File	Date	Author	Commit
examples	2014-02-01	juancaruca	[5798bb] Bug in LED device corrected
RAStrings.h	2014-02-08	juancaruca	[71e8f5] Created by juancaruca 1/1/2014 version 2.0
README.txt	2014-03-16	juancaruca	[4d0c8a] Rev 2.2
RoboticArm.cpp	2014-03-16	juancaruca	[4d0c8a] Rev 2.2
RoboticArm.h	2014-03-16	juancaruca	[4d0c8a] Rev 2.2
examples.zip	2014-02-02	juancaruca	[3d96ef] Revision 1.1
keywords.txt	2014-01-08	juancaruca	[a36f34] OWI535 Robotic Arm To Rover Arm, Arduino

Read Me

Created by juancaruca 1/1/2014 version 2.0

Changelog

Rev 2.2
* Fixed bug in SetOutputValue Command When controlling Servo devices.

Rev 2.1
* Fixed bug in SetOutputValue Command When wired control box is active.

Rev 2.0
* Change command syntax to avoid exceeding the lenght of 64 characters of the arduino serial port stream

Rev 1.1
* Added function: GetValues. Now you can get more than one value in one function call 

Rev 1.0
* First release

OWI 535 Robotic Arm Turned into Rover Arm Robot, Arduino Hardware

New life for the OWI 535 Robotic Arm. I prepare a specific library for the arduino  mega.
 
With this library you can turn the Robotic Arm into a Rover Arm Robot.

Arduino Mega core and some other hardware compatible (Motor Shield L293, Motor Drive H bridge L298,...)

Features: 
- OWI 535 Full control
- Up to 8 PWM motors
- Up to 8 Servos
- Controled by its own Wired Control Box
- Controled by Serial or Bluetooth ports
- It accepts Potentiometers in the arm joints to convert its motors into servos.
- Sensors: Analog Touch, Distance (sharp infrared, ultrasonic)
- Propioceptors: Potentiometers attached to the arm joints, Interoceptors, exteroceptors
- Wide range of configurations 

 NOTICE! In homage to "terminator" movies and "galactica" series, this robot does not have any STOP command

Serial / Bluetooth protocol:

	Commands (max 64 characters):
	  <CMD><name>commandname</name><params>param1;param2;param3</params></CMD>

	Answers (responses):
	 <RSP><name>commandname</name><params>param1;param2;param3;...</params></RSP>
	 <RSP><name>commandname</name><params>OK</params></RSP>
	
	Fault response send by RobArm.
	 <RSP>>fault>commandname</fault><params>number;text</params></RSP>

List of Command names available with this version:

Command		<CMD><N>GetVersion</N></CMD>
Response	<RSP><N>GetVersion</N><P>version</P></RSP>

Command		<CMD><N>GetDevCount</N></CMD>
Response	<RSP><N>GetDevCount</N><P>DevCount</P></RSP>

Command		<CMD><N>GetMapOfPins</N></CMD>
Response	<RSP><N>GetMapOfPins</N><P>param1;param2;param3;...</P></RSP>

Command		<CMD><N>GetDeviceData</N><P>DevHandle</P></CMD>
Response	<RSP><N>GetValue</N><P>DevHandle;DevData</P></RSP>

Command		<CMD><N>GetStatus</N><P>DevHandle</P></CMD>
Response	<RSP><N>GetStatus</N><P>DevHandle;Status</P></RSP>

Command		<CMD><N>GetValue</N><P>DevHandle</P></CMD>
Response	<RSP><N>GetValue</N><P>DevHandle;DevValue</P></RSP>

Command (max 64 characters):
		<CMD><N>GetValues</N><P>DevHandle0;DevHandle1;...;DevHandleN</P></CMD>
Response	<RSP><N>GetValues</N><P>DevValue0;DevValue1;...;DevValueN</P></RSP>


Command		<CMD><N>SetStatus</N><P>DevHandle;DevStatus</P></CMD>
Response	<RSP><N>SetStatus</N><P>DevHandle;OK</P></RSP>

Command		<CMD><N>SetValue</N><P>DevHandle;DevValue</P></CMD>
Response	<RSP><N>SetValue</N><P>DevHandle;OK</P></RSP>

Command		<CMD><N>SetOutputValue</N><P>DevHandle;DevOutValue;DevDir</P></CMD>
Response	<RSP><N>SetOutputValue</N><P>DevHandle;OK</P></RSP>


 NOTICE! In homage to "terminator" movies and "galactica" series,
		 this robot does not have any STOP command


This example code is Licensee only for non-commercial use and educational purposes, enjoy!