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--- ece4560:manicontrol [2017/07/13 12:24] – pvela
+++ ece4560:manicontrol [2023/03/06 10:31] (current) – external edit 127.0.0.1
@@ Line 5: / Line 5: @@
 ===== Piktul Manipulator =====
 ------------------------------
+The //piktul// manipulator is a small RC servo controlled SCARA-type manipulator.  As a planar manipulator design with additional height control, it operates in $SE(2) \times \mathbb{R}^+$.  The manipulator is good for introducing fundamental concepts in a simpler end-effector space, one that actually can be represented in vector form with little problems given the actuator limits of the servos used. //The current piktuls are configured to use the Lynxmotion SSC-32 controllers.//
-Matlab code: {{ECE4560:piktul_calibrate.m| Calibration GUI}} ; {{ECE4560:piktul.m | Interface Stub}} ; {{ECE4560:piktul_display.m | &emsp Display Code}}
+Matlab code: {{ECE4560:piktul_calibrate.m| _____ Calibration GUI}} ; {{ECE4560:piktul_display.m | _____ Display Code}}
-OK, it looks like some code was off and I didn't catch it even though I've been using it for a bit now.  The calibration function did not properly adjust the matrices being generated.  The file {{ECE4560:fixCalib.m|here}} will fix things if you run it.  Make sure that the piktul parameter file can be found.  Also, please download again the piktul Matlab file.  I made a correction to it also.
+**Lynxmotion SSC-32** Matlab code: {{ECE4560:piktul.m | _____ Interface Stub}}
+**Arduino Control Box** Matlab code: {{ECE4560:ControlBox:piktul.m | _____ Interface Stub}}
 Instructions: [[ECE4560:Piktul:Setup| Setup]] ; [[ECE4560:Piktul:Calibrate | Calibration]] ; [[ECE4560:Piktul:Issues | Issues]] ; [[ECE4560:Piktul:Interfacing]]
@@ Line 16: / Line 18: @@
 -----------------
-The slightly more fully functional manipulator to be used in the course is called the **Lynx 6** manipulator made by [[http://www.lynxmotion.com | Lynxmotion]].  We have different versions, from the earliest Lexan one, up to the more recent aluminum ones. Eventually we'll probably design a better one, but for now, this is it.
+The slightly more fully functional manipulator to be used in the course is called the **Lynx 6** manipulator made by [[http://www.lynxmotion.com | Lynxmotion]].  We have different versions, from the earliest Lexan one, up to the more recent aluminum ones. Eventually we'll probably design a better one, but for now, this is it. We also have different interfacing schemes for the manipulator, based on the connected microcontroller and the language. //The current version to use is the Arduino Control Box. See the Resolving Issues page below if you have trouble with it, or to avoid having trouble with it.//
-Matlab code: {{ECE4560:Lynx6:lynx6_calibrate.m| Calibration GUI}} ; {{ECE4560:Lynx6:lynx6.m | Interface Stub}}
+**Arduino Control Box** Matlab code: {{ECE4560:ControlBox:lynx6_calibrate.m| _____ Calibration GUI}} ; {{ECE4560:ControlBox:lynx6.m | _____ Interface Stub}}
+**Lynxmotion SSC-32** Matlab code: {{ECE4560:Lynx6:lynx6_calibrate.m| _____ Calibration GUI}} ; {{ECE4560:Lynx6:lynx6.m | _____ Interface Stub}}
 Instructions: [[ECE4560:Lynx6::Calibrate | Calibration]] ; [[ECE4560:Lynx6:Interfacing]]
+===== Arduino Control Box =====
+-----------------
+A new microcontroller interface has been designed for use with this course.  Instructions on how to use it can be found here.
+Instructions and Tips: [[ECE4560:ControlBox:Connecting | Connecting]]  ;
+[[ECE4560:ControlBox:Issues | Resolving Issues]]
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-[[: | Main ]]
+[[ECE4560:start | ECE4560]] -- [[: | Main ]]
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