R2-Net Servo controller

What do I need to create the movements?

This is what we need to be able to connect our pc to the controllers and start creating movements:

  • Sequencer software
  • An R2-Net servo controller
  • A USB / Rs485 adapter
  • A type A-B USB cable
Steps to create a movement (the first time)

The first thing to do is connect the controllers as shown in the diagram.

Click to enlarge

Taking into account that:
  • Both controllers must have the dip / switch “speed” connected, this sets them in programming mode.
  • The body controller must have the “head / body” dip / switch connected.
  • We connect the USB to the pc and find out the COM port assigned by windows.
  • We connect the logic power (voltage between 9 and 30v).
  • We connect the power of servos, they are usually between 5 and 6v.

We initially connect a servo to the first channel of the head, taking into account that when feeding it, it will be located in the middle of its path. It is the default starting position and corresponds to the 1500us of PWM.

At this point we open the software to sequence and establish the COM port that we have previously found to communicate with the controllers.

If everything went well, if we move the vertical fader of the mixer of the first channel in the software, we must be moving the servo.

It is important to say that if the servo is located at its mounting site, we can find that it can only move in one direction, that is, the position of a closed cover is only for opening and if the servo is set to 90 degrees This closed, we will force the closure in one of the senses, being able to damage the servo.

Creating the first move

In the software, there are two cyan delimiting lines labeled “L” and “R” corresponding to the right and left.

These lines define the movement, that is, how much we will need in frames (steps) to build our movement. Each step the cursor takes when in “Play” is a step / frame.

By default the line “L” is located in frame 0 and the “R” in frame 100. With this distance we can start by double-clicking the points to draw a movement.

Then we will click on the loop button, this will make that when the cursor reaches the “R” line it will return to the position of the “L” line again.

LOOP

If we press Play we will see that the servo executes that drawn and looped movement, note that the start and end points have identical values so that when we return there we do not see a position jump.

This is a basic concept to create a fast loop movement, it can be very useful to test drive devices, gates, routes and above all, to see the maximum and minimum points of the servo travel.

All mechanisms do not have the same angle of rotation or the same starting position.

We can also try changing the movement speed and see the visual effect.

Concept of a complex movement

As I explain in the software manual, a more complex movement has three phases:

  • Start the main loop
  • Main loop
  • Main loop to End

This does not mean that all movements are like this, but I will explain it in a very simple way:

A simple move is when you don’t need to repeat any step of its path, for example: Open all the droid covers.

Complex movements are: those that need to have a central loop to lengthen them, for example: sequentially combining the opening of the droid’s head covers.

Another clear example of the three phases of a complex movement may be a walking droid: The first phase since you are still and starting to walk, the second phase when you cycle through alternating feet to walk, and finally, the third phase is when you are walking and you are going to stop going back to the starting position.