L5/L6 Programming Tutorial - PS2 RC
Rev. 1.

Updated 11.07.06

Safety first! Wear eye protection and never touch a powered robot!

Note, the PS2 control programs have been verified to work with all Lynxmotion, Madcatz, Pelican, and Hiteck wireless controllers only.
Image of arm.
 
Step 1. Refer to Tables 2-1 through 3-2 for connection information.

First, make the serial data connection. The SSC-32 includes a short two-conductor cable assembly. The black wire goes to ground and the yellow wire is for the signal. The .1" spaced end goes to the SSC-32 where it is marked with RX and the ground symbol. It will be necessary to remove the DB9 enable jumpers if present to make this connection. The yellow wire goes to RX, and the black wire goes to ground. The .2" spaced end goes to the Bot Board I/O pin 15. The black wire goes closer to the outside edge of the board, and the yellow wire goes closer to the IC. Note, the nylon standoff has been removed for this photo.
Figure 1.
 
Step 2. Configure the Bot Board as illustrated in Tables 2-1 and 2-2.
 
Bot Board Jumpers
Connect 7.2vdc battery to VS
Enable Speaker
Connect I/O 4-7 Power Bus to VL
Connect VL to SSC-32's VL

Table 2-1
Bot Board Connections
P0 N/A P8 N/A
P1 N/A P9 Speaker
P2 N/A P10 N/A
P3 N/A P11 N/A
P4 PS2 Data P12 N/A
P5 PS2 Command P13 N/A
P6 PS2 Select P14 N/A
P7 PS2 Clock P15 SSC-32 Data

Table 2-2
 
Step 3. Configure the SSC-32 as illustrated in Tables 3-1 and 3-2.
 
SSC-32 Jumpers
Connect 7.2vdc battery to VS
Enable VS1 = VS2
Enable 38.4k baud
Enable TTL Serial Comm
Connect VL to Bot Board's VL

Table 3-1
SSC-32 Connections
P8 Base Rotate P25 Wrist
P9 Shoulder P26 Gripper
P24 Elbow P27 W Rotate

Table 3-2
 
Step 4. Open this file (l5l6p1.bas) with the BASIC Atom editor. Find the section referencing L5 and L6 arm length constants. Remove the semicolons (remarks) from in front of the arm you are using. For example, if you are using an L6 arm, the text should look like Table 4-1.
Arm Selection in Program

;L6
Arm_Length con 121      ;4.75" = 121mm (4.75 * 25.4)
Forearm_Length con 121  ;4.75" = 121mm (4.75 * 25.4)
Hand_Length con 146     ;5.75" = 146mm (5.75 * 25.4)

;L5
;Arm_Length con 95       ;3.75" = 95mm (3.75 * 25.4)
;Forearm_Length con 95   ;3.75" = 95mm (3.75 * 25.4)
;Hand_Length con 127     ;5.00" = 146mm (5.00 * 25.4)

Table 4-1
 
Step 5. Consult Table 5-1 for information on controlling the arm.

   - Video of L6 arm (on 4WD1); assorted movements.
   - Video of L6 arm (on 4WD1); arm base rotate.
PS2 Controls (Arm Control Mode)
L Joy U Gripper Up R Joy U Gripper Angle Up
L Joy D Gripper Down R Joy D Gripper Angle Down
L Joy L Gripper Back R Joy L Base Rotate Left
L Joy R Gripper Away R Joy R Base Rotate Right
L1 Gripper Close R1 Wrist Rotate CW
L2 Gripper Open R2 Wrist Rotate CCW
L3 Reverses L Joy L/R R3 N/A
D-Pad U N/A Tri Enable/Disable Arm
D-Pad D N/A X Go to Home Position
D-Pad L N/A Squ N/A
D-Pad R N/A O N/A
Start N/A Select N/A

Table 5-1