RoboPilot



          RoboPilot allows you to use your Palm Pilot to control a robot
          that uses the Lynxmotion Inc, Serial Servo Controller (SSC).
          The RoboPilot software was designed for controlling the Lynxmotion
	  Mobile 5 Axis arm ( M5AA-KT ), but can be used for any robot that uses
	  the SSC.
	  
	  
	                        Requirements.

          In order to use the RoboPilot software you will need the following:
	  
	         3Com Palm Pro or better
		 
		 Robotic device controlled by the Lynxmotion SSC, Serial
                 Servo Controller

		 Lynxmotion DB9 Serial Cable (Lynxmotion DB9-01) or equivalent
		 
		 Palm Hotsync cable (3Com Model# 10104U for Pro and III series;
		 part of the travel kit 3Com Model# 10413U for the V series).
		 
		 M-M DB9 Null modem adaptor
		 

                 (For the Palm Pro and III series one can use the 3Com Modem
                  cable, 3Com Model# 10111U, and a 9-M to 25-F Pin adaptor in
                  place of the Hotsync cable and 9 pin Null modem)



                                   Setup
				   
          To use RoboPilot, the servomotors should be connect to the SSC in
          the following order:
	  
	              Channel                  Function
		        0                      Left Motor
			1                      Right Motor
			2                      Arm Azimuth
			3                      Shoulder
			4                      Elbow
			5                      Wrist
			6                      Finger
                        7                      Spare


          The "Drive" Menu on RoboPilot has three components.  The vertical
          indicator is the forward and reverse speed setting, this is a
          persistant control that remains at the point where the stylus last 
          set it.  The horizontal indicator is for steering, this control
          automatically recenters itself when the stylus is lifted.  Steering
	  can be done while the robot is stationary or while it is in motion.
	  The left and right "trim" controls can be used to compensate for any
	  drifting motions of the robot when the drive control is off.

          The "Arm" menu on RoboPilot provides controls to move the servomotors
	  associated with the control of the Robot arm.
	  
	  
	  
	  
	  
                                
 Taygeta Scientific Inc.        Phone: 831-641-0645 FAX:  831-641-0647
 1340 Munras Ave., Suite 314    INTERNET: office@taygeta.com    
 Monterey, CA. 93940            WWW: http://www.taygeta.com/