Difference between revisions of "Component: Robot Arm AllCode SIM (AllCode)"
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==Component Source Code== | ==Component Source Code== | ||
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| + | Please click here to download the component source project: [https://www.flowcode.co.uk/wiki/componentsource/FC_Comp_Source_RA_Simulation_Source.fcfx FC_Comp_Source_RA_Simulation_Source.fcfx] | ||
Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_RA_Simulation_Source.fcfx FC_Comp_Source_RA_Simulation_Source.fcfx] | Please click here to view the component source code (Beta): [https://www.flowcode.co.uk/FlowchartView/?wfile=componentsource/FC_Comp_Source_RA_Simulation_Source.fcfx FC_Comp_Source_RA_Simulation_Source.fcfx] | ||
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| + | ''No detailed description exists yet for this component'' | ||
| + | ==Examples== | ||
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| − | + | ===Industrial Tanks=== | |
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| + | A simple example showing the hoppers, valves and pipes working together. Each tank automatically empties in turn. | ||
| − | {| | + | {{Fcfile|Industrial_Tanks.fcsx|Industrial Tanks}} |
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| + | ==Macro reference== | ||
| + | ===Beep=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Beep''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Allows the beeper to output a warning |
|- | |- | ||
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Iterations |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | |
|- | |- | ||
| − | | width="10%" align="center | + | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT |
| − | | width="90% | + | | width="90%" | OnDelay |
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|- | |- | ||
| − | | | + | | colspan="2" | Delay in ms |
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|- | |- | ||
| − | | | + | | width="10%" align="center" | [[File:Fc9-u16-icon.png]] - UINT |
| + | | width="90%" | OffDelay | ||
|- | |- | ||
| + | | colspan="2" | Delay in ms | ||
|- | |- | ||
| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9- | + | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
| width="90%" style="border-top: 2px solid #000;" | ''Return'' | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | ||
|} | |} | ||
| + | ===GotoPosition=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
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| + | ===GripperClose=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GripperClose''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | 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 |
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| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Pressure |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Range 1 - 100, Default Pressure = 20 |
|- | |- | ||
| − | + | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE | |
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| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9- | ||
| width="90%" style="border-top: 2px solid #000;" | ''Return'' | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | ||
|} | |} | ||
| + | ===GripperOpen=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''GripperOpen''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Fully opens the gripper at the end of the arm ready to pick something up. |
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| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | ||
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| + | ===LCDClear=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClear''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Clears the entire contents of the display. |
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| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | ||
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| + | ===LCDClearLine=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDClearLine''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | 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. |
|- | |- | ||
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Line |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | The line to clear, zero being the first (top) line of the display |
|- | |- | ||
| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9- | + | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
| width="90%" style="border-top: 2px solid #000;" | ''Return'' | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | ||
|} | |} | ||
| + | ===LCDCursor=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
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| + | ===LCDPrintNum=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
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| + | ===LCDPrintStr=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LCDPrintStr''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Breaks down a string of text and sends it to the LCD via the private RawSend(byte, mask) macro |
|- | |- | ||
|- | |- | ||
| − | | width="10%" align="center | + | | width="10%" align="center" | [[File:Fc9-string-icon.png]] - STRING |
| − | | width="90% | + | | width="90%" | PrintString |
