Changes for page Controlling an Arm with the Bot Board (Basic Atom) and the SSC-32
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... ... @@ -1,127 +1,140 @@ 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> 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> 17 + 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"> </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"> </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"> </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"> </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"> </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> 127 127 {{/html}}