[sudo-discuss] robot has rectangular coordinate support now!!!

[Ben Burke]

Yeah. We can now program in cartesian coordinates and use remote mode. After you change an SD config option you just reboot the robot and hope it didn’t get bricked. 

You can still save jobs in pulse codes if you want, but you can now save them in relative mode (x,y,z) or convert existing jobs to relative mode, as explained in the Software Options document.

OP1
R-JOB
Other Job
To XYZ
ROBOT
Execute


On Oct 15, 2014, at 4:03 PM, Jake <jake at 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 at 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.