Changes for page Controlling an Arm with the Bot Board (Basic Stamp 2) and the SSC-32
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... ... @@ -1,158 +1,128 @@ 1 -{{html wiki="false" clean="true"}} 2 -<body bgcolor="#FFFFFF"> 1 +{{html wiki="false" clean="false"}} 2 +<style> 3 + .asm { font-family: Verdana, Helvetica, sans-serif; font-size: 14px; max-width: 960px; } 4 + .asm h1 { font-size: 18px; margin-bottom: 0.25rem; } 5 + .asm-step { background: #fff; border: 1px solid #ddd; border-radius: 8px; margin-bottom: 1.5rem; overflow: hidden; } 6 + .asm-step-header { background: #F5A800; display: flex; align-items: stretch; justify-content: space-between; } 7 + .asm-step-name { padding: 0.6rem 1rem; font-weight: bold; font-size: 15px; color: #2C1A00; } 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 320px; 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 + .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; } 14 + .asm-info { background: #f9f9f9; border: 1px solid #ddd; border-radius: 8px; padding: 1rem; margin-bottom: 1.5rem; font-size: 13px; line-height: 1.6; } 15 +</style> 3 3 4 -<table border="0" bordercolor="#FFFFFF" cellpadding="5"> 5 - <tbody><tr> 6 - <td colspan="2" > 7 - <p align="center"><strong><font size="2" face="Verdana">Controlling an Arm 8 - with the Bot Board (Basic Stamp 2) and the SSC-32</font></strong></p> 9 - </td> 10 - </tr> 11 - <tr> 12 - <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 13 - </tr> 14 - <tr> 15 - <td valign="top" ><strong><font size="2" face="Verdana">Make the 16 - connection</font></strong><font size="2" face="Verdana"><br> 17 - Before I discuss how to write a program to control the arm, we need to 18 - make the serial data connection. The SSC-32 includes a short two conductor 19 - cable assembly. The black wire goes to ground and the yellow wire is for 20 - the signal. The .1" spaced end goes to the SSC-32 where it is marked 21 - with RX and the ground symbol. It will be necessary to remove the DB9 22 - enable jumpers if present to make this connection. The yellow wire goes to 23 - RX, and the black wire goes to ground. The .2" spaced end goes to the 24 - Bot Board I/O pin 15. The black wire goes closer to the outside edge of 25 - the board, and the yellow wire goes closer to the IC. Note, the nylon 26 - standoff has been removed for this photo. These examples are for a BS2, 27 - BS2-E, or stamps with similar timing. The 6 in the "serout" 28 - command refers to non-inverted, 8 data bits, no parity communication with 29 - a baud rate of 38400.</font></td> 30 - <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-basic-stamp-ssc-32/WebHome/bbssc32.jpg" width="320" height="240"><br> 31 - <font face="Verdana" size="2">Figure 1.</font></td> 32 - </tr> 33 - <tr> 34 - <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 35 - </tr> 36 - <tr> 37 - <td valign="top" ><strong><font size="2" face="Verdana">Enabling 38 - the servos</font></strong><font size="2" face="Verdana"><br> 39 - SSC-32 will not send out servo pulses until it receives the proper 40 - command. The program to the right will enable channels 10 through 15. This 41 - will make all of the servos go to their mid positions, or 1500uS. Note, 42 - all serout commands need to be one continuous line of text. If you cut and 43 - paste from here you will need to remove the CR's. Note, later you can 44 - substitute the 1500's with another starting positions to prevent the arm 45 - from jumping.</font></td> 46 - <td valign="top" bordercolor="#000000"> 47 - <table border="1" bordercolor="#FFFFFF"> 48 - <tbody><tr> 49 - <td bordercolor="#000000"><font face="Courier New" size="2">serout 50 - 15,6,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 51 - P1500",13] <br> 52 - <br> 53 - start:<br> 54 - goto start 'loop</font></td> 55 - </tr> 56 - </tbody></table> 57 - </td> 58 - </tr> 59 - <tr> 60 - <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 61 - </tr> 62 - <tr> 63 - <td valign="top" ><strong><font size="2" face="Verdana">Move the 64 - arm smoothly</font></strong><font size="2" face="Verdana"><br> 65 - The next program will move the arm from the initial position, to a new 66 - position, then to another new position, then cycle back and forth. The 67 - moves are slow and smooth. They will each take 2 seconds to complete. 