Difference between revisions of "Robot Arm"

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</pre>
 
</pre>
   
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You can control multiple servos with one command
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
   
 
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?
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* <speed> - speed of rotation; 100 means 10s to rorate 90&deg;; leaving this off generates fast movement, 400 seems like a "safe" value?
* <time> - time it takes to rotate to position?
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* <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 ==

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