Servo

RobotArm

This page documents the LX-16A servo robot arm:

OBS: Magnet needs to have a DIODE - It need to be the right way in relation to pluys and minus!!

The commands are sent via serial 115200 baud as JSON on a single line, and "\ n" is used as the end of the command:

{"cmd":"getRelayValue"} // gets state of relay

{"cmd":"begin"} // starts a transaction

{"cmd":"end"} // starts a transaction

{"cmd":"init"} // init check

{"cmd":"hello"} // hello world check

{"cmd":"setRelay","value":true} // sets relay

{"cmd":"setServoPos","value":460,"time":500, "id":1} // sets servo with time

{"cmd":"setServoPos","value":460,"speed":5, "id":1} // sets servo with speed

{"cmd":"setServoPos","trans":true, "value":460, "time":500, "id":1} /trans mode

{"cmd":"getColor"}

{"cmd":"getServoPos","id":1}

Time is in ms and speed is in degrees pr second.

Often it is relevant to make sure that a whole transaction has happened before an new move is initiated:

{"cmd":"begin"}

{"cmd":"setServoPos","value":460, "speed":500, "id":1}

{"cmd":"setServoPos","value":460, "speed":500, "id":2}

{"cmd":"setServoPos","value":460, "speed":500, "id":3}

{"cmd":"end"}

If you only want to move one motor you can also do:

{"cmd":"setServoPos","trans":true, "value":460, "time":500, "id":1}

Debugging can be done by sending commands through the serial monitor - they need to be in one-line json format with a newline for end of command.

Installation

Download the latest folder in the Arduino folder
If using the yellow keyStudio board then you need to install the driver
Extract the folder.
Make sure that the folder name is miniRobotIno_X and inside there are all the ino files.
Install the libraries
- Arduino_JSON
- Adafruit_TCS34725
Double-click the miniRobotIno_X.ino to open the project.
Choose an Arduino Uno board and press compile/upload.

This is how the folder should look.

This is how the project should look. Notice the tabs with the different parts.

A custom interface has been made to interact with the robot

Steps to get the p5 up and running:

Create a p5js account
Load this sketch: https://editor.p5js.org/servoRobot/sketches/1tQqZhA_e
duplicate the sketch so you have your own.
Run your own sketch.
Connect to the arduino button with the connect button.
First time on a new computer:
- Press the load json button. => retrieves the different positions from from server from the positions.json file.
- Press a position for the robot to go to (e.g. “START_1”). => moves the robot to a position.
- Press the Save position for the same position (e..g “START_1”) => saves all the positions as cookies so it is preset on the next refresh/run.
- Place each color on the color sensor and save the color according to the numbers below:
  - let GREEN = 0;
  - let BLUE = 1;
  - let RED = 2;
You can press “a” to toggle admin interface. When admin interface is hidden the robot autostarts on play.
solution.js contains a solution program to run.
code should be written in function robotProgram in sketch.js

Code, 2D and 3D models can be found here