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| − | + | | colspan="2" | Enter the text or variable to print to the LCD | |
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|- | |- | ||
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | ||
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| + | ===LEDOff=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
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| + | ===LEDOn=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''LEDOn''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Switches on a single LED, LA0-LA7 |
|- | |- | ||
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Index |
|- | |- | ||
| − | | colspan="2" | 1= | + | | colspan="2" | 0=LA0, 1=LA1, 2=LA2, 3=LA3, 4=LA4, 5=LA5, 6=LA6, 7=LA7 |
|- | |- | ||
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | ||
| Line 665: | Line 293: | ||
| + | ===LEDWrite=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| Line 683: | Line 312: | ||
| + | ===LinearInterpolation=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| Line 721: | Line 351: | ||
| + | ===MotorsMoving=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''MotorsMoving''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Checks to see if any of the motors are still moving. |
|- | |- | ||
|- | |- | ||
| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9- | + | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| width="90%" style="border-top: 2px solid #000;" | ''Return'' | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | ||
|} | |} | ||
| + | ===Park=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''Park''' |
| + | |- | ||
| + | | colspan="2" | Parks the Robot ARM and switches off the servo motors | ||
| + | |- | ||
|- | |- | ||
| − | | | + | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID |
| + | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | ||
| + | |} | ||
| + | |||
| + | |||
| + | ===ReadPressure=== | ||
| + | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| + | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadPressure''' | ||
|- | |- | ||
| − | | | + | | colspan="2" | Read the value of the pressure sensor on the ARM gripper. Returns the value as a byte |
| − | |||
|- | |- | ||
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|- | |- | ||
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| Line 752: | Line 393: | ||
| + | ===ReadSwitch=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''ReadSwitch''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Read the value of a single switch. Returns the value as a byte |
|- | |- | ||
|- | |- | ||
| − | | width="10%" align="center" | [[File:Fc9- | + | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| − | | width="90%" | | + | | width="90%" | index |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | 0=SA0, 1=SA1, 2=SA2, 3=SA3, 4=SA4, 5=SA5, 6=SA6, 7=SA7 |
|- | |- | ||
| − | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9- | + | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-u8-icon.png]] - BYTE |
| width="90%" style="border-top: 2px solid #000;" | ''Return'' | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | ||
|} | |} | ||
| + | ===SetAllServos=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| Line 808: | Line 451: | ||
| + | ===SetMovementSpeed=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetMovementSpeed''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Controls the speed of the robot movement |
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| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | MovementSpeed |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | 1=Normal Speed (Default), 2=DoubleSpeed |
|- | |- | ||
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | ||
| Line 839: | Line 470: | ||
| + | ===SetServo=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''SetServo''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Move the specified servo motor position between 0-180 Deg |
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| Line 863: | Line 482: | ||
| width="90%" | Index | | width="90%" | Index | ||
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Range 0-4 : 0=Base, 1=Shoulder, 2=Elbow, 3=Wrist, 4=WristRotate |
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|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Position |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Position of servo in degrees (0-180) |
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|- | |- | ||
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | ||
| Line 911: | Line 494: | ||
| + | ===SetTrim=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| Line 934: | Line 518: | ||
| + | ===StoreCoords=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StoreCoords''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Stores the provided coordinates as a position the ARM can recall. |
|- | |- | ||
|- | |- | ||
| Line 945: | Line 530: | ||
| width="90%" | Index | | width="90%" | Index | ||
|- | |- | ||
| − | | colspan="2" | Range 0- | + | | colspan="2" | Save Index - Range 0-29 |
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Position0 |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Range: 0-180 |
|- | |- | ||
| − | | width="10%" align="center | + | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| − | + | | width="90%" | Position1 | |
