X2
From Robin
The X2 robot has been developed from parts printed with our 3D printer Connex500.
Usage
In the ROBIN robotics lab, the desktop computer next to the X2 robot is set up to communicate with the robot.
Matlab
Matlab functions to communicate with the robot have been developed.
(list of the functions will follow shortly)
see the matlab script testRobot.m for usage example
- openRobot.m - opens the com-port connections to the robot.
- closeRobot.m - closes the com-ports.
- setRobotAngles.m (in derees)
- ...
The robot will need some time to move to a new position, so remember to include pauses in your matlab code.
IMPORTANT: The robot must be in the (0 0 0) joint configuration before starting
Arduino controller
The arduino software is located at C:\sonen\arduino Open the file C:\arduino_sketch\x2.pde to control the robot. Set baud rate to 115200
The commented lines in the top of the x2.pde file show the available commands. E.g. "?" will give the status of the robot.
joint angle 1440 is 0 degrees, joint angle 0 is -180 degrees, joint angle 2880 is 180 degrees,
The joints are located at Com4-Com6
Default pid-parameters, that seem to be working fine: p = 14, i=10, s=2
The "Controller" folder in the "libraries" folder, contains the controller project.
(insert link to documentation here)
