Changes for page Controlling an Arm with the Bot Board (Basic Stamp 2) and the SSC-32
Last modified by Eric Nantel on 2026/04/06 14:32
edited by Eric Nantel
on 2026/04/06 14:32
on 2026/04/06 14:32
edited by Eric Nantel
on 2023/01/19 13:39
on 2023/01/19 13:39
Change comment: There is no comment for this version
Summary
-
Page properties (2 modified, 0 added, 0 removed)
-
Attachments (0 modified, 0 added, 1 removed)
Details
- Page properties
-
- Parent
-
... ... @@ -1,1 +1,1 @@ 1 -ses- v1.ses-v1-robots.ses-v1-arms.WebHome1 +servo-erector-set-robots-kits.ses-v1-robots.ses-v1-arms.WebHome - Content
-
... ... @@ -1,128 +1,3 @@ 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> 1 +{{html wiki="false" clean="true"}} 16 16 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> 128 128 {{/html}}
- bbssc32.jpg
-
- Author
-
... ... @@ -1,1 +1,0 @@ 1 -xwiki:XWiki.ENantel - Size
-
... ... @@ -1,1 +1,0 @@ 1 -18.0 KB - Content