AL5 Programming Tutorial - PS2 RC
Rev. 1.
Updated 04/30/2009.
Safety first! Wear eye protection and never touch a powered robot!
The purpose of this guide is to set up the robot arm to be controlled via a Playstation
2 game controller.
Note, the PS2 control programs have been verified to work with all Lynxmotion,
Madcatz, Pelican, and Hiteck wireless controllers. However, we cannot guarantee that future versions of the non-Lynxmotion controllers will
work. |
Image of arm. |
| |
Step 1.
Wire the Bot Board II and SSC-32 as shown in the schematic below. Make sure the jumpers are all correct.
Install the boards as shown in Figure 1 after all connections are complete and have been checked. |
Figure 1. |
| |
Step 2.
Configure the Bot Board as illustrated in Tables 2-1 and 2-2. Configure the SSC-32 as illustrated in Tables 2-3 and 2-4.
| Bot Board II
Jumpers |
| Connect |
6.0vdc battery to VS |
| Enable |
Speaker |
| Connect |
I/O 4-7 Power Bus to 5vdc |
| Connect |
VL to SSC-32's VL |
|
|
Table 2-1
|
| Bot Board II
Connections |
| P0 |
N/A |
P8 |
SSC-32 Data |
| P1 |
N/A |
P9 |
Speaker |
| P2 |
N/A |
P10 |
N/A |
| P3 |
N/A |
P11 |
N/A |
| P4 |
N/A |
P12 |
PS2 Data |
| P5 |
N/A |
P13 |
PS2 Command |
| P6 |
N/A |
P14 |
PS2 Select |
| P7 |
N/A |
P15 |
PS2 Clock |
|
|
Table 2-2 |
|
|
| SSC-32
Jumpers |
| Connect |
6.0vdc battery to VS |
| Connect |
9.0vdc battery to VL |
| Enable |
VS1 = VS2 |
| Enable |
38.4k baud |
| Enable |
TTL Serial Comm |
| Connect |
VL to Bot Board's VL |
|
|
Table 2-3
|
| SSC-32
Connections |
| P0 |
Base Rotate |
P3 |
Wrist |
| P1 |
Shoulder |
P4 |
Gripper |
| P2 |
Elbow |
P5 |
W Rotate |
|
|
Table 2-4 |
|
|
|
Schematic.
Double check your connections against the schematic below.
Schematic.
|
|
Step 3.
Download and install the proper IDE for the Atom you have. Find the section
referencing arm length constants. Remove the semicolons (remarks) from in front of the arm you are using. For example, if you are using an AL5B
arm with no wrist rotate, the text should look like Table 3-2.
Please consult the serial
troubleshooting guide if you have difficulties with this.
|
| Arm Selection in Program |
|
;AL5A
;Arm_Length con 94 ;3.75" = 94mm
;Forearm_Length con 108 ;4.25" = 108mm
;Hand_Length con 87 ;3.48" = 87mm (With no rotate)
;Hand_Length con 113 ;4.44" = 113mm (With LW rotate)
;Hand_Length con 100 ;3.94" = 100mm (With HD rotate)
;AL5B
Arm_Length con 119 ;4.66" = 119mm
Forearm_Length con 127 ;5.00" = 127mm
Hand_Length con 87 ;3.48" = 87mm (With no rotate)
;Hand_Length con 113 ;4.44" = 113mm (With LW rotate)
;Hand_Length con 100 ;3.94" = 100mm (With HD rotate)
;AL5C
;Arm_Length con 156 ;6.14" = 156mm
;Forearm_Length con 154 ;6.06" = 154mm
;Hand_Length con 87 ;3.48" = 87mm (With no rotate)
;Hand_Length con 113 ;4.44" = 113mm (With LW rotate)
;Hand_Length con 100 ;3.94" = 100mm (With HD rotate)
;AL5D
;Arm_Length con 147 ;5.79" = 147mm
;Forearm_Length con 187 ;7.36" = 187mm
;Hand_Length con 87 ;3.48" = 87mm (With no rotate)
;Hand_Length con 113 ;4.44" = 113mm (With LW rotate)
;Hand_Length con 100 ;3.94" = 100mm (With HD rotate)
;L6
;Arm_Length con 121 ;4.75" = 121mm
;Forearm_Length con 121 ;4.75" = 121mm
;Hand_Length con 146 ;5.75" = 146mm
;L5
;Arm_Length con 95 ;3.75" = 95mm
;Forearm_Length con 95 ;3.75" = 95mm
;Hand_Length con 127 ;5.00" = 146mm |
|
|
Table 3-2
|
|
| |
Step 4.
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 4-1
|
|