Component: Robot Arm v2 (AllCode)
| Author | Matrix TSL |
| Version | 1.0 (Release) |
| Category | AllCode |
Contents
- 1 Robot Arm v2 component
- 2 Examples
- 3 Downloadable macro reference
- 4 Simulation macro reference
- 4.1 SetWIFIPort
- 4.2 SetWIFIPassword
- 4.3 SetCalibrationLengths
- 4.4 SetMovementSpeed
- 4.5 SetGripper
- 4.6 SetCalibrationPosition
- 4.7 StoreAngles
- 4.8 GetWifiIP
- 4.9 GetColourSensor
- 4.10 SetMotor
- 4.11 IsMoving
- 4.12 ResetToBoot
- 4.13 SetAngle
- 4.14 SetXYZ
- 4.15 SetBluetoothPin
- 4.16 HomeAll
- 4.17 SetRelay
- 4.18 SetCalibrationRadius
- 4.19 GotoPosition
- 4.20 SetAngles
- 4.21 SetWifiMode
- 4.22 DisableMotors
- 4.23 GetAngles
- 4.24 HomeAxis
- 4.25 StoreMotors
- 4.26 SetCanId
- 4.27 GetAPI
- 4.28 SetMotors
- 4.29 SetCanMode
- 4.30 SetWifiSSID
- 4.31 GetPosition
- 4.32 StoreCurrentPosition
- 4.33 GetXYZ
- 4.34 SetBluetoothMode
- 4.35 Initialise
- 4.36 SetBluetoothName
- 5 Property reference
Robot Arm v2 component
Drives the Matrix Robot Arm v2 hardware via the AllCode API. Allows connections via USB, Bluetooth and WIFI.
Examples
No additional examples
Downloadable macro reference
WhileMoving
Blocking call that waits up to 10 seconds for the current movement operation to complete.
Returns when complete.
Return of 1 indicates movement complete, 0 indicates timeout.
Parameters
- This macro has no parameters
Return value
- BOOL : Returns true if the operation is a success, else false
Simulation macro reference
SetWIFIPort
Sets the WIFI port number
Parameters
- UINT Port
- Default 1245
Return value
- This call does not return a value
SetWIFIPassword
Configures the WIFI Password string and stores into the none volatie memory onboard the robot arm.
Call the SetWifiMode macro after this to action the change.
Parameters
- <- STRING Password
- Password String, Max 32 Characters
- This parameter may be returned back to the caller
Return value
- This call does not return a value
SetCalibrationLengths
Sets the lengths of parameters A and D used as part of the kinematics calculations
to get and set the angles using XYZ coordinates
Parameters
- FLOAT LengthA
- FLOAT LengthD
Return value
- This call does not return a value
SetMovementSpeed
Controls the movement speed of the arm and the ramping increment
Parameters
- UINT Speed
- Range 0-10000 default 8000
- UINT Increment
- Range 0 to 5000, default 50
Return value
- This call does not return a value
SetGripper
Sets the new position of the gripper
Parameters
- BYTE Position
- 0 = Closed, 255 = Fully Open
Return value
- This call does not return a value
SetCalibrationPosition
Called when the arm gripper is in the calibration position of X0 Y300 Z5
Reconfigures the kinematics calculations based on this.
Performed in factory to calibrate the arm, warning calling this function will effect factory calibration.
Parameters
- This macro has no parameters
Return value
- This call does not return a value
StoreAngles
Stores the specified joint angles into an internal none volatile memory location.
Parameters
- BYTE PositionIndex
- Range: 0 to 40
- FLOAT AngleA
- Range 0.0 to 359.0
- FLOAT AngleB
- Range 0.0 to 359.0
- FLOAT AngleC
- Range 0.0 to 359.0
Return value
- This call does not return a value
GetWifiIP
Collects the IP address of the robot arm WIFI connection.
Parameters
- This macro has no parameters
Return value
GetColourSensor
Samples and returns the RGB values read by the colour sensor
Parameters
- BYTE RGB
- Byte Array To Hold the RGB sensor values
Return value
- This call does not return a value
SetMotor
Sets the step position of a single motor
Parameters
- BYTE Motor
- 0=A, 1=B, 2=C
- UINT Position
Return value
- This call does not return a value
IsMoving
Checks to see if the robot arm or gripper is moving.
Returns 0 if the arm is not moving and 1 if the arm is still in transit.
Parameters
- This macro has no parameters
Return value
- BOOL : Returns true if the operation is a success, else false
ResetToBoot
Resets the board into bootload mode for reprogramming.
Comms port will be closed on calling this macro,
Parameters
- This macro has no parameters
Return value
- This call does not return a value
SetAngle
Sets the angle of a single motor
Parameters
- BYTE Motor
- 0=A, 1=B, 2=C
- FLOAT Angle
- Range 0.0 to 359.0
Return value
- This call does not return a value
SetXYZ
Moves the machine so that the end tool is in the specified XYZ position.
Returns 1 if the coordinates are within range of the Arm else returns 0.
Parameters
- INT X
- INT Y
- INT Z
Return value
- BOOL : Returns true if the operation is a success, else false
SetBluetoothPin
Configures the Bluetooth pin and stores into the none volatie memory onboard the robot arm.
Call the SetBluetoothMode macro after this to action the change.
Parameters
- <- STRING Pin
- Pin String, 4 Numeric Characters e.g. "1234"
- This parameter may be returned back to the caller
Return value
- This call does not return a value
HomeAll
Function to automatically home all motors.
Macro blocks until complete.
Parameters
- This macro has no parameters
Return value
- This call does not return a value
SetRelay
Allows the vacuum relay to be switched on and off.
