Here is the new SSC-32 (2.01XE) Users Manual.
lynxmotion.com/images/html/build136.htm
Here is the new SSC-32 (2.01GP beta 1) Users Manual.
lynxmotion.com/images/html/build137.htm
We are still adding content and polishing them up, but they are very close to being completed. Please let us know if you find any typos or inaccuracies in the pages. If you think of any other useful information we could add to them let us know! Thanks, Jim
lynxmotion.com/ViewPage.aspx … ID=70#serv
The servo offset feature, which aligns all the servos to “1500” applies to the version 1 ssc-32 as well right?
What’s the difference between the v1 and v2 SSC-32 for this feature?
The v2 stores the offsets in the processors EEPROM, the v1 has to be told what the offsets are each time it’s powered on.
’ Configure the SSC-32 for 38.4k baud.
servo0pw var word
movetime var word
servo0pw = 1000
movetime = 2500
start:
servo0pw = 1000
serout p0,i38400,"#0P",DEC servo0pw,“T”,DEC movetime,13]
pause 2500
servo0pw = 2000
serout p0,i38400,"#0P",DEC servo0pw,“T”,DEC movetime,13]
pause 2500
goto start
’ Biped example program.
aa var byte '<- general purpose variable.
rax var word '<- right ankle side-to-side. On pin0
ray var word '<- right ankle front-to-back. On pin1
rkn var word '<- right knee. On pin2
rhx var word '<- right hip front-to-back. On pin3
rhy var word '<- right hip side-to-side. On pin4
lax var word '<- left ankle side-to-side. On pin5
lay var word '<- left ankle front-to-back. On pin6
lkn var word '<- left knee. On pin7
lhx var word '<- left hip front-to-back. On pin8
lhy var word '<- left hip side-to-side. On pin9
ttm var word '<- time to take for the current move.
’ First command to turn the servos on.
for aa=0 to 9
serout p0,i38400,"#", DEC2 aa\1, “P”, DEC 1500, 13]
next
start:
’ First position for step sequence, and time to move, put in your values here.
rax=1400: ray=1400: rkn=1400: rhx=1400: rhy=1400
lax=1400: lay=1400: lkn=1400: lhx=1400: lhy=140 0
ttm=1000
gosub send_data
pause ttm
’ Second position for step sequence, and time to move, put in your values here.
rax=1600: ray=1600: rkn=1600: rhx=1600: rhy=1600
lax=1600: lay=1600: lkn=1600: lhx=1600: lhy=1600
ttm=1000
gosub send_data
pause ttm
’ Third…
’ Forth…
’ Etc…
goto start
’ This sends the data to the SSC-32. The serout is all one line, no Wrap!
send_data:
serout p0,i38400,"#0P",DEC rax,"#1P",DEC ray,"#2P",DEC rkn,"#3P",DEC rhx,"#4P",DEC
rhy,"#5P",DEC lax,"#6P",DEC lay,"#7P",DEC lkn,"#8P",DEC lhx,"#9P",DEC lhy,“T”,DEC
ttm,13]
return
When i copy and paste the Basic AtomProgramming Examples for the SSC-32 file at the end of this document, when i compile this on the atom i get the following 2 errors
Error: FILE C:\PROGRAM FILES\POWERPOD\SSC32EX.BAS(LINE 33) : [TOKEN START] : Unknown Command
Error: FILE C:\PROGRAM FILES\POWERPOD\SSC32EX.BAS(LINE 35) : [TOKEN RAX] : Compiler error!!!, USERCMD
Can someone help me out as im just trying to understand the language or does this not compile and i have to create my own program from using bits of the above?
Cheers
Yep, I did a cut and paste of the program at the end of the document and it does have compile problems. Here is why:
There appears to be two programs in this example: If you look at the first about 12 lines, it is a simple program that loops on the label of Start.
Then following this is a more complex example that also has a label called Start and this is what is causing the compiler errors. I believe if you delete everything down to the line 'Biped Example program it will work fine. Likewise you could delete from 'Biped… to the end and it will compile as well.
I hope this helps.
Kurt
Ack, that’s exactly what the problem is. Sorry for the confusion there; I’ve fixed the documentation:
lynxmotion.com/images/html/build136.htm#baex
From lynxmotion.com/images/html/build136.htm:
Servo Move Example: "#5 P1600 #17 P750 #2 P2250 T2000 "
The example provides 1600uS on ch5, 750uS on ch17, and 2250uS on ch2. The entire move will take at least 2 seconds, but ch17 will not move faster than 500uS per second.
How come? I understood if there would be S500 for #17.
I can’t believe this typo has been up there for this long. We are fixing it…
