Component: Robot Arm AllCode API (Misc)
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(Redirected from Component: ID 83c10dbf a8d2 42d0 8be5 60adbe2d49b1)
Jump to navigationJump to search| Author | Matrix TSL |
| Version | 1.0 |
| Category | Misc |
Contents
- 1 Robot Arm AllCode API component
- 2 Component Source Code
- 3 Detailed description
- 4 Examples
- 5 Macro reference
- 5.1 Beep
- 5.2 GetAPIVersion
- 5.3 GotoPosition
- 5.4 GripperClose
- 5.5 GripperOpen
- 5.6 KineGetXYZ
- 5.7 KineSetXYZ
- 5.8 LCDClear
- 5.9 LCDClearLine
- 5.10 LCDCursor
- 5.11 LCDPrintNum
- 5.12 LCDPrintStr
- 5.13 LCDVerbose
- 5.14 LEDOff
- 5.15 LEDOn
- 5.16 LEDWrite
- 5.17 MotorsMoving
- 5.18 Park
- 5.19 ReadColour
- 5.20 ReadColourChannel
- 5.21 ReadPressure
- 5.22 ReadSwitch
- 5.23 SetAllServos
- 5.24 SetServo
- 5.25 SetTrim
- 5.26 StoreCoords
- 5.27 StorePosition
- 6 Property reference
Robot Arm AllCode API 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_API_Component_Source.fcsx
Please click here to view the component source code (Beta): FC_Comp_Source_RA_API_Component_Source.fcsx
Detailed description
No detailed description exists yet for this component
Examples
No additional examples
Macro reference
Beep
|
Beep |
| Allows the beeper to output a warning | |
 - BYTE
|
Iterations |
| Number of times to repeat | |
 - UINT
|
OnDelay |
| Delay in ms | |
| - UINT
|
OffDelay |
| Delay in ms | |
| - BYTE
|
Return |
GetAPIVersion
|
|
GetAPIVersion |
| Gets the API version of the Robot ARM Firmware | |
| - BYTE
|
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 |
KineGetXYZ
|
|
KineGetXYZ |
| Calculates the current XYZ position from the current servo position coordinates | |
| - BYTE
|
Index |
| Range 0-2 : 0=X, 1=Y, 2=Z | |
 - INT
|
Return |
KineSetXYZ
|
|
KineSetXYZ |
| Sets the XYZ position and calculates the various servo motor angles required. Returns 0=Impossible, 1=InPosition | |
| - INT
|
X |
| - INT
|
Y |
| - INT
|
Z |
| - BYTE
|
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 |
LCDVerbose
|
|
LCDVerbose |
| Controls if the LCD is in user mode or verbose API mode, | |
| - BYTE
|
Mode |
| 0=User Mode, 1=API Verbose Mode | |
| - 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 |
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 |
ReadColour
|
|
ReadColour |
| Samples the Colour Sensor and reads the levels of Red, Green and Blue Light back as a 16-bit UINT variable. The colour format is 0b0BBBBBGGGGGRRRRR. The ReadColourChannel macro can be used to get individual channel colours. | |
| - UINT
|
Return |
ReadColourChannel
|
|
ReadColourChannel |
| Reads a single colour channel from the value returned from the ReadColour macro. | |
| - BYTE
|
Index |
| 0=Red, 1=Green, 2=Blue | |
| - UINT
|
Colour |
| - BYTE
|
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 |
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 |
|
Connections |
|
|
Operating Mode |
|
Mode |