Parameters
- BOOL State
Return value
- This call does not return a value
SetCalibrationRadius
Sets the lengths of parameters A and D used as part of the kinematics calculations
to get and set the angles using XYZ coordinates
Parameters
- FLOAT Radius
Return value
- This call does not return a value
GotoPosition
Recalls a position from the selected internal none volatile memory location.
Performs linear interpolated movement to the selected position.
Parameters
- BYTE PositionIndex
- Range: 0 to 40
Return value
- This call does not return a value
SetAngles
Sets the angle of all motors
Parameters
- FLOAT AngleA
- Range 0.0 to 359.0
- FLOAT AngleB
- Range 0.0 to 359.0
- FLOAT AngleC
- Range 0.0 to 359.0
Return value
- This call does not return a value
SetWifiMode
Configures the WIFI mode.
When enabled the robot arm can either create its own WIFI network or join an existing WIFI network,
Parameters
- BYTE Mode
- 0=Disabled, 1=Host Network, 2=Join Network
Return value
- This call does not return a value
DisableMotors
Disables all motors
Parameters
- This macro has no parameters
Return value
- This call does not return a value
GetAngles
Collects the current joint angles of the motors.
Parameters
- FLOAT Angles
- Float Array To Hold the step position return values
Return value
- This call does not return a value
HomeAxis
Function to automatically home a specific motor.
Macro blocks until complete.
Parameters
- BYTE Axis
- 0=A, 1=B, 2=C
Return value
- This call does not return a value
StoreMotors
Stores the specified step position into an internal none volatile memory location.
Parameters
- BYTE PositionIndex
- Range: 0 to 40
- UINT PositionA
- UINT PositionB
- UINT PositionC
Return value
- This call does not return a value
SetCanId
Stores the specified CAN ID into an internal none volatile memory location.
Parameters
- UINT ID
Return value
- This call does not return a value
GetAPI
Gets the API version number
Parameters
- This macro has no parameters
Return value
SetMotors
Sets the step position of all motors
Parameters
- UINT PositionA
- UINT PositionB
- UINT PositionC
Return value
- This call does not return a value
SetCanMode
Configures the CAN mode.
Parameters
- BOOL Mode
- 0=Disabled, 1=Enabled
Return value
- This call does not return a value
SetWifiSSID
Configures the WIFI SSID string and stores into the none volatie memory onboard the robot arm.
Call the SetWifiMode macro after this to action the change.
Parameters
- <- STRING SSID
- Netword ID String, Max 32 Characters
- This parameter may be returned back to the caller
Return value
- This call does not return a value
GetPosition
Collects the current step positions of the motors.
Parameters
- UINT Positions
- UINT Array To Hold the step position return values
Return value
- This call does not return a value
StoreCurrentPosition
Stores the current position into an internal none volatile memory location.
Parameters
- BYTE PositionIndex
- Range: 0 to 40
Return value
- This call does not return a value
GetXYZ
Collects the current XYZ position of the end tool.
Parameters
- INT XYZ
- INT Array To Hold the X, Y and Z return values
Return value
- This call does not return a value
SetBluetoothMode
Configures the Bluetooth mode.
Parameters
- BOOL Mode
- 0=Disabled, 1=Enabled
Return value
- This call does not return a value
Initialise
No additional information
Parameters
- This macro has no parameters
Return value
- BOOL : Returns true if the operation is a success, else false
SetBluetoothName
Configures the Bluetooth device name and stores into the none volatie memory onboard the robot arm.
Call the SetBluetoothMode macro after this to action the change.
Parameters
- <- STRING Name
- Bluetooth Device String, Max 20 Characters
- This parameter may be returned back to the caller
Return value
- This call does not return a value
Property reference
Simulation Mode
This property is of type Fixed list of ints and can be referenced with the variable name SimMode.
No additional information
Comms Method
This property is of type Fixed list of ints and can be referenced with the variable name CommsMethod.
Selects the method to communicate with the Matrix 3 Axis Robot Arm.
USB connection requires the USB drivers to be installed.
Bluetooth connection requires the device first be paired using the Windows Bluetooth control panel.
WIFI connection requires the connection settings to be configured first on the robot using USB or Bluetooth.
CAN connection does not simulate and works on embedded hardware e.g. the MIAC.
Autodetect
This property is of type True or false and can be referenced with the variable name Autodetect.
Autodetects the COM port, only works for USB AllCode connection.
COM Port
This property is of type Fixed list of ints and can be referenced with the variable name COMPort1::COM_port.
Selects which port to communicate with, only lists ports which are currently available.
Refresh COM Ports
This property is of type True or false and can be referenced with the variable name COMPort1::Refresh.
When set to yes the COM port list is rescanned for newly connected or available ports.
Note that refreshing the ports list may take a few seconds depending on the number of connected ports.
Network Interface
This property is of type Fixed list of ints and can be referenced with the variable name NetworkComms1::NetworkInterface.
Some computers may have several network interfaces such as ethernet ports and wifi access.
Select the correct network interface for the network you wish to connect to.
Use the IP address to confirm you are connected to the right network.
Local IP Address
This property is of type Line of text and can be referenced with the variable name NetworkComms1::IPAddress.
IP Address of the selected network interface.
Arm IP Address
This property is of type Line of text and can be referenced with the variable name ArmIP.
IP address of the robot arm.
You can find the Arm IP address by connecting using USB and running the GetIP component macro.
You may first need to configure the Robot Arm by providing the network SSID and Password.
Port
This property is of type Unsigned integer and can be referenced with the variable name Port.
Allows the Robot Arm TCP/IP Port to be selected. Default 1245.
Channel
This property is of type Fixed list of ints and can be referenced with the variable name can1::CHANNEL_CAN.
Switches between Internal CAN peripheral and External CAN controller IC MCP2515.
