Component: Robot Arm AllCode SIM (AllCode)
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Jump to navigationJump to searchAuthor | 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
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
LCDCursor
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
SetMovementSpeed
SetMovementSpeed | |
Controls the speed of the robot movement | |
- BYTE | MovementSpeed |
1=Normal Speed (Default), 2=DoubleSpeed | |
- VOID | Return |
SetServo
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
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 | |