The software for the robot is ready for testing. Here you see a screen dump of the run mode. According to the lightening dots, steel balls are placed in a wall matrix by the robot. Information during positioning can be followed on the screen. The encorders are read out in real time and placed on the screen. Motion directions are also displayed. A counter has been added to indicate how many refresch bursts occur per second of the I2C connection. This varies around 200. This indicates that the TXT Controller is very fast to readout in realtime the data information.
Here the program works in run mode. The steel balls are brought from the input to the wall according to a selected pattern. During run mode you can see which dot is processed, indicated by the blue horizontal and vertical points in the matrix. This will become even clearer later on on a video. The status of the end switches of the 3 axes is also visible in real time.
The pattern used is the character 58 from the character rom. This value can also be followed on the PC screen. At the beginning of next week I can drill the holes for the wall. There will be 2 more sensors placed to see if there is a steel ball on the robot arm.