I just tried again to connect the sensor but this time removing the jumper that gives pover to 16/19 pins.
Now seams that I can control the opening and closure of mandibles!!
Now I can close the mandibles but they don’t stop when I apply pressure to the sensor
Again as expected, the program is allowing the mandibles to close when the AdIN value is < some value. No power to the sensor, will most likely return 0 volts, which again ain’t telling us much…
Ok kurte!
In the next day I will buy a digital multimeter for to check values of resistor and sensor,
I hope that will give us the possibility to understand where is the problem:-)
Don’t get me wrong, a multimeter is a good thing to have. But what would help now is to simply try a program like I typed a few messages ago to see what values you are currently getting from the sensor,both when nothing is touching it and when you press on it with something like your finger. It may be the trigger values need to bit tweaked…
Program could be as simple as:
val var word
Loop:
adin 16, val
serout s_out, i9600, [dec val, 13]
pause 250
goto loopKurt
I undertand kurte!
I’ll do in this way …
The Apod program allows the bot to use 4dof configuration also right?
But for to use this type of configuration what i need to change in cnfg file?
Only add Tarsus pins and servos offsets ?
Personally I would first get the default configuration to work. I would also probably make sure I was using the updated program that Zenta recently posted in a different thread.
As for 4DOF, the code does use the phoenix code which has 4DOF support in it. Not sure if any of the Apodextra code interferes with this or not. Don’t have an APod to try it out… So you would more or less be on your own.
Yes you need to define the Tars pins, turn on 4DOF support, then rebuild your legs, recalibrate and find all of the new servo offsets. Then depending on how the legs are rebuilt may need to muck with things like servo horn offsets…
Kurt
On my bot now running this veraion…I think ( I hope ) that is the latest version 
viewtopic.php?f=4&t=8071&start=15
For 4dof apod, if the only work is add Tars pins , switch 4dof support and recalibrate new servo horn offsets, It doesn’t seams to be an hard work …seams to change samething only in the Cfg file isn’t it?
Yes I have to change the legs design…I’ll work on it;-)
Need a little help. can’t seem to figure out what I’m doing wrong. my a-pod goes to register offset position with just ssc-32 but when I hook up
the BB and Atom pro 28 and hit start on ps2 it snaps to weird position with legs straight up, also 3 tone chime starts up, but opposite from the no ps2 communication chime. Mandibles work open and close so i am assuming the FSR is working right. I have modified the config file to my hex dim. and commented out the code based offsets. My ps2 comes from a working t-hex so it can’t be the controller. I have updated the SSC 32 firmware. I am assuming the baud rate is 115.2 now, not the 38.4. Any help would be greatly appreciated. I’ve attached my base code file and posted some pictures of my wiring. Sorry for the poor picture quality. Thanks!
sorry, forgot running windows 7 BM Studio 2.0.0.15
phoenix_config_3dofgpod.bas (13.3 KB)
Did you remember to install the gp firmware?
Step 3.
Download the 2-07EGP_A1A.abl firmware or higher. Make sure the baud rate is set to 115.2k before attempting to update. Refer to the manual if you need more information regarding baud rate.
Thanks for the fast reply. Yes, I have updated the firmware from the link in the tutorial. Its possible I forgot the 2nd jumper and had it at 38.4k but would it communicate at all with the BB ? The head, tail and hip servos seem to be in the right position the others go straight up toward the ceiling. I will redo that step when I get home tonight just to be safe. I thought It was something with the code based offsets or the 4dof code not being completely commented out.
**I got it running **it was the baud rate when updating firmware on SCC scary results especially with 5990 TG at 7.4 v. THANKS.
Hi Ziggy,
Did you post any pics of your hex? Would be fun to see it. 
I will post some video soon. My legs are a little longer then your original. I have adjusted the leg length
and body dimensions in the config. file but the bot roles over a too much when I turn it scapes the ground on that side, so I need to figure out how to adjust that. I have not messed with the initial leg positions in the config wondering if that is part of my problem. It is still a blast to watch greate job on the software!
I Like the style of ur Apod!
Great work!
My Apod has the original dimentions ( body,legs, etc…) but I have the same problem!
Like also the mandibles speed…
Looking in the Cfg file of Apod program:
It’s possible there is an error here?
LEG DIMENSIONS]
;Universal dimensions for each leg
cXXCoxaLength  con 42 ;Length of the Coxa [mm]
Measuring the coxa ( original dimension ) in my apod seams to be 52 mm
Or maybe I wrong
I can’t confirm that since I don’t have the Lynxmotion A-Pod. Hopefully Lynxmotion can answer this next week.
Hi again,
You are correct about the 52mm. I did some measurements on the brackets to confirm your findings.
Heard ya loud and clear.
Finally got my loose ends tied up. It will leave this week!
I do appreciate your patience.
Yes Zenta,
52 mm is the right coxa lenght!
Please,can U also control in Cfg file the Start Position Feet,if there aren’t any error?
Thanx again