Difference between revisions of "Robot Arm"

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#<servo id> P<position> S<speed> T<time>
 
#<servo id> P<position> S<speed> T<time>
 
</pre>
 
</pre>
  +
  +
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?
  +
* <time> - time it takes to rotate to position?
   
 
== Servo key and degree of motion ==
 
== 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

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