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
I’m not sure if I understand your question? Do you see any error?
The init positions shouldn’t be very different from my original I think.
Sorry Kare,
My english is not so good and sametimes for me it’s a little hard to explain the problem in wright way,but I try:
I’m not a expert like U and maybe I wrong samewhere,
So,
I think there are 2 problems:
1-during apod walking,its feets scapes the ground when the bot turn;
for don’t have this problem we to activate the R1 button.
( maybe the wrong Coxa dimension cause it?)
2-start position feet:
I made an accurate alignment of neutral position and writed in Ssc
When we have the apod power off ( ssc off,bb2 off ) the 6 Femur servo brackets lean on the ground,
So that is the ‘ground line’
When we have apod power on ( ssc on, bb2 on ) and we press start , the feets goes down that line!
And seams that not all legs are in the same position , like also alignment of abdomen…
Horizontal hip servos seams to be in good position like all head servos.
So for that reasons I asked if U can control the cfg file…
Or maybe i wrong samewhere
Hi Anjys,
I’ll be able to check this when I have a working Lynxmotion A-Pod version on my desk. That might take awhile before I’ve finished it.
Btw, what servo are you using? 645’s?
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not sure whats causing this. Are you saying that the legs doesn’t lift from ground when walking? 30mm should be sufficient for lifting the legs though.
-
Locate this line in the config file:
CHexInitY con 15You might need to increase this to maybe 25 or 30 (just a guess). Experiment with different values.
Morning Kare!
Thanx for ur help,even if U haven’t lynxmotion apod version U try to help to resolve this problems;-)…
Yes,I’m using 645’s
1- Legs lift from gound …but not so much to don’t make feet scapes the ground ( especially during bot turning)
2-maybe increasing that value will resolve the problem ’ 1’ , can it be?..
But looking better each leg when the bot is on ( pressed start button ) the angles between coxa,femur,tibia seams to be slightly different . That make to think that I wrong samething during servos calibration, but I remeber to did a good alignmet ,like also the abdomen alignment.
So,or maybe I wrong alignment again or can be that the code use ur UseCodeOffsets?