15 Oct
2014
15 Oct
'14
4:29 p.m.
it looks like with remote mode, we can send and receive jobs, run those jobs (optionally
starting at a given line number), turn the servos on/off, monitor status, show messages on
the operator's console, lock out the console, etc. It doesn’t seem possible to
DIRECTLY move the arm. But we can send over a job and run it right away.
On Oct 15, 2014, at 4:03 PM, Jake <jake(a)spaz.org> wrote:
so in other words, you changed the robot from position
mode to rectangular mode, and now when you save jobs it saves them in rectangular
coordinates!??! that's awesome!!!
that means we can now use inkscape to make paths and translate them to robot moves! we
can put a sharpie in its hand and make it draw a doge!
all thanks to the secret password, which is 24.#4.#2 !!!!
is anyone good at inkscape? we need to figure out how to scale a path to the coordinates
range we are actually working with. We may be able to get the robot to do that for us
using User Coordinates.
all documentation at:
http://spaz.org/~jake/robot
also, i hear remote mode is unlocked, and we can send the robot commands over serial and
tell it to do whatever we want now?
-jake
note to readers: the coordinates below are X Y Z and then xyz angles for the hand/tool
orientation.
On Wed, 15 Oct 2014, Ben Burke wrote:
> I just converted a pendant-created program to relative coordinates in the ROBOT
frame. It worked. I just put a 1 in the SD parameter for the relative
> coordinate option.
> /JOB
> //NAME BEN
> //POS
> ///NPOS 34,0,0,0
> ///TOOL 0
> ///RECTAN
> ///RCONF 0,0,0,0,0
> C000=841.850,431.285,-24.031,153.49,-19.78,61.04
> C001=841.868,431.301,26.015,153.49,-19.78,61.04
> C002=1024.724,246.935,115.980,175.77,-6.28,55.89
> C003=1139.599,246.873,150.238,-168.57,4.45,55.61
> C004=1023.307,246.528,116.063,174.37,-7.24,56.01
> C005=944.093,250.128,116.025,164.36,-13.68,57.84
> C006=944.074,250.121,206.022,164.36,-13.67,57.83
> C007=1157.886,310.578,196.288,164.37,-13.67,57.82
> C008=1280.259,310.521,196.233,-178.63,-2.50,55.40
> C009=1318.013,301.638,250.390,-169.60,3.71,55.47
> C010=1262.185,321.511,250.349,178.06,-4.81,55.60
> C011=1215.764,446.717,250.350,178.06,-4.80,55.58
> C012=1194.850,551.920,71.792,178.07,-4.80,55.59
> C013=1239.865,544.783,86.880,-173.68,0.87,55.30
> C014=1281.986,544.669,97.014,-168.16,4.70,55.54
> C015=1204.958,551.890,86.981,-179.45,-3.10,55.39
> C016=1095.569,580.692,101.402,-179.45,-3.09,55.38
> C017=1001.956,699.477,101.341,-179.45,-3.09,55.39
> C018=967.744,796.700,101.381,-179.45,-3.09,55.40
> C019=1061.452,796.679,151.798,-162.78,8.31,56.14
> C020=1086.655,796.716,150.014,-159.53,10.42,56.65
> C021=982.191,796.760,139.229,-177.32,-1.66,55.28
> C022=902.985,796.740,241.817,174.74,-7.09,55.89
> C023=658.291,620.316,241.869,174.72,-7.11,55.93
> C024=667.288,620.309,110.510,179.25,-4.06,55.50
> C025=762.715,620.299,148.295,-167.87,4.83,55.61
> C026=796.947,620.316,164.506,-161.99,8.76,56.31
> C027=809.532,620.350,173.517,-159.00,10.70,56.83
> C028=752.333,573.557,386.353,-150.54,15.90,58.79
> C029=840.487,550.042,625.359,-130.63,25.76,65.94
> C030=672.425,602.284,625.356,-173.04,1.24,55.34
> C031=438.464,353.919,625.330,157.07,-18.07,59.85
> C032=793.038,398.967,330.071,157.08,-18.08,59.84
> C033=841.846,431.285,17.357,153.49,-19.78,61.03
> //INST
> ///DATE 2014/10/15 15:44
> ///ATTR 0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
> ///FRAME ROBOT
> NOP
> *1
> MOVJ C000 VJ=25.00 CONT
> PAUSE
> MOVJ C001 VJ=25.00 CONT
> MOVJ C002 VJ=15.00 CONT
> MOVJ C003 VJ=5.00 CONT
> TIMER T=2.70
> MOVJ C004 VJ=10.00 CONT
> MOVJ C005 VJ=25.00 CONT
> MOVJ C006 VJ=20.00 CONT
> MOVJ C007 VJ=25.00 CONT
> MOVJ C008 VJ=12.50 CONT
> MOVJ C009 VJ=12.50 CONT
> TIMER T=2.70
> MOVJ C010 VJ=25.00 CONT
> MOVJ C011 VJ=25.00 CONT
> MOVJ C012 VJ=25.00 CONT
> MOVJ C013 VJ=12.50 CONT
> MOVJ C014 VJ=12.50 CONT
> TIMER T=1.00
> MOVJ C015 VJ=25.00 CONT
> MOVJ C016 VJ=25.00 CONT
> MOVJ C017 VJ=25.00 CONT
> MOVJ C018 VJ=25.00 CONT
> MOVJ C019 VJ=12.50 CONT
> MOVJ C020 VJ=12.50 CONT
> TIMER T=1.00
> MOVJ C021 VJ=25.00 CONT
> MOVJ C022 VJ=25.00 CONT
> MOVJ C023 VJ=25.00 CONT
> MOVJ C024 VJ=25.00 CONT
> MOVJ C025 VJ=12.50 CONT
> MOVJ C026 VJ=12.50 CONT
> MOVJ C027 VJ=12.50 CONT
> MOVJ C028 VJ=12.50 CONT
> MOVJ C029 VJ=12.50 CONT
> TIMER T=2.00
> MOVJ C030 VJ=25.00 CONT
> MOVJ C031 VJ=25.00 CONT
> MOVJ C032 VJ=25.00 CONT
> MOVJ C033 VJ=25.00 CONT
> JUMP *1
> END
> On Oct 15, 2014, at 2:54 PM, Brendan Reddy-Best <b.d.reddybest(a)gmail.com>
wrote:
> I put a quadcopter drone on a shelf with a little "robots club, please hack
responsibly" but I wouldn't mind being more official. I've got a
> ton of chassis stuff around, and a bunch of servos and some other stuff.