Changes for page Controlling an Arm with the Bot Board (Basic Atom) and the SSC-32
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... ... @@ -1,127 +1,3 @@ 1 1 {{html wiki="false" clean="true"}} 2 -<table border="0" bordercolor="#FFFFFF" cellpadding="5"> 3 - <tbody><tr> 4 - <td colspan="2" > 5 - <p align="center"><strong><font size="2" face="Verdana">Controlling an Arm with the Bot Board (Basic Atom) and the SSC-32</font></strong></p> 6 - </td> 7 - </tr> 8 - <tr> 9 - <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 10 - </tr> 11 - <tr> 12 - <td valign="top" ><strong><font size="2" face="Verdana">Make the connection</font></strong><font size="2" face="Verdana"><br> 13 - Before I discuss how to write a program to control the arm, we need to make the serial data connection. The SSC-32 includes a short two 14 - conductor cable assembly. The black wire goes to ground and the yellow wire is for the signal. The .1" spaced end goes to the SSC-32 where 15 - it is marked with RX and the ground symbol. You will need to make sure the SSC-32 is set for 38.4k baud. It will be necessary to remove the DB9 16 - enable jumpers if present to make this connection. The yellow wire goes to RX, and the black wire goes to ground. The .2" spaced end goes 17 - to the Bot Board I/O pin 15. The black wire goes closer to the outside edge of the board, and the yellow wire goes closer to the IC. Note, the 18 - nylon standoff has been removed for this photo. </font></td> 19 - <td valign="top" align="center" width="50%"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/controlling-arm-bot-board-ssc-32/WebHome/bbssc32.jpg" width="320" height="240"><br> 20 - <font face="Verdana" size="2">Figure 1.</font></td> 21 - </tr> 22 - <tr> 23 - <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 24 - </tr> 25 - <tr> 26 - <td valign="top" ><strong><font size="2" face="Verdana">Enabling the servos</font></strong><font size="2" face="Verdana"><br> 27 - SSC-32 will not send out servo pulses until it receives the proper command. The program to the right will enable channels 10 through 15. This 28 - will make all of the servos go to their mid positions, or 1500uS. Note, all serout commands need to be one continuous line of text. If you cut 29 - and paste from here you will need to remove the CR's. Note, later you can substitute the 1500's with other starting positions to prevent the arm 30 - from jumping. </font></td> 31 - <td valign="top" bordercolor="#000000"> 32 - <table border="1" bordercolor="#FFFFFF"> 33 - <tbody><tr> 34 - <td bordercolor="#000000"><font face="Courier New" size="2">serout p15,i38400,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 35 - #14 P1500 #15 P1500",13] <br> 36 - <br> 37 - start:<br> 38 - goto start 'loop</font></td> 39 - </tr> 40 - </tbody></table> 41 - </td> 42 - </tr> 43 - <tr> 44 - <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 45 - </tr> 46 - <tr> 47 - <td valign="top" ><strong><font size="2" face="Verdana">Move the arm smoothly</font></strong><font size="2" face="Verdana"><br> 48 - The next program will move the arm from the initial position, to a new position, then to another new position, then cycle back and forth. The 49 - moves are slow and smooth. They will each take 2 seconds to complete. Note, these servo values are arbitrary, you will need to replace them with 50 - the actual positions you want the arm to move to. </font></td> 51 - <td valign="top" bordercolor="#000000"> 52 - <table border="1" bordercolor="#FFFFFF"> 53 - <tbody><tr> 54 - <td bordercolor="#000000"><font face="Courier New" size="2">serout p15,i38400,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 55 - #14 P1500 #15 P1500",13] <br> 56 - <br> 57 - start:<br> 58 - serout p15,i38400,["#10 P1400 #11 P1400 #12 P1400 #13 P1400 #14 P1400 #15 P1400 T2000",13]<br> 59 - pause 2000<br> 60 - serout p15,i38400,["#10 P1600 #11 P1600 #12 P1600 #13 P1600 #14 P1600 #15 P1600 T2000",13]<br> 61 - pause 2000<br> 62 - goto start 'repeat</font></td> 63 - </tr> 64 - </tbody></table> 65 - </td> 66 - </tr> 67 - <tr> 68 - <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 69 - </tr> 70 - <tr> 71 - <td valign="top" ><strong><font size="2" face="Verdana">Code specific to the arm</font></strong><font size="2" face="Verdana"><br> 72 - By using variables and the gosub command the code can be simplified to read easier. This program will accomplish the same thing as the previous 73 - one, but you can change the position with a name instead of a number. The first serout still uses the servo channel number though.</font></td> 74 - <td valign="top" bordercolor="#000000"> 75 - <table border="1" bordercolor="#FFFFFF"> 76 - <tbody><tr> 77 - <td bordercolor="#000000"><font face="Courier New" size="2">base var word 'Base rotate<br> 78 - shld var word 'Shoulder pivot<br> 79 - elbo var word 'Elbow pivot<br> 80 - wrst var word 'Wrist pivot<br> 81 - grip var word 'Gripper open/close<br> 82 - grpr var word 'Gripper rotate (L6 only)<br> 83 - ttm var word 'Amount of time to take to move<br> 84 - <br> 85 - serout p15,i38400,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 P1500",13] <br> 86 - <br> 87 - start:<br> 88 - 'first move...<br> 89 - base=1400: shld=1400: elbo=1400:<br> 90 - wrst=1400: grip=1400: grpr=1400: <br> 91 - ttm=2000<br> 92 - gosub send_data<br> 93 - <br> 94 - 'second move...<br> 95 - base=1600: shld=1600: elbo=1600: <br> 96 - wrst=1600: grip=1600: grpr=1600: <br> 97 - ttm=2000<br> 98 - gosub send_data<br> 99 - <br> 100 - 'add more moves here...<br> 101 - goto start<br> 102 - <br> 103 - send_data:<br> 104 - serout p15,i38400,["#10P", DEC base, "#11P", DEC shld, "#12P", DEC elbo, "#13P", DEC wrst, 105 - "#14P", DEC grip, "#15P", DEC grpr, "T", DEC ttm, 13]<br> 106 - pause ttm<br> 107 - return <br> 108 - </font></td> 109 - </tr> 110 - </tbody></table> 111 - </td> 112 - </tr> 113 - <tr> 114 - <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 115 - </tr> 116 - <tr> 117 - <td valign="top" ><strong><font size="2" face="Verdana">In conclusion</font></strong><font size="2" face="Verdana"><br> 118 - I hope you find this simple tutorial helpful. I will add more content in the future. Now you can control the Lynx arms easily and eloquently 119 - from a BASIC Atom / SSC-32.</font> 120 - <p><font size="2" face="Verdana">Happy Roboting,</font> 121 - </p><p><font size="2" face="Verdana">Jim Frye</font></p> 122 - </td> 123 - <td valign="top" ></td> 124 - </tr> 125 -</tbody></table> 126 -</body> 2 + 127 127 {{/html}}