68 - Note, these servo values are arbitrary, you will need to replace them with 69 - the actual positions you want the arm to move to.</font></td> 70 - <td valign="top" bordercolor="#000000"> 71 - <table border="1" bordercolor="#FFFFFF"> 72 - <tbody><tr> 73 - <td bordercolor="#000000"><font face="Courier New" size="2">serout 74 - 15,6,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 75 - P1500",13] <br> 76 - <br> 77 - start:<br> 78 - serout 15,6,["#10 P1400 #11 P1400 #12 P1400 #13 P1400 #14 P1400 79 - #15 P1400 T2000",13] <br> 80 - pause 2000<br> 81 - serout 15,6,["#10 P1600 #11 P1600 #12 P1600 #13 P1600 #14 P1600 82 - #15 P1600 T2000",13] <br> 83 - pause 2000<br> 84 - goto start 'repeat</font></td> 85 - </tr> 86 - </tbody></table> 87 - </td> 88 - </tr> 89 - <tr> 90 - <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 91 - </tr> 92 - <tr> 93 - <td valign="top" ><strong><font size="2" face="Verdana">Code 94 - specific to the arm</font></strong><font size="2" face="Verdana"><br> 95 - By using variables and the gosub command the code can be simplified to 96 - read easier. This program will accomplish the same thing as the previous 97 - one, but you can change the position with a name instead of a number. The 98 - first serout still uses the servo channel number though.</font></td> 99 - <td valign="top" bordercolor="#000000"> 100 - <table border="1" bordercolor="#FFFFFF"> 101 - <tbody><tr> 102 - <td bordercolor="#000000"><font face="Courier New" size="2">base var 103 - word 'Base rotate<br> 104 - shld var word 'Shoulder pivot<br> 105 - elbo var word 'Elbow pivot<br> 106 - wrst var word 'Wrist pivot<br> 107 - grip var word 'Gripper open/close<br> 108 - grpr var word 'Gripper rotate (L6 only)<br> 109 - ttm var word 'Amount of time to take to move<br> 110 - <br> 111 - serout 15,6,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 112 - #15 P1500",13] <br> 113 - <br> 114 - start:<br> 115 - 'first move...<br> 116 - base=1400: shld=1400: elbo=1400:<br> 117 - wrst=1400: grip=1400: grpr=1400: <br> 118 - ttm=2000<br> 119 - gosub send_data<br> 120 - <br> 121 - 'second move...<br> 122 - base=1600: shld=1600: elbo=1600: <br> 123 - wrst=1600: grip=1600: grpr=1600: <br> 124 - ttm=2000<br> 125 - gosub send_data<br> 126 - <br> 127 - 'add more moves here...<br> 128 - goto start<br> 129 - <br> 130 - send_data:<br> 131 - serout 15,6,["#10P", DEC base, "#11P", DEC shld, 132 - "#12P", DEC elbo, "#13P", DEC wrst, 133 - "#14P", DEC grip, "#15P", DEC grpr, 134 - "T", DEC ttm, 13]<br> 135 - pause ttm<br> 136 - return <br> 137 - </font></td> 138 - </tr> 139 - </tbody></table> 140 - </td> 141 - </tr> 142 - <tr> 143 - <td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td> 144 - </tr> 145 - <tr> 146 - <td valign="top" ><strong><font size="2" face="Verdana">In 147 - conclusion</font></strong><font size="2" face="Verdana"><br> 148 - I hope you find this simple tutorial helpful. I will add more content in 149 - the future. Now you can control the Lynx arms easily and eloquently from a 150 - Basic Stamp 2 / SSC-32.</font> 151 - <p><font size="2" face="Verdana">Happy Roboting,</font> 152 - </p><p><font size="2" face="Verdana">Jim Frye</font></p> 153 - </td> 154 - <td valign="top" ></td> 155 - </tr> 156 -</tbody></table> 157 -</body> 17 +<div class="asm"> 18 + 19 + <h1 class="asm">Controlling an Arm with the Bot Board (Basic Stamp 2) and the SSC-32</h1> 20 + 21 + <!-- Section 1 --> 22 + <div class="asm-step"> 23 + <div class="asm-step-header"> 24 + <div class="asm-step-name">Make the Connection</div> 25 + </div> 26 + <div class="asm-step-body"> 27 + <div class="asm-step-text"> 28 + <p>The SSC-32 includes a short two-conductor cable assembly. The black wire goes to ground and the yellow wire carries the signal. The .1" spaced end connects to the SSC-32 at the pins marked RX and ground — remove any DB9 enable jumpers if present. Yellow goes to RX, black to ground.