15 Oct
2014
15 Oct
'14
4:03 p.m.
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.