Crust Crawler - SG6

RenegadeRobot

I've assembled the Crust Crawler, and now I would like to program it. Where do I get the code? Is there a site? Any help would be wonderful!

Duane Degn

Isn't CrustCrawler a website selling robots?· Which robot did you assemble?

There is often code for robots on there website.· http://www.crustcrawler.com/

In my experience, building the robot is the easy part.· The hard part is programming it.

Duane

Edit: Sorry, I just noticed you name the robot in your subject.· They do have code to download on the right side of the page.
http://www.crustcrawler.com/products/arm6.php?prod=11
What are you using to control it?·· It looks like they have code for a Basic Stamp2.· I don't think they have code for a Propeller.· If you are using a Propeller to control it, you'll want to download·a servo control·object from from OBEX.· There is·an object that can control up to 32 servos with one Propeller.··I think the SG6·uses servos controlled the normal way (PWM).· The Dynamixel servos aren't driven the same as normal hobby servos but I don't think that's an issue here.

Post Edited (Duane Degn) : 8/3/2010 8:47:42 PM GMT

StefanL38

OK the have a robot-arm-kit with the parallax propeller-servo-controller

Now you have to specify how you want to control the robot-arm

By using a PC Parallax Servo Controller Interface
(download link on the Crustcrawler SG6 site

or by another propeller-board?

The propeller-servo-controller is meant as easy to use interface to send serial commands from something else to the propeller-servo-controller

But of course you can modify the firmware of the propeller-servo-controller to do more than just receive and obey serial commands.
If you have no experience in SPIN I recommend starting with the PC-software

best regards

Stefan

RenegadeRobot

Thanks Duane and Stefan, your input is very much appreciated.
Have either of you programed this beast? I'm working with the code, but when it comes time to run the program, its riddled with syntax errors.

First example, this --> #IF ($stamp = BS2SX) OR (BS2P) #THEN
Baud CON 1021
comes back as an error.First, what does this mean, and second, I'm running it through Stamp BS2p, version 2.5, and I already have that directive established, so I don't understand why I have to reiterate that.

Second, when I'm defining, for example, array(baseBit)= 90, is that what goes into the editor? or do I need to adjust this to use on my crust crawler?

I'm following the program, and I understand what its trying to do, but I don't understand how to manipulate the program to run the crust crawler.

Again, any advice is appreciated!

StefanL38

Hi Renegade,

I haven't programmed this robot.
To make things clear: can you please post the EXACT name of the controllerboard
that you are using?

If YOU can provide a manual about the used servocontroller I'm sure that I can help
without that no chance!

best regards

Stefan

Mike G

Man, I wrote this code for CrustCrawler a long long time ago.

First off you're in the wrong forum. Post in the Robotics or Basic STAMP forums. The folks here are expecting you to have a Propeller. I realize that you might have a Prop PSC but we're all thinking SPIN and PASM not PSC.

You're questions can be answered by looking up the info in the help file and reading the code comments. There are a lot of comments and the comments explain each line of code, Did you read them?

The construct

#IF ($stamp = BS2SX) OR ($stamp = BS2P) #THEN
  Baud              CON     1021            ' BS2p 2400 baud
#ELSE
  Baud              CON     33164           ' BS2 2400 baud
#ENDIF

Is a compiler directive that checks to see what kind of STAMP you have then loads the correct baud value. The SG started out with a BS2 and was upgraded to a BS2p. It also went from a 2 servo shoulder to one servo.