HTTP motion.zip 43K or FTP motion.zip 43K - Motion control for machines equipped with Mini SSC II servo controllers from http://www.seetron.com
motion.exe is a program that will drive a device such as a robot walker or robotic arm using Scott Edward's Mini SSC II servo controllers.
When run, it reads the text file 'robots.seq' containing servo positioning commands that you provide, and sends them to the servos. To make life easier, it allows you to think of servo positions in terms of "30% extended" rather than "position 171", it takes care of computing the intermediate servo positions that need to be issued multiple times per second to make the servos move smoothly, and it takes care of the problem of getting multiple servos to reach their destination positions at the same time even though they may have had to cover different distances to do it. In short, it lets you work with stuff like this:
Primitive RaiseArm {
servo 0 to 80% in 16
servo 1 to 0% in 8 to 100% in 8
servo 2 to 100% in 16
}
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This program is currently driving my 12-servo 4-legged walker around the room. It works well enough and seems flexible enough that I thought it might be of interest to someone else using Mini SSC II controllers in a project or in something like one of the Lynxmotion kits. While I wrote this thing initially for DOS, I have tried to keep the actual motion controller code platform independent with the intention of moving it over to a Palm Pilot when my walker is ready for it.
Source code is included. Let me know of any cool projects you've got going. robotz AT cryogenius.com