I have an L6 arm, but not the RIOS software.
I was wondering what the RIOS software can output for the BA? Is it just positions?
I would love to be able to make linear moves, or control the position of the gripper rather than the angle of each servo.
Is there code for this? Or a way to calculate it simply on a microcontroller?
I was planning to code in C, but I will try to figure out any Basic code if there is some.
Just wondering how this has been done before? I want to use simple inputs to move up or down, right or left etc. And let the microcontroller figure the rest out.
Yes exported programs are only the discrete positions. RIOS does point to point interpolation when it plays.
Hello Steve,
This should help you a great deal. It’s a basic atom program for controlling the L5 or L6 arm with IK via a PS2 game controller. You should be able to rip out the PS2 stuff if you want to use another mode of control.
If you are looking for autonomous movements you need to write an inverse kinematic function that will convert the ARM final position into angles for each of the servos and vice versa.
You can write a C program and then send the servo commands via serial I/O to the servo controller or write a Basic Atom program. The only problem with the later is that you don’t have ATAN functions. So you need to use an interpolation of it. The Atom Boat Board also only has integer arithmetics.
