.close_grip:
DIM SER AS BYTE
DIM LOC AS BYTE
DIM loc1 AS BYTE
DIM GRP AS BYTE
GRP=0
LOC=MOTORIN(15)
SER = loc
LOC1 = 0
closegrip1:
SER=SER-1' NEXT SERVO POSITION
SERVO 15,SER
DELAY 500' ALLOW SERVO TIME TO TRAVEL
LOC=MOTORIN(15)
loc=loc-1' CHECK SERVO POSITION
IF LOC = SER THEN ' CHECK TO SEE IF SERVO HAS MOVED
LOC1= 0
OUT 52,0
ENDIF
IF LOC <> SER THEN ' IF SERVO DID NOT MOVE ADD 1 TO LOC1
LOC1 = LOC1 + 1
OUT 52,1
ENDIF
IF LOC1 >= 3 THEN GOTO QUIT' IF SERVO DID NOT MOVE AFTER 3 TRIES THEN QUIT
IF SER < 80 THEN GOTO QUIT' IF SERVO REACHES FULL CLOSED THEN QUIT
GOTO closegrip1
QUIT:
OUT 52,1
GOSUB sit_down_pose
RETURN
Statistics: Posted by firefox — Sat Apr 07, 2007 2:29 am
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) I have assembled my RN-1 with no problems and installed matts grips ( Thanks Matt there great). I have been looking at the post and seen were some people are looking for ways to sense when the grips have grabbed somthing. I had a idea on using the motorin to check the servo position after telling the servo to move 
. If the grip closes on a object then the servo position will not match the servo commanded position. I have tried the following program and it works. even got brave and put my finger in the grip 
( with my other hand on the power switch just in case). Anyway this is only my 3rd day playing with robobasic so as a beginner I was would like to see if some more experienced programmers could rework my idea and post a improved version for all to share. I beleave there my be a simpler way to do the programming I just have to get some programming time under my belt.