The easiest way to control the Robot Turret is via the included joystick. This page will show you how to wire your joystick to your ArbotiX robocontroller and what code to load onto the ArbotiX Robocontroller.
This code for this demo project will read the analog value from the joysticks, convert the raw value into a value ready for the DYNAMIXEL servos, and then write the positions to the servos. The code will also impose angle limits on the pan/tilt system and offer variable speed, adjustable by the user.
The vertical joystick will control the tilt servo while the horizontal joystick will control the pan servo. These motions can be swapped in code, or by physically swapping out the 2 sensors. This code can work with a wide variety of joysticks. It can also work with other analog sensors, though some code modifications may be necessary depending on the desired behavior.
Edge programs and firmware are offered with limited support and documentation. They are experimental and offered 'as-is' for advanced users.
The Virtual Commander is a small demo application written in Processing/Java. This application allows you to control InterbotiX robots as if it were connected to a real ArbotiX Commander as if it were connected to a real ArbotiX Commander. This can be very handy for rapid development, as you can program and control the ArbotiX over the same USB-FTDI connection, switching back and forth between the Arduino IDE and the Virtual Commander
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.
All the InterbotiX robots turrets, arms, and crawlers use DYNAMIXEL servos. These servos all have positional feedback, allowing the ArbotiX-M Robocontroller to read the current position of each servo. This makes it possible to physically pose an InterbotiX robot, then capture the positions for each servo, allowing the user to save/capture the current pose. By capturing multiple poses, a user can create a sequence that can be repeated.
The ArbotiX-M Robocontroller can be used to easily 'play' a sequence of poses on DYNAMIXEL servos. These poses can run automatically, triggered by an outside input (like a pushbutton) or integrated into more advanced code.
This tutorial can be used in conjunction with the DYNApose tutorial. The DYNApose tutorial will help you to capture a series of poses while this tutorial will help you integrate those poses into new code.