Wireless Handheld Control for the WidowX Robot Turret

Description

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Wireless
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Serial Control
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ArbotiX Commander Control

The PhantomX RobotTurret can be controlled wirelessly via the ArbotiX Commander. In this demo, the ArbotiX Commander's joysticks will be mapped to the pan/tilt servos, and the pushbuttons will move the turret to pre-set positions.

Users can modify the ArbotiX Robocontroller firmware in a variety of ways. The speed of the servos can be changed and the preset positions can be altered. Users can even trigger digital outputs (like relays) based on ArbotiX Commander input.

Project Parts List

Wiring

The servos pictured below will look slighly different than the ones in your kit. The wiring for the servos is the same as shown in the assembly guide for your turret.

Connection diagram for ArbotiX Robocontroller to Virtual Commander
Pin Device
XBee Socket XBee Series 1 (Do not plug in until after programming)
DYNAMIXEL Bus DYNAMIXEL Chain
DC Jack SMPS Power Supply, Battery, or other 11-14v power

Download Code

Download Commander Robot Turret Code for ArbotiX Robocontroller

Load the Commander Robot Turret Code onto the ArbotiX-M Robocontroller. You will need to plug in your FTDI cable / programming device to program the robocontroller. You cannot program the ArbotiX if the XBee is plugged in, so program the board first, then remove the FTDI cable, and finally plug in the XBee.

If you have problems loading your code onto your ArbotiX-M, see the ArbotiX Getting Started Guide. Also, make sure that you have configured your XBees for use with InterbotiX Kits.

The ArbotiX Commander should be running the stock Commander code that it shipped with. See the ArbotiX Commander Getting Started Guide for more information.

Once loaded onto the Robot Turret, the code should automatically move the 2 servos to the centered 'home' position. Now turn on the ArbotiX Commander - the two should automatically connect Once connected, you can press on one of the 6 lower pushbuttons to move the turret to pre-set positions. You can move the joysticks to pan/tilt the turret.

Control

Control Diagram for ArbotiX Commander
Left Buttons
  • LT Decrease the speed of the tilt servo when controlled by the 'Look' joystick.
  • L6 Move the tilt servo to the upper limit
  • L5 Move the tilt servo to the default/middle position
  • L4 Move the tilt servo to the lower limit
Right Buttons
  • RT Decrease the speed of the pan servo when controlled by the 'Look' joystick.
  • R3 Move the pan servo to the upper limit
  • R2 Move the pan servo to the default/middle position
  • R1 Move the pan servo to the lower limit
Look Joystick
  • Horizontal Move pan servo quickly (speed changes with RT)
  • Vertical Move tilt servo quickly(speed changes with LT)
Walk Joystick
  • Horizontal Move pan servo slowly
  • Vertical Move tilt servo slowly

Code

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PC Control These demos and projects allow the robot to be controlled via a computer.

ArbotiX Commander Control - These demos and projects control the Robot using the ArbotiX Commander, the handheld Arduino based remote control.

Direct Control - These demos and projects control the Robot directly from sensors connected directly to the Robot's control board.

Pose Control - These demos and projects allow you to create and playback a sequence of poses.

Serial Control - These demos and projects control the robot using a serial packet protocol.

Standalone - These demos and projects are deisgned to let your robot function without a computer or additional microcontroller.

Wireless Control - These demos and projects allow you to control the robot wirelessly - usually by replacing the Serial Connection with XBee modules.

Reference - These articles have technical details regarding the control and operation of the robot.

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More info here