5dof arm home position

Lynxmotion Robot Arms
21

Well at least he did not have to check wich one of these wires was loose. That WOULD make your head hurt! :open_mouth:

http://aspasia.mm.di.uoa.gr/~rouvas/backgrounds/tobe/WIRES_01.jpg

22

THATS INSANE! whats that a pic of? :open_mouth:

23

I thought I saw something from Linuxguy… Oh well… Guess I’m seeing things again :laughing: :stuck_out_tongue:

24

Sneaky sneaky… :smiley: Now MY haid is gonna hurt. :stuck_out_tongue:

8-Dale

25

Ok, hehehe. lets get back to programming the arm a bit. Because the 5DOF arm will not always be in use, I want to have a “home position” for it to collapse into that way it saves energy. I want to enable this by pressing the “O” button and wake them up by pressing the SQAURE button. How can I accomplish this with the lynx 6 code?

26

Well, I haven’t looked very deeply into the code, but I found where Laurent starts checking to see what buttons were pressed:

;Arm if (DualShock(2).bit6 = 0) and LastButton(1).bit6 then ;Cross Button test ParkArm = 1 elseif (DualShock(2).bit4 = 0) and LastButton(1).bit4 ;Triangle Button test

I’d try sticking some code in here, like this:

;Arm ;*******Your code starts here********* if (DualShock(#).bit# = 1 then ;replace the two numbers with the byte number (probably 2) and the bit number of the O button. ;you can find those numbers on one of the two ATOM PS2 tutorials. ;******Your home position starts here****** ;Send the servos to the home position, using the appropriat command (i believe that's HSERVO, in your programming language. ;******Your home position ends here****** endif ;*******Your code ends here********* if (DualShock(2).bit6 = 0) and LastButton(1).bit6 then ;Cross Button test ParkArm = 1 elseif (DualShock(2).bit4 = 0) and LastButton(1).bit4 ;Triangle Button test

There might be other things that would interfere with that, as I see a lot of flags being set (i.e. ParkArm = 1).
So you might get problems with the simple code above if you press both the O and another button, but I’m guessing that bad things would happen if you do that.

27

hmmmm…ok, ill look into it. thanks nick :laughing:

28

Ok, heres the deal now. I forget all about the home position becuase I solved that just by dissableing the servos with the triangle button (didnt know I could do that at first, sorry :blush: ).

Now heres the new problem :open_mouth:

The program dosnet really work well with this arm. When I try and do movements many servos move at once and keep doing stupid things. Its hard to explain. But anyways, what this program is not doing is giving me the freedome I need with this arm.

To allow the arm to have the freedome of any movement. I need to make a program that will allow me to move each servo seperately. This will also be a comfort boost becuase you can image how hard it will be to controll the arm and drive the rover at the same time while viewing all this on a camera.

How can I do this? I know it will be challenging as I know NOTHING about programming and have no time to learn becuase the competition is in a month. Can someone explain how this can be done or possibly make a simple program that allows the PS2 controller to controll each servo to move forward and backwards with 2 buttons each??

Thanks. I know this is alot to ask of, but it will be doing me a huge favor. Thanks anyways, and sorry about the long post.