Dear all
I would like to achieve the grasping and placing task for a robotic arm AL5B and Botboarduino. I’ve read through the following link and the three code examples provided by Robotshop. al5d-finding-xyz-position-t13621#p121105
I really appreciate if anybody could help me please to achieve my target. Also, I have some questions below which might help more to understand the code.
1- In the code there are X,Y,Z, G, WA variables which are different than z,y,z,g,wa. So in this case what the following code statement means:
int Arm(float x, float y, float z, int g, float wa) and what valuesz,y,z,g,wa will take? beacuse they are not already defined.
2- For the calculations ofA1, A2, Wris, …etc, each angle will be based on the values ofz,y,z,g,w. So whatever new values I put, new joint angle will yield to take the arm end effector to the new position?
3- I noticed in the code, the statements for the elbow and shoulder are based on the following:
Elb.writeMicroseconds
Shldr.writeMicroseconds
However for the Wrist and Base are based on the following statement:
Wrist.write(180 - Wris);
Base.write(z);
Why this is not consistent?
4- In the " void loop()"
As I only need the the end effector to get a reachable point to grasp the object and place it on a different point, What I need to put inside this loop? Could you advise me please?
I was thinking about something like the following:Base.write(Z);
delay(1000); Shldr.write(Shoulder);
delay(1000);
Elb.write(180 - Elbow);
delay(5000); Wrist.write(180 - Wris);
delay(5000);Gripper.write(Y);
delay(5000);
But these were already written in the “void setup()” so what should be added to the loop function?.
Many thanks