Controlling an Arm with the Bot Board (Basic Stamp 2) and the SSC-32

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	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>
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	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">
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	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>
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	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>
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	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>
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	140	</td>
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	142	<tr>
	143	<td valign="top" colspan="2"><font size="1" face="Verdana"> </font></td>
	144	</tr>
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	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>
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