This guide will help you get up and running with your PhantomX Robot Turret. Both the AX-12A and the AX-18A version of the Robot Turret will be covered.
These tutorials will guide you through setting up your robot and making sure that is has been assembled correctly.
- Product Page - Check here for specs and details on the PhantomX Robot Turret
- ArbotiX Quick Start Guide - Learn how to set up and program the ArbotiX Robocontroller
- DYNAMIXEL ID Guide - Learn how to set unique IDs on DYNAMIXEL robot actuators
- Assembly Guide - Build up your Robot Kit
- Build Check Program - Learn how to load a test program onto your robot to verify it is working
Once you've setup all your robots components, you're ready to get started programming behaviors into your robot! The following sample firmwares will help get your started
The easiest way to control the Robot Turret is via the included joystick. Load the sketch onto your ArbotiX and connect the joystick to Analog Ports 0 and 1 as shown in the diagram. The vertical joystick will control the tilt servo while the horizontal joystick will control the pan servo.
TILT_LOWER_LIMITdefine limits (in servo position) that the tilt servo will not go beyond. These values are tuned so that the tilt servo's bracket will not hit the servo. You may wish to adjust these values depending on what you have mounted to the turret.
PAN_LOWER_LIMITlimit the pan servo's motion. By default the pan servo is given a full range of motion (300°/0-1023) but again, you may wish to adjust this to suit your needs.
DEFAULT_TILTset the default position of the turret. When the arbotix is powered on, the turret will slowly move to this position.
DEADBANDHIGHdefine a low and high limits for the joystick to be centered within. The ideal joystick centers at '512' but many fall outside of this value. If you experience 'drifting' where the servos slowly move without your input, you may need to adjust these values.
- To lower the turret's speed, increase the
The ArbotiX Commander is a great hand-held controller for your Robot Turret.
- Load the sketch onto your ArbotiX
- Configure your XBees and plug them into your Commander and Robocontroller.
You can now control your ArbotiX commander via the following controls:
- 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
- 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
- Horizontal Move pan servo quickly (speed changes with RT)
- Vertical Move tilt servo quickly(speed changes with LT)
- Horizontal Move pan servo slowly
- Vertical Move tilt servo slowly
Edge Programs and Firmware
Edge programs and firmware are offered with limited support and documentation. They are experimental and offered 'as-is' for advanced users.
Download Virtual Commander program and source code
The Virtual Commander is a simple way to control your Turret using the commander protocol.
- Load the sketch onto your ArbotiX
- Keep the FTDI-USB cable plugged into your ArbotiX
- Launch the Virtual Commander application
- Choose your serial port from the drop-down menu (the same serial port that you use to program from your Arduino IDE)
- Click 'Connect'
- Now you can press on the joysticks or buttons to control the turret
- Configure your XBees and connect everything as shown below
- Plug an XBee into your UartSbee and plug the UartSbee into your computer
- Plug the other XBee into your ArbotiX Robocontroller
- Connect the Virtual Commander to the serial port the UartSbee is on