Robot Arm: Difference between revisions
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</pre> |
</pre> |
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You can control multiple servos with one command |
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S, T are optional as far as we are aware. |
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<pre> |
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#<servo id> P<position> S<speed> #<servo id> P<position> S<speed> T<time> |
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</pre> |
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S and T are optional parameters |
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Key: |
Key: |
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* <servo id> - id of the servo being controlled (includes jaw) |
* <servo id> - id of the servo being controlled (includes jaw) |
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* <position> - servo rotation position, generally between (500,2500) |
* <position> - servo rotation position, generally between (500,2500) |
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* <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? |
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* <time> - time it takes to |
* <time> - time it takes to complete the motion in ms; specified once for the entire motion |
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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 |
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== Servo key and degree of motion == |
== Servo key and degree of motion == |
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Revision as of 14:06, 20 December 2011
Hardware
The arm is a Lynxmotion AL5D.
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:
#<servo id> P<position> S<speed> T<time>
You can control multiple servos with one command
#<servo id> P<position> S<speed> #<servo id> P<position> S<speed> T<time>
S and T are optional parameters
Key:
- <servo id> - id of the servo being controlled (includes jaw)
- <position> - servo rotation position, generally between (500,2500)
- <speed> - speed of rotation; 100 means 10s to rorate 90°; leaving this off generates fast movement, 400 seems like a "safe" value?
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
- 0 - ???
- 1 - ???
- 2 - ???
- 3 - ???
- 4 - ???
- 5 - ???
Purpose
The current purpose of the robot arm is to make an entity that can play chess against a human.
External Links
- a manual
- j3parker's 3D model of the arm