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| − | | width="90% | ||
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|- | |- | ||
| + | | colspan="2" | Range: 0-180 | ||
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Position2 |
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|- | |- | ||
| + | | colspan="2" | Range: 0-180 | ||
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Position3 |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Range: 0-180 |
|- | |- | ||
| width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE | ||
| − | | width="90%" | | + | | width="90%" | Position4 |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Range: 0-180 |
|- | |- | ||
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | ||
| Line 998: | Line 562: | ||
| + | ===StorePosition=== | ||
{| class="wikitable" style="width:60%; background-color:#FFFFFF;" | {| class="wikitable" style="width:60%; background-color:#FFFFFF;" | ||
|- | |- | ||
| width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | | width="10%" align="center" style="background-color:#D8C9D8;" align="center" | [[File:Fc9-comp-macro.png]] | ||
| − | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | ''' | + | | width="90%" style="background-color:#D8C9D8; color:#4B008D;" | '''StorePosition''' |
|- | |- | ||
| − | | colspan="2" | | + | | colspan="2" | Stores the current position of the ARMs 5 axis. |
|- | |- | ||
|- | |- | ||
| − | | width="10%" align="center" | [[File:Fc9- | + | | width="10%" align="center" | [[File:Fc9-u8-icon.png]] - BYTE |
| − | | width="90%" | | + | | width="90%" | Index |
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|- | |- | ||
| + | | colspan="2" | Save Index - Range 0-29 | ||
|- | |- | ||
| width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | | width="10%" align="center" style="border-top: 2px solid #000;" | [[File:Fc9-void-icon.png]] - VOID | ||
| width="90%" style="border-top: 2px solid #000;" | ''Return'' | | width="90%" style="border-top: 2px solid #000;" | ''Return'' | ||
|} | |} | ||
| − | |||
| − | |||
Latest revision as of 13:12, 7 February 2023
| Author | Matrix TSL |
| Version | 1.0 |
| Category | AllCode |
Contents
- 1 Robot Arm AllCode SIM component
- 2 Component Source Code
- 3 Detailed description
- 4 Examples
- 5 Macro reference
- 5.1 Beep
- 5.2 GotoPosition
- 5.3 GripperClose
- 5.4 GripperOpen
- 5.5 LCDClear
- 5.6 LCDClearLine
- 5.7 LCDCursor
- 5.8 LCDPrintNum
- 5.9 LCDPrintStr
- 5.10 LEDOff
- 5.11 LEDOn
- 5.12 LEDWrite
- 5.13 LinearInterpolation
- 5.14 MotorsMoving
- 5.15 Park
- 5.16 ReadPressure
- 5.17 ReadSwitch
- 5.18 SetAllServos
- 5.19 SetMovementSpeed
- 5.20 SetServo
- 5.21 SetTrim
- 5.22 StoreCoords
- 5.23 StorePosition
- 6 Property reference
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 to download the component source project: FC_Comp_Source_RA_Simulation_Source.fcfx
Please click here to view the component source code (Beta): 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
Beep
|
Beep |
| Allows the beeper to output a warning | |
 - BYTE
|
Iterations |
 - UINT
|
OnDelay |
| Delay in ms | |
| - UINT
|
OffDelay |
| Delay in ms | |
 - VOID
|
Return |
GotoPosition
|
|
GotoPosition |
| Recalls a previously saved position for the ARMs 5 axis. | |
| - BYTE
|
Index |
| Save Index - Range 0-29 | |
| - VOID
|
Return |
GripperClose
|
|
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 |
GripperOpen
|
|
GripperOpen |
| Fully opens the gripper at the end of the arm ready to pick something up. | |
| - VOID
|
Return |
LCDClear
|
|
LCDClear |
| Clears the entire contents of the display. | |
| - VOID
|
Return |
LCDClearLine
|
|
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 |
LCDCursor
|
|
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
|
|
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 |
LCDPrintStr
|
|
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 |
LEDOff
|
|
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 |
LEDOn
|
|
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 |
LEDWrite
|
|
LEDWrite |
| Allows a value to be sent to control all eight LEDs LA0-LA7 at once | |
| - BYTE
|
Value |
| (0-63) 0b000000 | |
| - VOID
|
Return |
LinearInterpolation
|
|
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 |
MotorsMoving
|
|
MotorsMoving |
| Checks to see if any of the motors are still moving. | |
| - BYTE
|
Return |
Park
|
|
Park |
| Parks the Robot ARM and switches off the servo motors | |
| - VOID
|
Return |
ReadPressure
|
|
ReadPressure |
| Read the value of the pressure sensor on the ARM gripper. Returns the value as a byte | |
| - BYTE
|
Return |
ReadSwitch
|
|
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 |
SetAllServos
|
|
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 |
SetMovementSpeed
|
|
SetMovementSpeed |
| Controls the speed of the robot movement | |
| - BYTE
|
MovementSpeed |
| 1=Normal Speed (Default), 2=DoubleSpeed | |
| - VOID
|
Return |
SetServo
|
|
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 |
SetTrim
|
|
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 |
StoreCoords
|
|
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 |
StorePosition
|
|
StorePosition |
| Stores the current position of the ARMs 5 axis. | |
| - BYTE
|
Index |
| Save Index - Range 0-29 | |
| - VOID
|
Return |
Property reference
|
Properties |
|
Starting Conditions |