</p> 29 + <p>The .2" spaced end connects to Bot Board I/O pin 15. The black wire goes toward the outside edge of the board; the yellow wire goes toward the IC.</p> 30 + <p>These examples are for a BS2, BS2-E, or stamps with similar timing. The <code>6</code> in the <code>serout</code> command specifies non-inverted, 8 data bits, no parity, 38400 baud. All <code>serout</code> commands must be a single continuous line — remove any line breaks if copying from this page.</p> 31 + </div> 32 + <div class="asm-step-figure"> 33 + <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-stamp-ssc-32/WebHome/bbssc32.jpg"> 34 + <span>Figure 1 — Bot Board to SSC-32 serial connection.</span> 35 + </div> 36 + </div> 37 + </div> 38 + 39 + <!-- Section 2 --> 40 + <div class="asm-step"> 41 + <div class="asm-step-header"> 42 + <div class="asm-step-name">Enabling the Servos</div> 43 + </div> 44 + <div class="asm-step-body"> 45 + <div class="asm-step-text"> 46 + <p>The SSC-32 will not output servo pulses until it receives a valid command. The code below enables channels 10 through 15, sending all servos to mid-position (1500µs). Later you can substitute the 1500 values with a desired starting position to prevent the arm from jerking on startup.</p> 47 + <div class="code-block">serout 15,6,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 P1500",13] 48 + 49 +start: 50 +goto start 'loop</div> 51 + </div> 52 + </div> 53 + </div> 54 + 55 + <!-- Section 3 --> 56 + <div class="asm-step"> 57 + <div class="asm-step-header"> 58 + <div class="asm-step-name">Move the Arm Smoothly</div> 59 + </div> 60 + <div class="asm-step-body"> 61 + <div class="asm-step-text"> 62 + <p>This program moves the arm from its initial position to a new position, then to another, cycling back and forth. Each move takes 2 seconds to complete using the <code>T2000</code> time parameter. Replace the servo values with the actual positions you need.</p> 63 + <div class="code-block">serout 15,6,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 P1500",13] 64 + 65 +start: 66 +serout 15,6,["#10 P1400 #11 P1400 #12 P1400 #13 P1400 #14 P1400 #15 P1400 T2000",13] 67 +pause 2000 68 +serout 15,6,["#10 P1600 #11 P1600 #12 P1600 #13 P1600 #14 P1600 #15 P1600 T2000",13] 69 +pause 2000 70 +goto start 'repeat</div> 71 + </div> 72 + </div> 73 + </div> 74 + 75 + <!-- Section 4 --> 76 + <div class="asm-step"> 77 + <div class="asm-step-header"> 78 + <div class="asm-step-name">Code Specific to the Arm</div> 79 + </div> 80 + <div class="asm-step-body"> 81 + <div class="asm-step-text"> 82 + <p>Using variables and <code>gosub</code> makes the code easier to read and maintain. This program does the same as the previous one, but each joint is referenced by name. Only the initial <code>serout</code> still uses raw channel numbers.</p> 83 + <div class="code-block">base var word 'Base rotate 84 +shld var word 'Shoulder pivot 85 +elbo var word 'Elbow pivot 86 +wrst var word 'Wrist pivot 87 +grip var word 'Gripper open/close 88 +grpr var word 'Gripper rotate (L6 only) 89 +ttm var word 'Time to complete move (ms) 90 + 91 +serout 15,6,["#10 P1500 #11 P1500 #12 P1500 #13 P1500 #14 P1500 #15 P1500",13] 92 + 93 +start: 94 + 'first move... 95 + base=1400: shld=1400: elbo=1400: 96 + wrst=1400: grip=1400: grpr=1400: 97 + ttm=2000 98 + gosub send_data 99 + 100 + 'second move... 101 + base=1600: shld=1600: elbo=1600: 102 + wrst=1600: grip=1600: grpr=1600: 103 + ttm=2000 104 + gosub send_data 105 + 106 + 'add more moves here... 107 + goto start 108 + 109 +send_data: 110 + serout 15,6,["#10P", DEC base, "#11P", DEC shld, 111 + "#12P", DEC elbo, "#13P", DEC wrst, 112 + "#14P", DEC grip, "#15P", DEC grpr, 113 + "T", DEC ttm, 13] 114 + pause ttm 115 + return</div> 116 + </div> 117 + </div> 118 + </div> 119 + 120 + <!-- Conclusion --> 121 + <div class="asm-info"> 122 + <p><b>In Conclusion</b></p> 123 + <p>You can now control Lynxmotion arms easily and elegantly from a Basic Stamp 2 / SSC-32. More content will be added in the future.</p> 124 + <p>Happy Roboting,<br><b>Jim Frye</b></p> 125 + </div> 126 + 127 +</div> 158 158 {{/html}}