PhantomX Reactor Robot - Revision history

Aguti at 15:18, 9 February 2026

2026-02-09T15:18:45Z

Aguti at 17:53, 1 June 2023

2023-06-01T17:53:53Z

Aguti at 08:48, 1 October 2019

2019-10-01T08:48:15Z

Aguti at 09:36, 24 September 2019

2019-09-24T09:36:46Z

Aguti at 04:10, 10 September 2018

2018-09-10T04:10:12Z

Aguti at 19:06, 7 September 2017

2017-09-07T19:06:44Z

Aguti at 19:06, 7 September 2017

2017-09-07T19:06:19Z

Aguti at 19:04, 7 September 2017

2017-09-07T19:04:38Z

Aguti at 08:13, 25 October 2016

2016-10-25T08:13:30Z

Aguti at 08:11, 25 October 2016

2016-10-25T08:11:36Z

@@ Line 22: / Line 22: @@
 <h2> Installing Tools and Libraries </h2>
 <ul>
-<li> Download the robot libraries from: [[http://www.robolabo.etsit.upm.es/wikiFiles/Arbotix-arduino-1-6.zip here ]]. </li>
+<li> Download the robot libraries from: [[https://www.robolabo.etsit.upm.es/wikiFiles/Arbotix-arduino-1-6.zip here ]]. </li>
 <li> Uncompress the libraries to a path of your convenience. In this file you will find two folders: <b> hardware </b> and <b> libraries </b>
 <li> Copy both folders to the <ARDUINO_MAIN_DIRECTORY>. In some Windows you will find this folder in <i> My Documents\Arduino\ </i>, while in others you will find it in <i> Documents\Arduino\ </i>.
@@ Line 62: / Line 62: @@
 We have created a helloWorld example to test the communication with the robot.
-Please download it from [[http://www.robolabo.etsit.upm.es/wikiFiles/ROB-HelloWorldPhantomReactor.tgz here ]] in your prefered destination.
+Please download it from [[https://www.robolabo.etsit.upm.es/wikiFiles/ROB-HelloWorldPhantomReactor.tgz here ]] in your prefered destination.
 Untar the file:
 <pre>
@@ Line 179: / Line 179: @@
 For the implementation of the Practice of the "Control and Robotics in Medicine" subject of the "Master on Bioengineering"  of the UPM, we have created a students template.
-You can download the template from [[http://www.robolabo.etsit.upm.es/wikiFiles/ROB-P1Template.tgz here ]]
+You can download the template from [[https://www.robolabo.etsit.upm.es/wikiFiles/ROB-P1Template.tgz here ]]
 <h2> Structure </h2>

@@ Line 22: / Line 22: @@
 <h2> Installing Tools and Libraries </h2>
 <ul>
-<li> Download the robot libraries from: [[media:arbotix-arduino-1-6.zip | here ]]. </li>
+<li> Download the robot libraries from: [[http://www.robolabo.etsit.upm.es/wikiFiles/Arbotix-arduino-1-6.zip here ]]. </li>
 <li> Uncompress the libraries to a path of your convenience. In this file you will find two folders: <b> hardware </b> and <b> libraries </b>
 <li> Copy both folders to the <ARDUINO_MAIN_DIRECTORY>. In some Windows you will find this folder in <i> My Documents\Arduino\ </i>, while in others you will find it in <i> Documents\Arduino\ </i>.
@@ Line 62: / Line 62: @@
 We have created a helloWorld example to test the communication with the robot.
-Please download it from [[media:ROB-HelloWorldPhantomReactor.tgz | here ]] in your prefered destination.
+Please download it from [[http://www.robolabo.etsit.upm.es/wikiFiles/ROB-HelloWorldPhantomReactor.tgz here ]] in your prefered destination.
 Untar the file:
 <pre>
@@ Line 179: / Line 179: @@
 For the implementation of the Practice of the "Control and Robotics in Medicine" subject of the "Master on Bioengineering"  of the UPM, we have created a students template.
-You can download the template from [[media:ROB-P1Template.tgz | here ]]
+You can download the template from [[http://www.robolabo.etsit.upm.es/wikiFiles/ROB-P1Template.tgz here ]]
 <h2> Structure </h2>

@@ Line 244: / Line 244: @@
 <li> <b>double *f_pos2 </b>:
-Q(t<sub>v</sub>) is coded as <i> double * </i>.
+Q(t<sub>f</sub>) is coded as <i> double * </i>.
 <li> <b> uint16_t un_time1 </b>,  represents the time that it takes to travel from  (Q(t<sub>0</sub>)) to Q(t<sub>v</sub>),that is: t<sub>v</sub> - t<sub>0</sub> in milliseconds.

@@ Line 113: / Line 113: @@
 Tools --> Serial Monitor
 </pre>
 In some seconds you should see the board communicating the following menu:

← Older revision		Revision as of 04:10, 10 September 2018
Line 5:		Line 5:

	<h1> Configuring the environment </h1>		<h1> Configuring the environment </h1>
		+

	<h2> Setting up the Arduino Software </h2>		<h2> Setting up the Arduino Software </h2>

@@ Line 169: / Line 169: @@
 and it will move to the specified position.
-<h1> Practice Template (P1)</h1>
+<h1> Practice Template </h1>
 For the implementation of the Practice of the "Control and Robotics in Medicine" subject of the "Master on Bioengineering"  of the UPM, we have created a students template.

@@ Line 9: / Line 9: @@
 <ul>
-<li> Download the Arduino IDE 1.6.x according to your operating system from: https://www.arduino.cc/en/Main/Software . </li>
+<li> Download the Arduino IDE according to your operating system from: https://www.arduino.cc/en/Main/Software . </li>
 <li> Install the Arduino IDE </li>
 <ul>

← Older revision		Revision as of 08:13, 25 October 2016
Line 274:		Line 274:
	It is between those comments where you must implement all functions required to achive the task.		It is between those comments where you must implement all functions required to achive the task.
	Remember you may need some <i> delay </i> instructions, defined as <i> void delay (uint16_t millisec) </i>, to prevent some instructions to execute before you need them.		Remember you may need some <i> delay </i> instructions, defined as <i> void delay (uint16_t millisec) </i>, to prevent some instructions to execute before you need them.
		+
		+	<br>
		+	Moreover, in the <i> poses.h </i> file you can find some examples of how to define the generalized coordinates of your system.

@@ Line 207: / Line 207: @@
 <li> <b> uint16_t un_time </b>,  represents the time that it takes to travel from  (Q(t<sub>0</sub>)) to Q(t<sub>f</sub>),that is: t<sub>f</sub> - t<sub>0</sub> in milliseconds.
-<li> <b> uint8_t un_trajectory_type </b>, represents the type of trajectory to perform: Linear (LINEAR = 0)  or Cubic  (CUBIC1 = 0)
+<li> <b> uint8_t un_trajectory_type </b>, represents the type of trajectory to perform: Linear (LINEAR = 0)  or Cubic  (CUBIC1 = 1)
 <br>