Step #19: Adjust Servo Horn Position
' For Boe-Bot robot
' {$STAMP BS2}
' {$PBASIC 2.5}
DO
PULSOUT 14, 250
PAUSE 20
LOOP
// For ActivityBot robot
#include "simpletools.h"
#include "abdrive.h"
#include "servo.h"
int main()
{ while(1)
{
servo_angle(16, 0);
}
}
•
Remove the screw from the servo horn and pull the
servo horn off the servo.
•
Type in the program for your robot (Boe-Bot or
ActivityBot), at left.
•
Turn the switch to Position 2 and run the program.
The splined servo shaft will rotate to the clockwise end
of the servo’s range.
•
Now replace the servo horn as shown in
Fig #31
below. Align the servo horn 90 degrees to the servo
body, pointing towards the chassis.
•
Replace the servo screw and gently tighten.
Fig #31
Step #20: Final Gripper Adjustment
' For Boe-Bot robot
' {$STAMP BS2}
' {$PBASIC 2.5}
DO
PULSOUT 14, 1250
PAUSE 20
LOOP
// For ActivityBot robot
#include "simpletools.h"
#include "abdrive.h"
#include "servo.h"
int main()
{ while(1)
{
servo_angle(16, 1800);
}
}
•
Edit your program to match the listing at left for your
robot.
•
Turn the switch to Position 2 and download the
program.
•
The servo shaft will move the Gripper to the closed
position.
•
Loosen the set screws in the E/Z connectors and
adjust the rods so the Gripper is fully closed and
slightly raised off the surface.
•
Re-tighten the set screws securely
Your Gripper is now ready to lift:
•
Objects up to 2 in. (5 cm) wide
•
Up to 4 oz (113 grams) without counterweight
•
Up to 14 ounces (397 grams) with counterweight (not
included)
•
Please note that these measurements are
approximate; individual Gripper performance may vary
with battery charge, servo performance, and actuator
rod adjustment.
Revision History: Version 4.0 adds support for ActivityBot robot.
Copyright © Parallax Inc.
Gripper Kit (#28202)
v4.0 9/16/2014 Page 13 of 13
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