I am trying to gain a strong understanding of how to communicate with robots by deciphering how to send commands to the AR3 directly through the serial monitor. Do you know how I can command the robot to move an arbitrary amount? I just need one working example for any joint. I have tried the following but it doesn't look like I got the format quite right:
MJ99 A99 B99 C99 D99 E99 F99 G99 H99 I99 J99 K99 L99 M99 N99 O99 P99 Q99 R99 S99 T99 U99 V99 W99 X99 Y99 Z99
I realize Chris already built a superb GUI to eliminate the need to do this, I just love taking a peek under the hood 🙂
Hello, if you look on line 4493 you will find commandCalc where after the kinematics are calculated it send the arduino the steps for each motor
here is the bit of code I refer to on line 4493
commandCalc = "MJA"+J1dir+J1steps+"B"+J2dir+J2steps+"C"+J3dir+J3steps+"D"+J4dir+J4steps+"E"+J5dir+J5steps+"F"+J6dir+J6steps+"T"+TRdir+TRstep+"S"+newSpeed+"G"+ACCdur+"H"+ACCspd+"I"+DECdur+"K"+DECspd+"U"+str(J1StepCur)+"V"+str(J2StepCur)+"W"+str(J3StepCur)+"X"+str(J4StepCur)+"Y"+str(J5StepCur)+"Z"+str(J6StepCur)+"\n"
if Code == 0:
ser.write(commandCalc.encode())
MJ stand for Move Joint, then A for joint 1 then the direction and then the number of steps to move. So if you input MJA0200 it would move joint 1 forward 200 steps. Or if you sent MJA1200 it would move joint 1 backward 200 steps. Then you could tack on B for joint 2, C for joint 3 and so on.
