Robot Arm - Revision history

Joss: Note that the arm is long gone

2022-10-19T17:12:15Z

Note that the arm is long gone

2013-09-20T17:50:42Z

Status

← Older revision		Revision as of 12:50, 20 September 2013
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	==Status==		==Status==
	In ~~Progress~~. Need to complete the following:		Not being worked on. Need to complete the following:

	* Complete physical modifications to robot arm to allow it to reach all pieces on the board		* Complete physical modifications to robot arm to allow it to reach all pieces on the board
Line 47:		Line 47:
	* Make the robot arm code talk to a chess program		* Make the robot arm code talk to a chess program
	* Make the chess program talk to the chess vision code		* Make the chess program talk to the chess vision code
			* Make the arm not have terrible things happen when the servos heat up

	= External Links =		= External Links =

2012-02-29T03:24:00Z

Purpose

← Older revision		Revision as of 22:24, 28 February 2012
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	= Purpose =		= Purpose =
	The current purpose of the robot arm is to make an entity that can play chess against a human.		The current purpose of the robot arm is to make an entity that can play chess against a human.

			==Status==
			In Progress. Need to complete the following:

			* Complete physical modifications to robot arm to allow it to reach all pieces on the board
			* Calibrate arm base mount against chess board squares
			* Make the robot arm code talk to a chess program
			* Make the chess program talk to the chess vision code

	= External Links =		= External Links =

2012-01-20T23:32:31Z

← Older revision		Revision as of 18:32, 20 January 2012
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			= Software =

			The robot arm was purchased with the intent of being used to create a mechanical turk.
			The code going towards this goal lives in ~ssalbiz/arm, use "git clone ~ssalbiz/arm" to make a copy.

	= Hardware =		= Hardware =
	The arm is a [http://www.lynxmotion.com/c-130-al5d.aspx Lynxmotion AL5D].		The arm is a [http://www.lynxmotion.com/c-130-al5d.aspx Lynxmotion AL5D].

2012-01-19T02:32:06Z

External Links

← Older revision		Revision as of 21:32, 18 January 2012
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	= External Links =		= External Links =
			* a manual [http://www.lynxmotion.com/images/data/rios106h.pdf]
	* a manual
	* j3parker's [http://csclub.uwaterloo.ca/~j3parker/arm.png 3D model of the arm]		* j3parker's [http://csclub.uwaterloo.ca/~j3parker/arm.png 3D model of the arm]

2012-01-19T02:26:48Z

Servo key and degree of motion

← Older revision		Revision as of 21:26, 18 January 2012
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	== Servo key and degree of motion ==		== Servo key and degree of motion ==
	* 0 - ~~???~~		* 0 - Base
	* 1 - ~~???~~		* 1 - Shoulder
	* 2 - ~~???~~		* 2 - Elbow
	* 3 - ~~???~~		* 3 - Wrist
	* 4 - ~~???~~		* 4 - Grip
	* 5 - ~~???~~		* 5 - Wrist Rotate

	= Purpose =		= Purpose =

2011-12-20T19:06:53Z

Operation

← Older revision		Revision as of 14:06, 20 December 2011
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	</pre>		</pre>

			You can control multiple servos with one command
	S, T are optional as far as we are aware.
			<pre>
			#<servo id> P<position> S<speed> #<servo id> P<position> S<speed> T<time>
			</pre>

			S and T are optional parameters

	Key:		Key:
	* <servo id> - id of the servo being controlled (includes jaw)		* <servo id> - id of the servo being controlled (includes jaw)
	* <position> - servo rotation position, generally between (500,2500)		* <position> - servo rotation position, generally between (500,2500)
	* <speed> - speed of rotation; leaving this off generates fast movement, 400 seems like a "safe" value?		* <speed> - speed of rotation; 100 means 10s to rorate 90°; leaving this off generates fast movement, 400 seems like a "safe" value?
	* <time> - time it takes to ~~rotate~~ to ~~position?~~		* <time> - time it takes to complete the motion in ms; specified once for the entire motion

			if both speed(s) and time are specified, time is a "minimum" and speed is a "maximum", i.e. the motion will take at minimum T milliseconds, but servoA will move no faster than speed SA


	== Servo key and degree of motion ==		== Servo key and degree of motion ==

2011-12-19T20:53:01Z

External Links

← Older revision		Revision as of 15:53, 19 December 2011
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	= External Links =		= External Links =
	* a manual		* a manual
			* j3parker's [http://csclub.uwaterloo.ca/~j3parker/arm.png 3D model of the arm]

2011-12-19T20:51:03Z

Operation

@@ Line 7: / Line 7: @@
 #<servo id> P<position> S<speed> T<time>
 </pre>
 == Servo key and degree of motion ==

2011-12-19T20:45:14Z

Operation

← Older revision		Revision as of 15:45, 19 December 2011
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	= Operation =		= Operation =
	Currently the arm is controlled by interfacing directly with /dev/ttySx or /dev/ttyUSBx . The syntax for controlling this is by sending the following string to the board:		Currently the arm is controlled by interfacing directly with /dev/ttySx or /dev/ttyUSBx . The syntax for controlling this is by sending the following string to the board:
	<~~source~~>		<pre>
	#<servo id> P<position> S<speed> T<time>		#<servo id> P<position> S<speed> T<time>
	</~~source~~>		</pre>

	== Servo key and degree of motion ==		== Servo key and degree of motion ==