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Minirobot User Guide
1 Introduction to Minirobot
Minirobot is an application that controls the MyArm robot arm by combining the 3 buttons of the robotic arm base with an on-screen display. Its functions include drag teaching, communication forwarding, zero calibration, status information, etc.), which is convenient for operators to interact with the elephant robot and use the elephant robot correctly.
Applicable Equipment:
-MyArm M750
Be sure to download and update the Atom, Pico and Basic firmware before use
2 How to use
After you have updated the basic firmware, plug it in, press the power switch and the Minirobot will start. The boot will automatically run the POST, and Robot Checking will be displayed on the screen, wait for about 20 seconds before entering the main interface. The main interface displays Maincontrol, Transponder, Calibration, Information and Flash, and you can control the selection through the three buttons at the bottom, which are up, down, and ok. If you're going to use Transponder, connect Type-C to your device first. (When using the key, if there is no response, please press and pause for a while and then release to ensure that the key is pressed) Before the motion control, you need to confirm whether the zero position is normal, relax the robotic arm and move it to the theoretical zero position, and use the communication protocol to read the angle value through Transponder, if the zero deviation is too large, you need to use calibration to calibrate the zero position of each joint first, and use test to check whether the zero position is normal after the calibration is completed. Note: If there is an abnormal motor communication during the POST, the end LED will be red, and the end LED will be green under normal circumstances. When there is a communication abnormality, the motion control cannot be controlled, at this time, it is necessary to call the clear_servo_error in the communication protocol through the serial port, and ignore the abnormality to move
2.1 Drag teach-in
Drag the show to control the movement of the robot arm according to the trajectory you drag while recording.
2.2 Communication Forwarding
Enter the communication forwarding interface, you can control the robotic arm by sending commands in the communication protocol through the serial port assistant on your device.
2.3 Zero calibration
The zero calibration interface allows you to calibrate the joint zero and test the zero position.
2.4 Status Information
The status information interface allows you to view the motor connection status and firmware version number.
2.5 Burning
When you need to burn the PICO firmware of the main controller, go to the programming interface and select Flash to enter the programming preparation stage.
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MyArm 750 Minirobot 使用指南
1 Minirobot 简介
Minirobot 是一款通过结合机械臂底座的 3 个按键以及屏幕显示对 MyArm 机械臂进行控制的应用。它的功能有拖动示教、通信转发、零位校准、状态信息等），便于操作人员与大象机器人进行交互，正确使用大象机器人。
适用设备：
-MyArm M750
该产品出厂时已经烧录所有固件,不需要重复烧录,如需要重新烧录或更新可参考 固件烧录章节
2 如何使用
在你更新完 basic 固件之后，接通电源，按下电源开关 Minirobot 启动。开机会自动运行开机自检，屏幕上会显示 robot checking，等待大约 20 秒后进入主界面。主界面显示有 Maincontrol(拖动示教)、Transponder(通信转发)、Calibration(零位校准)、Information(状态信息)以及 Flash(烧录),通过底部的 3 个按键去控制选择，分别为 up(上移)down(下移)ok(确定)。如果你要使用 Transponder，请先连接 Type-C 到你的设备上。（在使用按键时，若无响应，请按下后停顿一会再松开，以确保检测到按键按下）在进行运动控制前，需要确认零位是否正常，将机械臂放松并移动到理论上的零位，通过 transponder 使用通讯协议读取角度值，若零位偏差过大则需要使用 calibration 先校准各关节零位，校准完成后使用 test 查看零位是否正常。
注意：开机自检中若出现电机通讯异常，末端 LED 会呈现红色，正常情况下末端 LED 为绿色。当出现通讯异常的时候，无法运动控制，此时需要通过串口调用通讯协议里的 clear_servo_error，忽略异常才能运动
2.1 拖动示教
拖动示教会按照你录制时拖动的轨迹控制机械臂运动。
2.2 通信转发
进入通信转发界面，你可以在你的设备上通过串口助手发送通讯协议中的指令来控制机械臂。
2.3 零位校准
零位校准界面可以进行关节零位校准并测试零位。
2.4 状态信息
状态信息界面可以查看电机连接状态以及固件版本号。
2.5 烧录
当你需要烧录主控 pico 固件时，进入烧录界面选中 Flash 进入烧录准备阶段。
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