Skip to content

The application

Jump to bottom
TheComet10 edited this page Apr 22, 2025 · 3 revisions

RAS Application

This Robotic Arm Simulator is made with Unity Engine 6 and do a simple thing, simulate the arms. But not all that is easy to tell is easy to do, so here you have a full app tutorial!

How to use RAS App

The Main Menu

When you open the app, you will start by the main menu. You can read some signs like the app's name and the version (on the bottom right) and some bottons:

  • START: sends you to the Selection Menu;
  • QUIT: exits the app;
  • the star: opens the credits menu;
  • the message: sends you to the discussions page, here, on GitHub;
  • the bug: sends you to the issues page, here, on GitHub.

The Selection Menu

This menu let you decide which arm use. Pressing the "BACK" button, you'll return to the Main Menu.

The Simulator

When you open the simulator, you will firstly see the arm and, at the right, the UI. In the UI you can find what keys you must press to move a certain part, the arrows to augment or decrease the moving part velocity belowed by the speed multiplier indicator and the part name.

The Pause Menu

In the simulator, if you press ESC, you'll enter in the Pause Menu, called like that because it stops the time indeed. There you'll find:

  • The RESUME button, that starts back the Simulator;
  • The SETTINGS button, that opens the Settings Menu;
  • The EXIT button, that sends you back to the Main Menu.

The Settings Menu

This is very complex to understand, but I'll make it more clear. You'll firstly see on the top a Frame Per Second dropdown, you can set there the target FPS of the simulator (default is 30 FPS). Than you can find the motors settings, designed to have a TMC2208 driver to control the motors (it's a real life driver used for stepper motor), displayed in a matrix:

  • Clock: are the defaut step per second and are normaly set at 200 (like the motor we personaly use in real life);
  • Direction: 0 is for counter clockwise, and 1 is for clockwise;
  • Enable: 0 lets the motor rotate, 1 blocks the motor;
  • MS1: sets the state of MicroStepping 1;
  • MS2: sets the state of MicroStepping 2;

What is MicroStepping?

Using MicroStepping let you change the number of steps inside a single step, for example, if you do 1 step, it can be 8 micro steps.

  • MS1 = 0 and MS2 = 0 sets the micro steps to 8;
  • MS1 = 0 and MS2 = 1 sets the micro steps to 2;
  • MS1 = 1 and MS2 = 0 sets the micro steps to 4;
  • MS1 = 1 and MS2 = 1 sets the micro steps to 16.

So, yes, you'll always have micro steps, and the number of steps per minute is Clock multiplied by Total MS (in this case is 1600 SPM).

Clone this wiki locally