Difference between revisions of "Component: Robot Arm AllCode SIM (AllCode)"
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==Examples== | ==Examples== | ||
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{{Fcfile|Industrial_Tanks.fcsx|Industrial Tanks}} | {{Fcfile|Industrial_Tanks.fcsx|Industrial Tanks}} | ||
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Revision as of 14:13, 20 January 2023
| Author | Matrix TSL |
| Version | 1.0 |
| Category | AllCode |
Contents
Robot Arm AllCode SIM component
Matrix 5-axis Robot Arm with Gripper. Compatible with the Matrix Robot ARM Training Curriculum and Hardware. Features gripper pressure sensor, light sensor, colour sensor, Potentiometer, Magnetic sensor.
Component Source Code
Please click here for the component source code: FC_Comp_Source_RA_Simulation_Source.fcfx
Detailed description
No detailed description exists yet for this component
Examples
Industrial Tanks
A simple example showing the hoppers, valves and pipes working together. Each tank automatically empties in turn.
Macro reference
|
LEDOn |
| Switches on a single LED, LA0-LA7 | |
 - BYTE
|
Index |
| 0=LA0, 1=LA1, 2=LA2, 3=LA3, 4=LA4, 5=LA5, 6=LA6, 7=LA7 | |
 - VOID
|
Return |
|
|
StoreCoords |
| Stores the provided coordinates as a position the ARM can recall. | |
| - BYTE
|
Index |
| Save Index - Range 0-29 | |
| - BYTE
|
Position0 |
| Range: 0-180 | |
| - BYTE
|
Position1 |
| Range: 0-180 | |
| - BYTE
|
Position2 |
| Range: 0-180 | |
| - BYTE
|
Position3 |
| Range: 0-180 | |
| - BYTE
|
Position4 |
| Range: 0-180 | |
| - VOID
|
Return |
|
|
LCDClearLine |
| Clears a single line on the display and then moves the cursor to the start of the line to allow you to start populating the line with data. | |
| - BYTE
|
Line |
| The line to clear, zero being the first (top) line of the display | |
| - VOID
|
Return |
|
|
LEDOff |
| Switches off a single LED, LA0-LA7 | |
| - BYTE
|
Index |
| 0=LA0, 1=LA1, 2=LA2, 3=LA3, 4=LA4, 5=LA5, 6=LA6, 7=LA7 | |
| - VOID
|
Return |
|
|
SetMovementSpeed |
| Controls the speed of the robot movement | |
| - BYTE
|
MovementSpeed |
| 1=Normal Speed (Default), 2=DoubleSpeed | |
| - VOID
|
Return |
|
|
LEDWrite |
| Allows a value to be sent to control all eight LEDs LA0-LA7 at once | |
| - BYTE
|
Value |
| (0-63) 0b000000 | |
| - VOID
|
Return |
|
|
LinearInterpolation |
| Moves the robot to the new position so that all axis arrive at the same time. | |
| - BYTE
|
pos0 |
| - BYTE
|
pos1 |
| - BYTE
|
pos2 |
| - BYTE
|
pos3 |
| - BYTE
|
pos4 |
| - VOID
|
Return |
|
|
GripperOpen |
| Fully opens the gripper at the end of the arm ready to pick something up. | |
| - VOID
|
Return |
|
|
ReadSwitch |
| Read the value of a single switch. Returns the value as a byte | |
| - BYTE
|
index |
| 0=SA0, 1=SA1, 2=SA2, 3=SA3, 4=SA4, 5=SA5, 6=SA6, 7=SA7 | |
| - BYTE
|
Return |
|
|
LCDPrintStr |
| Breaks down a string of text and sends it to the LCD via the private RawSend(byte, mask) macro | |
 - STRING
|
PrintString |
| Enter the text or variable to print to the LCD | |
| - VOID
|
Return |
|
|
SetAllServos |
| Move all the servo positions between 0-180 Deg | |
| - BYTE
|
Servo0_Base |
| Position of servo0 in degrees (0-180) | |
| - BYTE
|
Servo1_Shoulder |
| Position of servo1 in degrees (0-180) | |
| - BYTE
|
Servo2_Elbow |
| Position of servo2 in degrees (0-180) | |
| - BYTE
|
Servo3_Wrist |
| Position of servo3 in degrees (0-180) | |
| - BYTE
|
Servo4_WristRotate |
| Position of servo4 in degrees (0-180) | |
| - VOID
|
Return |
|
|
Park |
| Parks the Robot ARM and switches off the servo motors | |
| - VOID
|
Return |
|
|
StorePosition |
| Stores the current position of the ARMs 5 axis. | |
| - BYTE
|
Index |
| Save Index - Range 0-29 | |
| - VOID
|
Return |
|
|
ReadPressure |
| Read the value of the pressure sensor on the ARM gripper. Returns the value as a byte | |
| - BYTE
|
Return |
|
|
GotoPosition |
| Recalls a previously saved position for the ARMs 5 axis. | |
| - BYTE
|
Index |
| Save Index - Range 0-29 | |
| - VOID
|
Return |
|
|
MotorsMoving |
| Checks to see if any of the motors are still moving. | |
| - BYTE
|
Return |
|
|
Beep |
| Allows the beeper to output a warning | |
| - BYTE
|
Iterations |
 - UINT
|
OnDelay |
| Delay in ms | |
| - UINT
|
OffDelay |
| Delay in ms | |
| - VOID
|
Return |
|
|
SetTrim |
| Allows minor adjustment on the 5 axis servo motors | |
| - BYTE
|
Index |
| Motor Index Range 0-4 | |
| - BYTE
|
Trim |
| Amount of Trim Range 0-255, Default Value 128 | |
| - VOID
|
Return |
|
|
SetServo |
| Move the specified servo motor position between 0-180 Deg | |
| - BYTE
|
Index |
| Range 0-4 : 0=Base, 1=Shoulder, 2=Elbow, 3=Wrist, 4=WristRotate | |
| - BYTE
|
Position |
| Position of servo in degrees (0-180) | |
| - VOID
|
Return |
|
|
GripperClose |
| Fully closes the gripper at the end of the arm ready to pick something up. Closes to a defined pressure using the built in pressure sensor. Returns 0 if nothing detected in the gripper Returns 1 if a valid object is detected | |
| - BYTE
|
Pressure |
| Range 1 - 100, Default Pressure = 20 | |
| - BYTE
|
Return |
|
|
LCDCursor |
| Moves the cursor on the LCD Display | |
| - BYTE
|
X |
| Set the cursor position in the X plane, 0 is the left most cell (0-15) | |
| - BYTE
|
Y |
| Set the cursor position in the Y plane, 0 is the top most cell (0-1) | |
| - VOID
|
Return |
|
|
LCDPrintNum |
| Will allow you to print a number. This is limited to a signed-INT, -32768 to 32767 | |
 - INT
|
Number |
| Enter the number or variable to print to the LCD | |
| - VOID
|
Return |
|
|
LCDClear |
| Clears the entire contents of the display. | |
| - VOID
|
Return |
Property reference
|
Properties |
|
Starting Conditions |
