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

[Ben Burke]

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 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.