Finding Data using Limit Switches

[connorlindsell259]

I am working on a robot arm consisting of a base, 4 elbow joins and a scoop and controlled by stepper motors. In hindsight, I would have a designed this very differently but due to the constraints this is what we have. We are tasked with picking up tennis balls in different locations on a track.

i have been having trouble with programming it, initially was trying to use inverse kinematics. However, trying to learn it on the fly and with the deadline fast approaching, i might be abandoning this. Since the balls aren't moving and are in the same spot each test, a mentor suggested using limit switches and a "Teach Function" to get the data for the angles of the stepper motors. He said that i would be able to position the arm in the location that I want then using limit switch i could get the amount of steps to the home position and therefore be able to use this data.

Can anyone give me some advice, refer me to videos or pages that have some documentation of how to go about this.

[johnerrington]

@connorlindsell259

Can anyone give me some advice

Can you start by providing a sketch of the robot arm and layout of the track?
This will tell you how to do that its not just for schematics, you can hand draw and upload.

How to make a schematic you can post.

When you submit a question on the forum you will usually need to add a schematic (circuit diagram). The tutorial that follows will explain some ways to create a useful image; however lets start by explaining how to add the image to your post. Its easy. Having created the image all you need to do is : Save the image somewhere convenient - maybe your desktop Start your post, and place the cursor (insertion point) where you want the image to be shown; [upload image to forum] 3: click th…