Hero-2000 Robot Arm Commands
NOTICE: Press the HOME key on the Robot's keyboard
before you attempt to operate any of the Robot's motors. This presets
all of the motors to certain positions so the microprocessor can keep
track of them. You can also use the HOME command in a BASIC
statement.
The ARM, ELBOW, PITCH, ROLL, and WRIST, GRIP, FORCE
functions allow to control the operation of the Arm Accessory
(standard on the wired model of the Robot). The functions are
described briefly below, and you can refer to the "Alphabetical
Reference Guide" for more detailed information. Also refer to "The Cue Instruction"
Note: All degrees are referenced to zero (arm straight up) unless
otherwise noted All moves are checked to see if they are valid (will
not hit another part of the arm) before the move occurs.
ARM degrees causes BASIC to move the arm to the
position designated by degrees.
ELBOW degrees causes BASIC to move the arm
to the position designated by degrees.
FORCE opens and closes the gripper so
that a certain force is exerted.
GRIP causes the gripper to open or close
to a certain position
PITCH degrees causes BASIC to move the
wrist to the position designated by degrees. This function
waits for a ROLL movement at a previous pitch, that is already
occurring, to stop before it continues
ROLL degrees causes BASIC to rotate the
wrist to the position designated by degrees. The wrist can roll
± 180 degrees from its 0 position If 180 is the desired position,
it will take the shortest route to get there. This function waits for
a PITCH movement at a previous roll that is already occurring, to stop
before it continues.
WRIST causes BASIC to rotate both
axes of the wrist to the desired position
MPOS(X) causes BASIC to point the position of one
of the motors such as ARM, ELBOW, PITCH, ROLL, FOURCE, or GRIP