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Ok so basically i have built a robotic arm and would like to control it from the computer. I have done the application for the computer and it works. I have also programmed the firmware for the bx-24 chip. However when i turn it on, all the servo's move so the arm looks like it is having a spasm. I dont know why this is. Could someone please check through it and tell me whats wrong, many thanks, zack.

CODE:
Dim Data(1 To 3) As Byte ' defne variables
Dim Com1_In(1 To 40) As Byte
Dim Com1_Out(1 To 20) As Byte
dim baseservo as single
dim basejointservo as single
dim middlejointservo as single
dim turngripperservo as single
dim tiltgripperservo as single
dim gripperservo as single
Sub Main()
Call OpenQueue(Com1_In, 40)
Call OpenQueue(Com1_Out, 20)
Call OpenCom(1, 2400, Com1_In, Com1_Out)
' Set pins 5 - 20 to outputs
Register.DDRA = &HFF
Register.DDRC = &HFF
baseservo = 0.0 ' start of with the pulses being 0, ie not moving
basejointservo = 0.0
middlejointservo = 0.0
turngripperservo = 0.0
tiltgripperservo = 0.0
gripperservo = 0.0
Do
call pulseout(5, baseservo, 1) ' move joints
call pulseout(6, basejointservo, 1)
call pulseout(7, middlejointservo, 1)
call pulseout(8, turngripperservo, 1)
call pulseout(9, tiltgripperservo, 1)
call pulseout(10, gripperservo, 1)
If StatusQueue(Com1_In) Then
Call GetQueue(Com1_In, Data(1), 1)
If Data(1) = 255 Then ' if data byte is found do algorithm
Call GetQueue(Com1_In, Data(2), 2)
Call GetQueue(Com1_In, Data(3), 3)
' Write the 2 data byte to the BX-24 pins
Register.PortA = Data(2)
Register.PortC = Data(3)
if (Data(2) = 1) then
baseservo = csng(Data(3)) * 0.00001
elseif (Data(2) = 2) then
basejointservo = csng(Data(3)) * 0.00001
elseif (Data(2) = 3) then
middlejointservo = csng(Data(3)) * 0.00001
elseif (Data(2) = 4) then
turngripperservo = csng(Data(3)) * 0.00001
elseif (Data(2) = 5) then
tiltgripperservo = csng(Data(3)) * 0.00001
elseif (Data(2) = 6) then
gripperservo = 0.002
elseif (Data(2) = 7) then
gripperservo = 0.001
elseif (Data(2) = 8) then
exit do
end if
end if
End If
Loop

End Sub

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Zack,
It sounds like your robot arm is starving for current and the BX-24
is rebooting.

You need a minumum of 2amps of available current to run each hobby servo. Do you have that? Try starting with only 1 servo connected and see what happens.
Chris

--- In b...@yahoogroups.com, "zack.nathan" wrote:
>
> Ok so basically i have built a robotic arm and would like to control it from the computer. I have done the application for the computer and it works. I have also programmed the firmware for the bx-24 chip. However when i turn it on, all the servo's move so the arm looks like it is having a spasm. I dont know why this is. Could someone please check through it and tell me whats wrong, many thanks, zack.
>
> CODE:
> Dim Data(1 To 3) As Byte ' defne variables
> Dim Com1_In(1 To 40) As Byte
> Dim Com1_Out(1 To 20) As Byte
> dim baseservo as single
> dim basejointservo as single
> dim middlejointservo as single
> dim turngripperservo as single
> dim tiltgripperservo as single
> dim gripperservo as single
> Sub Main()
> Call OpenQueue(Com1_In, 40)
> Call OpenQueue(Com1_Out, 20)
> Call OpenCom(1, 2400, Com1_In, Com1_Out)
> ' Set pins 5 - 20 to outputs
> Register.DDRA = &HFF
> Register.DDRC = &HFF
> baseservo = 0.0 ' start of with the pulses being 0, ie not moving
> basejointservo = 0.0
> middlejointservo = 0.0
> turngripperservo = 0.0
> tiltgripperservo = 0.0
> gripperservo = 0.0
> Do
> call pulseout(5, baseservo, 1) ' move joints
> call pulseout(6, basejointservo, 1)
> call pulseout(7, middlejointservo, 1)
> call pulseout(8, turngripperservo, 1)
> call pulseout(9, tiltgripperservo, 1)
> call pulseout(10, gripperservo, 1)
> If StatusQueue(Com1_In) Then
> Call GetQueue(Com1_In, Data(1), 1)
> If Data(1) = 255 Then ' if data byte is found do algorithm
> Call GetQueue(Com1_In, Data(2), 2)
> Call GetQueue(Com1_In, Data(3), 3)
> ' Write the 2 data byte to the BX-24 pins
> Register.PortA = Data(2)
> Register.PortC = Data(3)
> if (Data(2) = 1) then
> baseservo = csng(Data(3)) * 0.00001
> elseif (Data(2) = 2) then
> basejointservo = csng(Data(3)) * 0.00001
> elseif (Data(2) = 3) then
> middlejointservo = csng(Data(3)) * 0.00001
> elseif (Data(2) = 4) then
> turngripperservo = csng(Data(3)) * 0.00001
> elseif (Data(2) = 5) then
> tiltgripperservo = csng(Data(3)) * 0.00001
> elseif (Data(2) = 6) then
> gripperservo = 0.002
> elseif (Data(2) = 7) then
> gripperservo = 0.001
> elseif (Data(2) = 8) then
> exit do
> end if
> end if
> End If
> Loop
>
> End Sub
>

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