A ROBOT PROGRAMMING WITH ROBIX.

Made by:• Dishank Upadhyay 086440320059• Hasmukh Thakor 086440320058• Sanket Vaisnav 086440320060

Programming

• Computer programming is the process of writing, testing, debugging/troubleshooting, and maintaining the source code of computer programs. This source code is written in a programming language.

• Here we are using robix programming to operate some models and mainly to control the servo motors.

Robix

• Robix software has the advanced capability to run robots remotely, over a network, or even over the internet.

• Nowadays “rascal 0.2.23” software is used for controlling the model .

• The main thing is to control the servo motor and with help of that the whole mechanism will be carried out with a operation.

Servo motor controller:•Here in figure a servo controller is shown.

•This controller is communicated by the LPT port to the computer.

•All the servo motors must be joined in this controller and by programming in computer we can directly take output from here

Robix

• Some simple projects (done by robix kit) :– Snack – Chemist– Thrower– Coffee maker– Bubbler

• We are going to see programme of the thrower project here.

Thrower:•Consist of:

•3 servo motors•Aluminium slotted links•Aluminium base•Spoon or handle

•To thow the ball or any light weight particle.

Thrower :

• To make the program of thrower some commands are used are listed below:– Invert– move– maxspd– accdec– wait– throw

Invert

• Syntax: – invert <servo list> on|off

• Description:– In this servo operation is inverted i.e. if servo used

to work with clockwise and if we apply this instruction the rotation will be the counterclockwise.

– EX: invert all off;• It means all current setting will be clear.

move

• Syntax:– 1.move <servo list> to <value>– 2.move <servo list> by <value>– 3.move <slist> to|by <val>[[,<slist> to|by <val>]..]

• Description:– 1. is also called absolute move.– Ex: move 1 to 0;

• i.e. move servo to the position 0.– 2. is also called relative move– Ex : move 1 by -50;

• i.e. move servo 1 by 50 units negatively

move

– If several servos need to move at once to different positions and/or byvdifferent amounts, then the third and most general form of the move command is used.

– Ex: move 1 by 20, 2 to -400, 5,6 to -100• Servo 1 will move by 20 units, 2 will move to position -

400 and Servos 5 and 6 will move by -100.

Maxspd

• Syntax:– maxspd <servo list> <value>

• Description:– Ex: maxspd 1 25;• i.e. servo 1 will operate at maximum speed of 25.

accdec

• Syntax:– accdec <servo list> <value>

• Description:– Sets both the acceleration and deceleration of the

servos in <servolist> to <value>.– <value> must be in the range 1..10000– Ex: accdec 1 25;• i.e. acceleration and deceleration value will be 25.

maxpos & minpos

• Syntax:– maxpos <servo list> <value>– minpos <servo list> <value>

• Description:– It shows the maximum and minimum position of

the servo.– Maximum and minimum position of the servo

motor is 1400 & -1400 accordingly.

wait

• Syntax:– wait <value>

• Description:– Wait approximately <value> tenths of a second

before executing the next command.– Ex: wait 30;• i.e. servo will wait 3 secconds before executing the next

command.

Programme:invert allinvert 2 on #macro throw;maxspd 1, 2, 3 25; accdec all 4;move 1 to -957, 2 to -507,3 to -541; wait 25maxspd 1, 2, 3 500accdec all 200;move 1 to 554, 2 to 1121, 3 to 729wait 10end;throw 0

Thrower

SummaryWhat is programming?

Robix

Servo controller

Robix instructionmove , accdec , wait , maxspd etc.

Thrower programme

THANK YOU

• Guided by:– Mr. B.D.Prajapatisir