ROBODEM

This software is designed to give you a feel for our robots, and the differences between
the two most popular models. We suggest you print this page for reference.

Your computer must have DirectX9C if not you can download it from
http://www.microsoft.com/downloads/details.aspx?FamilyId=0A9B6820-BFBB-4799-9908-D418CDEAC197&displaylang=en

Download the file robodem.zip into a suitable directory and unzip. Run robodem.exe for
the demonstration. TIP: the display view is controlled by the mouse. This can move off
the view yet still control the view. We recommend you make a desktop shortcut and place
it in the center of the screen so the cursor is centered before you start. Double-click
the icon to run.

The demonstration features full 3D images of the robots in all-round lighting. If you wish to see shadows run the batch file robodem.bat.

Press space to move from the opening screen and you see a menu with 4 options.

When controlling the R17 the following keys are active:
A and D - move waist
W and S - move shoulder
O and K - move elbow
P and L - hand pitch
M and N - wrist rotate
G - grip
H - ungrip

When controlling the R19 the following keys are active:
A and D - move waist
W and S - move lift up/down
X and Z - move extend axis in/out
M and N - hand rotate (yaw)
G - grip
H - ungrip

You can also try out some very limited ROBOFORTH commands. Obviously these are just a
tiny fraction of the actual ROBOFORTH vocabulary but should give you a feel for
controlling an arm from commands. Do please refer to the page about ROBOFORTH:
http://strobotics.com/robofort.htm and if you are interested you can also access the
manual at http://strobotics.com/manuals/manual10.htm but bear in mind it is not possible
to put all these commands in the demo. Even the ones which are included are not fully
implemented - just there to give you a feel for the system.

Availabe ROBOFORTH commands take the form:
TELL (joint-name) (amount) MOVE - will move the named axis by the amount specified.
HOME - returns complete arm to HOME position.
GRIP - closes gripper
UNGRIP - opens gripper
For R17:
Axis name	value
WAIST		9000 for 90 degrees
SHOULDER	18000 for 90 degrees
ELBOW		9000 for 90 degrees
HAND		3600 for 90 degrees
WRIST		3600 for 90 degrees
These are simplar but not the same values as the real thing.
For R19
Axis name	value
WAIST		9000 for 90 degrees
LIFT		approx 10000 for full stroke
EXTEND		approx 10000 for full stroke
HAND		900 for 90 degrees