Changes for page Controlling an Arm with the Bot Board (Basic Stamp 2) and the SSC-32
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... ... @@ -1,128 +1,158 @@ 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"}} 2 +<body bgcolor="#FFFFFF"> 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> 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> 128 128 {{/html}}