OWI-535 Robot Arm Coding Project 

Part I  

Some Java Code

 

Dance video- speeded up x4 for effect

Also see our new site Eusentient.com

Introduction

Be aware

When you install the new drivers for your USB robot arm (see below), the OWI software you loaded from the CD will stop working. This isn't a failure of the code or instructions, it's just that you need to install new drivers for the USB board that work with Java and the IDE.   

To revert to the OWI software interface.

In device manager uninstall the libusb-win32 devices: ELAN USB device. Then re-install the OWI software. Restart the PC between each step of the un-install and re-install process.

-----------------------------------------------------------------------------
***Disclaimer***
Please remember this code is provided for free and AS IS. There is no support and no guarantee. As a non-expert, I will answer what questions I can, and respond to constructive comments / criticism.
----------------------------------------------------------------------------- 

I've posted links below to get all the code and allied files (jars,wrappers, drivers and libraries) to control the OWI robot arm using a simple GUI interface. You can also make sequences in Netbeans which make the arm execute set moves - make it dance as I did in the video above, if you like! My code is based on Andrew Davison's OWI project: http://fivedots.coe.psu.ac.th/~ad/jg/nui06/index.html

Geekery Recipe

All the Java code and allied files are here:  on my Google Drive 
NB the OW535RobotArm file is 7-zip type get free here: http://www.7-zip.org/download.html

Jars,wrappers, drivers and libraries on my Google drive

LibusbJava_dll_0.2.4.0 (.zip)

libusb-win32-bin-1.2.6.0 (.zip)

ch.ntb.usb-0.5.9.jar

 Netbeans project files and Java sources

OW535RobotArm (.zip) 7-zip: http://www.7-zip.org/download.html

Contains Java files (Dr. Andrew Davison 10/07/2011):

    * Joint.java, ArmCommunicator.java, JointID.java

Java files added by Craig Turner 19/01/2013
    * RobotUserForm.java (GUI interface)
    * ArmDance.java (sequence of moves a "dance")
--------------------------------------------------------------------------------------------------------

Alternatively you can get libusbJava_dll_0.2.4.0 (.zip) and libusb-win32-bin-1.2.6.0 (.zip)

by cutting and pasting these links to your browser:

* libusb-win32:  you need: libusb-win32-bin-1.2.6.0
<http://sourceforge.net/projects/libusb-win32/files/libusb-win32-releases/>

* libusbjava: <http://sourceforge.net/projects/libusbjava/> you need: ch.ntb.usb-0.5.9.jar

* dll: <http://en.sourceforge.jp/projects/sfnet_libusbjava/downloads/libusbjava-snapshots/20090517/LibusbJava_dll_0.2.4.0.zip/> you need: LibusbJava_dll_0.2.4.0.zip

---------------------------------------------------------------------------------------------------------

libusb-win32-bin-1.2.6.0 (.zip) 

• Extract archive and run the \bin\inf-wizard application. Choose a device to create
  drivers for e.g. 0x1267 0x0000 ELAN USB Device
• Copy and rename the relevant DLLs in e.g. bin\x86\.. over to the OS (x86 is windows example)
  libusb0_x86.dll --> Windows\system32\libusb0.dll
  libusb0.sys --> Windows\system32\drivers\libusb0.sys

LibusbJava_dll_0.2.4.0 (.zip) and ch.ntb.usb-0.5.9.jar

• Download ch.ntb.usb-0.5.9.jar and LibusbJava_dll_0.2.4.0.zip move the JAR and unzipped DLL to your java project folder.

If using an IDE such as Netbeans, make sure these files are copied into your dist folder: [ch.ntb.usb-0.5.9.jar], [LibusbJava.dll] and [LibusbJava_dll_0.2.4.0.zip].


Project organisation in Netbeans looks like this:

 

 Text file for a java project here in Rich Text format: 

Text format file with all Java classes in one file.

----------------------------------------------------------------------------------------

Other requirements:

* An OWI-535 robot arm
   (http://www.owirobot.com/products/Robotic-Arm-Edge.html),
    **and** its USB interface.

In UK available here: Rapid Electronics

* The driver software may not include a Windows 7 version, but the
    OWI Robotics website has drivers at
    Owirobot downloads

* install the arm's ELAN USB driver

* Create a libusb-win32 device driver for the ELAN driver using
   libusb-win32's inf-wizard.exe

 i.e. Extract archive and run the \bin\inf-wizard application. Choose a device to create
drivers for e.g. 0x1267 0x0000 ELAN USB Device

------------------------------------------------------------------------------
 ArmDance.java

To use this class and it's methods you need to set the arm to a suitable position
so that  when the sequences begin the arm doesn't overshoot it's working
limits. Failure to do so may cause the gears to grind and click. The bot
may hit things, fall over and generally cause havoc.


For these Java method calls in the ArmDance class:
dance1(1, 5, 2);
faceCamShowOff();

I used the GUI (RobotUserForm.java) to set the arm to fully vertical
before starting.

-----------------------------------------------------------------------------

Last updated by by Craig Turner: 6th June 2013

Andrew Davison's OWI project: http://fivedots.coe.psu.ac.th/~ad/jg/nui06/index.html


If you use any of Craig's code please mention his name
and the Blog :
http://gampageek.blogspot.co.uk/2013/01/java-working-beautifully-many-thanks-dr.html