Archive for May 4th, 2010

Arduino SSC32 Library

Posted by Erin, the RobotGrrl on Tuesday, May 4th, 2010

SSC32

When you google “Arduino SSC32″ my tutorial on Nuvvo is the first to show up, I figured I might as well make a library for the Arduino to help the other users out there get started with their SSC32.

There are three main parts to using this library:

  • Initial positions
  • Frames
  • Set the frame

The initial positions are going to be your home position of all of your servos. For a humanoid, this is usually a standing position that is balanced. Setting the initial positions looks like this (in general):

  1. int HOME0 = 1800;
  2. int HOME1 = 1500;
  3. int HOME2 = 1050; // 1000 for normal, 1050 for gyro
  4. int HOME3 = 1300;
  5. int HOME4 = 800;   // 1300 for hockey, 800 for normal
  6. int HOME5 = 1600;
  7. int HOME6 = 1900;
  8. int HOME16 = 1550;
  9. int HOME17 = 1250;
  10. int HOME18 = 1000;
  11. int HOME19 = 1600;
  12. int HOME20 = 1600;
  13. int HOME21 = 1500;
  14. int HOME22 = 1250;
  15. int HOME23 = 1000;
  16. int HOME24 = 1580;
  17. int HOME25 = 1600;

In animation, the still pictures that make up a movie are called frames. Moving a bunch of servos or a robot according to frames would make sense. Here is an example of a home frame:

  1. int homeFrame[17] = {
  2.       HOME0,
  3.       HOME1,
  4.       HOME2,
  5.       HOME3,
  6.       HOME4,
  7.       HOME5,
  8.       HOME6,
  9.       HOME16,
  10.       HOME17,
  11.       HOME18,
  12.       HOME19,
  13.       HOME20,
  14.       HOME21,
  15.       HOME22,
  16.       HOME23,
  17.       HOME24,
  18.       HOME25
  19. };

Initialize the SSC32 library by setting up the object like this:

  1. SSC32 ssc(true);

The true/false parameter does not effect anything. It has to be there because, for some reason, the library doesn’t compile with no parameters. :P

In the setup() function, the servos have to be enabled. For MANOI, the arms are plugged in to ports 0-6, and the legs from 16-24 and the bad knee is on port 31.

  1. for(int i=0; i<7; i++) {
  2.     ssc.servoMode(i, true);
  3.   }
  4.  
  5.   for(int i=16; i<25; i++) {
  6.     ssc.servoMode(i, true);
  7.   }
  8.  
  9.   ssc.servoMode(31, true);

The last step is pretty simple- just set the frame using this function:

  1. setFrame(int theFrame[], int moveTime, int delayTime);

Example:

  1. ssc.setFrame(homeFrame, 1000, 100);

Delay time is the amount of time you want to delay after the movement. Move time is how long the servos take to go from their current position to the positions in the frame.

Things that you must do in order for the library to work (mainly common sense):

  • The frame references the position of the servos in sequential order. Meaning, it’s servo #0, #1, #2, #3 … #31. You can’t mix the order around, it won’t work.
  • If the servo is in the frame, it has to be enabled. :P If it is not enabled, then everything will be confused.
  • Have the SSC32 connected to the Serial port. If you need it to be Serial1, then you can change it in the library’s cpp file (just do a find+replace) ^_^

The SSC32 library uses the Arduiniana Streaming library. Be sure to download and install it into your sketches/libraries/ folder!

Download the SSC32 library here!

There is an example included. :)

Let me know of any bugs that you find, or how anything can be optimized! :D

Posted in: Programming, Projects.









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