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Moving Discrete Distances

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Now that I have part of Wiggins (my robot arm's name) built with multiple motors and multiple sabertooth/kangaroos all of which are being driven by digital ports on EZ-B and speech recognition via bluetooth headset configured on the computer... I am not using a movement control, only things like Horizontal servo which configured will move a kangaroo controlled motor from 0 to 180. The kangaroo is Teach Tuned to drive left and right from 0 to 360 degrees and the feedback is a 10 turn potentiometer on the pinion of the gear motor.

What I want is to tell Wiggins to turn left a certain number of degrees, for example. So the swivel for Wiggins' arm is a single gear motor driven pivot that rotates 360 degrees and is controlled by a Horizontal servo control so that it moves the full 360 degrees using the 0-180 on the control. Is there a control that turns left and right 180 degrees?

What I want is to be able to tell Wiggins to move a discrete variable distance. For example," Wiggins - rotate left 32 degrees". Or "Wiggins - rotate to 090".

One of these is movement from the current position and then left 32 degrees. The other is to rotate to a constant location.

How do I do this?

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#41  

Hi guys,

This is great information! I will definitely reconstruct the model with your ideas as I test out code when the EZ-B arrives hopefully next week. Sorry for the noise but I am uploading one of my photos of Wiggins that I rotated. I'm curious to see if it comes out correctly. It is a photo taken with my iPhone 6+ and I have rotated it 90 degrees to the right (clockwise). Let's see if it comes out right side up. Again, sorry for the bandwidth.

Castle

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#43  

Weird - I guess you have to rotate it to the right and save it, then rotate it back and save it and then it comes out correct. Something to remember, at least for me.

Again, sorry for the bandwidth.

Castle

#44  

I was looking through the ARC manual and it looks like the servoup and servodown the code will really help with moving without having to identify current position. Any experience with thus guys?

#45  

I use it all the time.

Here is a script example I have to open the hand on my Roli. It is triggered as long as I am holding down a key on my joystick or the O key on my keyboard. If the of the servo goes above 90, it does nothing.


RepeatWhile(GetServo(D13) < 90)
  ServoUp(D13, 2)
Sleep(150)
EndRepeatWhile

Alan

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