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. Donāt have an APod to try it outā¦ 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 offsetsā¦
For 4dof apod, if the only work is add Tars pins , switch 4dof support and recalibrate new servo horn offsets, It doesnāt seams to be an hard work ā¦seams to change samething only in the Cfg file isnāt it?
Yes I have to change the legs designā¦Iāll work on it;-)
Need a little help. canāt seem to figure out what Iām 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 canāt 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. Iāve attached my base code file and posted some pictures of my wiring. Sorry for the poor picture quality. Thanks!
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 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!
Sorry Kare,
My english is not so good and sametimes for me itās a little hard to explain the problem in wright way,but I try:
Iām 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 donāt 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 āground lineā
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 abdomenā¦
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 fileā¦
Or maybe i wrong samewhere
Iāll be able to check this when I have a working Lynxmotion A-Pod version on my desk. That might take awhile before Iāve finished it.
Btw, what servo are you using? 645ās?
not sure whats causing this. Are you saying that the legs doesnāt lift from ground when walking? 30mm should be sufficient for lifting the legs though.
Locate this line in the config file:
CHexInitY con 15
You 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 havenāt lynxmotion apod version U try to help to resolve this problems;-)ā¦
Yes,Iām using 645ās
1- Legs lift from gound ā¦but not so much to donāt make feet scapes the ground ( especially during bot turning)
2-maybe increasing that value will resolve the problem ā 1ā , 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?
Hi. Anjys I commented out this part just to be safe dont know if that will help [code];Zenta, the UsecodeOffsets section can be removed in the final release:
;--------------------------------------------------------------------
;[SERVO Offsets] #IFDEF UseCodeOffsets
cRFCoxaOffset con 644 ;Front Right leg Hip Horizontal ;650-6
cRFFemurOffset con 564 ;Front Right leg Hip Vertical ;650-86
cRFTibiaOffset con 670 ;Front Right leg Knee ;650+20
cRMCoxaOffset con 662 ;Middle Right leg Hip Horizontal ;650+12
cRMFemurOffset con 555 ;Middle Right leg Hip Vertical ;650-95
cRMTibiaOffset con 675 ;Middle Right leg Knee ;650+25
cRRCoxaOffset con 707 ;Rear Right leg Hip Horizontal ;650+57
cRRFemurOffset con 556 ;Rear Right leg Hip Vertical ;650-94
cRRTibiaOffset con 684 ;Rear Right leg Knee ;650+34
cLFCoxaOffset con 629 ;Front Left leg Hip Horizontal ;650-21
cLFFemurOffset con 802 ;Front Left leg Hip Vertical ;650+152
cLFTibiaOffset con 573 ;Front Left leg Knee ;650-77
cLMCoxaOffset con 689 ;Middle Left leg Hip Horizontal ;650+39
cLMFemurOffset con 720 ;Middle Left leg Hip Vertical ;650+70
cLMTibiaOffset con 584 ;Middle Left leg Knee ;650-66
cLRCoxaOffset con 713 ;Rear Left leg Hip Horizontal ;650+63
cLRFemurOffset con 790 ;Rear Left leg Hip Vertical ;650+140
cLRTibiaOffset con 564 ;Rear Left leg Knee ;650-86
#endif
[/code]
I have the same problem with the leg lift height not rising up high enough when turning fast, and only on the side I am turning to. So if I go left or right throw the stick over fast the front left or right leg scrapes the floor if I do it slow and smooth it does not seem to do it. Walking and strafing straight are fine it is only turning. I am wondering if reducing the amount the body pitches over when turning would help I do not know where to adjust that I would need Zenta to point me to it.
Ps Thanks Kare for the help with tibia length/ mandible speed they work great!
**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.
[code];Zenta, the UsecodeOffsets section can be removed in the final release: