Robot Arm: Difference between revisions
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#<servo id> P<position> S<speed> T<time> |
#<servo id> P<position> S<speed> T<time> |
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</pre> |
</pre> |
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S, T are optional as far as we are aware. |
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Key: |
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* <servo id> - id of the servo being controlled (includes jaw) |
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* <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? |
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* <time> - time it takes to rotate to position? |
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== Servo key and degree of motion == |
== Servo key and degree of motion == |
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* 0 - ??? |
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* 1 - ??? |
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* 2 - ??? |
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* 3 - ??? |
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* 4 - ??? |
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* 5 - ??? |
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= Purpose = |
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The current purpose of the robot arm is to make an entity that can play chess against a human. |
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= External Links = |
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* a manual |
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Revision as of 15:51, 19 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>
S, T are optional as far as we are aware.
Key:
- <servo id> - id of the servo being controlled (includes jaw)
- <position> - servo rotation position, generally between (500,2500)
- <speed> - speed of rotation; leaving this off generates fast movement, 400 seems like a "safe" value?
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