I have a a question about the FSR. As I saw in the assembly guide this should be connected on the analog input of the SSC-32 and gives a value between 0 and 255 according to the 0-5V sent. What if I want to create the code to control the servo from gripper using this FSR, how will I know when to stop the servo, which is the right value?
I see that using RIOS gives an easy control. But if I want to do it on my own, by reading the value from c++, how will I be able to control the servo?
Write a program to allow you to operate the gripper servo, and read the values. As you close on an object, stop when you have sufficient pressure, and observe the FSR value reported. Experiment! You should be able to determine a threshold value needed for holding the object.
I think perhaps you’ve misunderstood. The FSR value you can think of like a pressure value - it’s telling you how much pressure the gripper is exerting on an object. Let’s say you have several differently sized Lego blocks that you would like the arm to move. Once you find the ideal FSR value for picking up a Lego block via the method KM6VV suggested, that value will work for any of the Lego blocks, no matter the size.
The FSR value doesn’t really have anything to do with how open or closed the gripper is, except in relation to the object it is holding.
Now, if you’re trying to pick up, say, a Lego block and a cotton ball, well, then you may run into trouble with using the FSR value, but if you’re picking up objects of similar composition and varying size, you ought to be fine.
Yes, this was really helpfull!
I understand now: it is about the pressure force, the same upper threshold for gripper to stop squeezing, no matter what object.
This adds a new challenge to my robotic arm project!
