Yeah, sry. As you might have noticed I’m very busy at the moment so I don’t have time to check the forum. But the busy time is getting to his end and it looks like next week will be a “normalâ€
New features are: - turning on/off the bot by pressing the start button
switching between different gaits by pressing the select button.
The analog sticks will not only control the travel length but also the speed of the servos.
Questions and suggestions about the code can be placed in this topic.
I’m at work right now ( ) and the youtube connection speed on our network are really bad so I’ve to watch it when I come home. But as far as I can see it looks awesome.
If you watch the video at home you could properly turn on the sound to! Don’t try that at work . You will hear a single beep when I switch gaits.
The gaits that are in there are:
6 steps Ripple
12 steps Ripple
9 steps Quadripple (not shown in the video)
6 steps Tripod
8 steps Tripod (not shown in the video)
The new gait function allows to chose between 1 or 3 positions in the air to easly switch between 6 or 12 steps ripple and other gaits. I will explain this later on when I post the code.
When we first saw it with the sound down we thought that the (video) was sped up. lol This is the fastest I have ever seen a hexapod walk! Great job! 8)
First congratulations for your code Xan and Zenta!!! is awesome!!
I have an important sugestion for the more natural move of the body
when you press L1 buton to move body the rigth joistick up down directions dont have anithing programed…
If you put to that keys the (rigth joistick up down+L1) all the body go up or down,
I probe it with the powerpod code on atom basic… but is interesant to include it tho your code.
see see from the 25 second It start doing that I say;
Thanks for your comments about the code! I’ve seen your video and have to say that it looks very natural when you move and rotate the body at the same time.
I’m willing to change the stick-layout. If I look at the video I see 3 movements at once. Up/down, forward/backward and rotate(twist) the body. I can add up and down to L1 + right stick up/down and rotate to L1 + right stick left/right. That should do the job. 8)
I’m not able to do it right away but I’ll get on to it. Just give me a couple of days
Im carefully reading the code… great code… great work… good explantions… Congratulations!
In the next months I want try to put an arm with Tweezer, to the phoenix, with 4 servos. So I will do some modif to this code with your(s) Permission to move the arm with L1 ant 2 jositicks. if I finish it I will post it for comunity ^^.
I have one sugestion for all phoenix users, I take 6 cells of a battery of a notebook, exaclly 6 cells of:
18650 2400mAh 3.7V SAMSUNG SDI Li-ion Battery Cell
I put 3 cell paralel with other 3 in serial conection, so I have a very compact pack of 7.4V 7200mAh. The Duration of this, if you rest somethimes, can be hours xd!! NOTE: to power the circuit I have another battery off 9.6V 650mAh for electronic. I have the bot board and the SSC integrated on chassis and my home made batery on top so the bot has a form of spider without decoration ^^ .The batteries are on top so I can change it when I want, you can make 3 pack and play all day.
This sounds interesting!
Maybe you should start your own thread and tell us all about your Phoenix project . The battery part sounds interesting, what are the weight and dimension of the complete pack?
I’ve added L1 + right stick for up/down and rotate Y and also added L2 + right stick for up/down. I was very pleased with the result! 8) It’s included in V1.3 which will be released this week.
You are free to change the code as long as you keep it open source Improvements are also always welcome!
Your battery pack sounds interesting! And I agree with Zenta that you should start your own threat and tell us more about your phoenix!
just to let you know, V1.3 is mailed so you will be able to try the new controls soon! Let me know if it is what you had in mind
Xan
ooo! yes is that!! good job Xan
Im arrived home after 3 days outside and the first thing that I did is to probe the new code!! now phoenix can make fear with some decoration very good poses!!
I have another idea:
we can do with R1+rigth stick(but carefull with the left stick you can move…) that phoenix up one leg per time to the direction that you pointed with rigth stick+R1, it have to up the leg more up than normal and extend to pose. With that ye can have the terrain adaptation more close… becaus if you can up one leg when you want you can pass some obstacles.
With this control if we go with phoenix forwand push R1 and with the rigth stick make a circle in the direction of th riple movement we can pass a 20cm without problems.