Can someone please do me a big favor?
I need Zentas Phoenix5 “Body Rotation” project (from lynxmotion.com/images/html/proj098.htm) generated as basic Atom code from the Visual Sequencer. I’m experimenting with an own program and I just can’t seem to find my Visual Sequencer program.
Directlink to the Phoenix5: lynxmotion.com/images/files/phoenix5.zip
I’t would be a great help!
/Matt
I have the Basic Atom Pro 28 by the way
Hi!
I’ve programmed a csv-reader for my Hexapod in C. How do i calculate the pulse widths from the csv-values?
Right now I do like this: 1500 + (csv-value)/0,09. It works OK, but I’m guessing I’m missing something out.
For instance the Zentas Phoenix3 project isn’t working as on Youtube.
How do I calibrate it right?
/Matt
Please don’t start multiple threads here. It will only make it more difficult for someone to help you.
Hi,
I’ve been busy lately. Therefore the late respons.
On my first original Phoenix I calibrated the coxas as for an inline hexapod. Meaning that the 0 deg position for all coxas look like this:
http://i214.photobucket.com/albums/cc6/ZentaOlbaid/PEP106.jpg
When I made this early version of PEP I used SEQ only for controlling the robot. The end result depend of how you calibrated the servos in the SSC32 configuration.
Your formula for calculating the pwm value isn’t 100% correct. You could study how Xan did it in his basic Phoenix code. It is a bit hard to see it how I did it in PEP. But the principle are like this: pwmvalue = 0degPWMvalue + DegValue*PWMdegfactor
The PWMdegfactor vary a bit between 9,6 and 10,2. Take a look at the setup sheet in PEP ver 2.02
Hi again,
Oh, another major difference is also the pin configuration (what servo are connected to each pin). On my original Phoenix I mounted the SSC32 board the other way (with the serial com connector pointing backward).
So the pin config for the sequences used in the Phoenix5 project are like this:
[code]RFCoxaPin con P2 ;Front Right leg Hip Horizontal
RFFemurPin con P1 ;Front Right leg Hip Vertical
RFTibiaPin con P0 ;Front Right leg Knee
RMCoxaPin con P6 ;Middle Right leg Hip Horizontal
RMFemurPin con P5 ;Middle Right leg Hip Vertical
RMTibiaPin con P4 ;Middle Right leg Knee
RRCoxaPin con P10 ;Rear Right leg Hip Horizontal
RRFemurPin con P9 ;Rear Right leg Hip Vertical
RRTibiaPin con P8 ;Rear Right leg Knee
LFCoxaPin con P18 ;Front Left leg Hip Horizontal
LFFemurPin con P17 ;Front Left leg Hip Vertical
LFTibiaPin con P16 ;Front Left leg Knee
LMCoxaPin con P22 ;Middle Left leg Hip Horizontal
LMFemurPin con P21 ;Middle Left leg Hip Vertical
LMTibiaPin con P20 ;Middle Left leg Knee
LRCoxaPin con P26 ;Rear Left leg Hip Horizontal
LRFemurPin con P25 ;Rear Left leg Hip Vertical
LRTibiaPin con P24 ;Rear Left leg Knee[/code]
Thanks a lot, Zenta!
This explains my robot’s weird behaviour.
/Matt
