Code Explanation

Teaching the Robot Arm

• Since manually instructing angle information for each of the servo for every movement is difficult, you may teach you robot arm moves.

  • By default, the servos are in locked position. The function that is responsible for locking and unlocking the robot arm is Arm_Button_Mode(mode) function.

    The function recieves 1 input mode from the user. The mode must be an binary integer of either 1 and 0.

    1. mode=0: All servos are locked (default)

    2. mode=1: All servos are released

  • To learn a movement, Arm_Action_Study() function is used. To study a movement, simply activate the function and move the arm If you wish to have multiple movements, after completing one movement, activate the function again and repeat the process. (NOTE!) The after activating the function, only the first movement of the robot is registered. If it is a chain movement, please activate the function at the start of each movement. After finishing the movement put the robot arm back to the locked mode. Arm_Button_Mode(0)

  • To see the number of learned movements, run Arm_Read_Action_Num() function which will return the total learned movements.

  • To execute the learned movements, run Arm_Action_Mode(mode) function. This function will sequentially run all the learned movements from the first to last. We can have 3 different execution mode:

    1. mode = 1: Execute all the sequence only once.

    2. mode = 2: Execute all the sequence repeatedly.

    3. mode = 3: Stop the sequence.

  • To clear all the previously learned movements, run Arm_Clear_Action() function.