hope you find this simple tutorial helpful. More content will be added in the future. You can now control the Lynx arms easily and eloquently from a BASIC Atom / SSC-32.</p>
134 + <p>Happy Roboting,<br><b>Jim Frye</b></p>
135 + </div>
136 + </div>
137 + </div>
138 +
139 +</div>
3 3  {{/html}}
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