Last modified by Eric Nantel on 2026/04/06 11:03
From version < 5.1
edited by Eric Nantel
on 2026/04/06 11:03
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edited by Eric Nantel
on 2023/01/19 13:30
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1 -ses-v1.ses-v1-robots.ses-v1-arms.WebHome
1 +servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.WebHome
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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>
1 +{{html wiki="false" clean="true"}}
17 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">&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>
140 140  {{/html}}
bbssc32.jpg
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