Problem programming Atom for switches

Lynxmotion Electronics & Software
1

Hello.

i received my hexapod CH3-R about a week ago and i’m having a few programming problems: I installed switches on the legs and i don’t know how to program the Atom 28 for these inputs. Could anybody help me?

thank you

2

Ok, i read the Atom help PDF.
I thought this BAS code would work but i doesn’t :frowning:

*Main
Switch var IN1
Input Switch
if Switch = 1 Then Solution
goto Main

Solution
Sound 9,[100\4235, 200\4435]
pause 100
*

Could anybody help me?

thanks

3

What is the program doing, or not doing? Saying it doesn’t work isn’t much to go on. :frowning:

4

Oups, sorry. forgot to mention that: I’d just like the bot board to make a sound when the switch is pushed. The switch is plugged in the pin1 of the bot board.

This way i can easily understant how to program input pins.

thanks

5

[code]input p1
Switch var bit

Main
Switch = IN1
if Switch = 0 Then Solution
goto Main

Solution
Sound 9,[100\4235, 200\4435]
pause 100
goto main[/code]

6

Hello.

i figured out the problem
When i program th Abb with the code and i turn it on, it beeps all the time! but when i unplug the switch for the board, i stops. So the problem is so much the code but the switch it self. i Don’t understant, i welded the wires and the resistors as shown on the instructions:
http://miikeorb88.jexiste.be/switch.jpg

i’m confused :confused: :frowning: please help me! thanks

7

oh no, never mind. i found the solution: the jumpers weren’t correctly installed. Everything works fine now. thank you a lot

While i’m at it, here a two pictures of my bot:
http://miikeorb88.jexiste.be/Robot/medium/P1060001.jpg
http://miikeorb88.jexiste.be/Robot/medium/P1060032.jpg

blup

8

Nice bot!

Um… paint those yellow panels black! :smiley:

Good job, we need video. :smiley:

9

Nice work. Are those touch sensors?

10

Yes, those are touch sensors, and on the top i have 2 ultrasonic range finder. i’d like to make a 100% autonomous robot… so when i’ll get there i’ll make a video. I’m also planning installing a wireless camera.

for the moment i have a PS2 controler plugged in it. By the way, i heard thet the logitech PS2 wireless controler is not compatible with the robot… can anybody confirm this?

thanks

11

Hi. I’m sorry for asking all these basic questions but i have to get started lol!

In the program, when we want to control the servos we have (for exapmle) this line:
serout p15,i38400,"#",MRHV,MRHV2,“P1800#”,MRK,MRK2,“P1800#”,MLHV,MLHV2,“P1200#”, |
MLK,MLK2,“P1200T288”,13]

ok, first question: i can’t figure out what the T288 stands for in “P1200T288” at the end of this line. We also find T144 and T576 in the program.
Secondly, what does the number 13 stand for?

thanks.

12

The T command is the time to take to do a move in mS. You can set the total time required for a move, including a group move (very nice) so an arm or leg movement can be synchronized to some extent.

That’s the end of line terminator, a carriage return normally. It’s ASCII table value is 13. You have to have this at end of any line sent to the SSC-32 to start a servo move. You can break command lines by not having the carriage return except at the end of the very last line to start the servo move.

8-Dale

13

To take this one step further, you can update the destination while the servos are in motion. Laurent does this in his programming. He constantly shuffles reading the joysticks, updating the leg trajectory with the IK math, and sending the new leg trajectory to the SSC-32. It’s a real cool way to accomplish a tremendously difficult task. Blup, the code is pretty complex because it is the result of literally hundreds of hours of programming, tweaking, and fine tuning for 18 servo hexapod walking code perfection. :wink: The only advise I can add is for you to keep a good copy of the code and start hacking away at it. :stuck_out_tongue:

14

hi. thanks for the tips.
I’ve been studying the code for about a week now lol. I started programming something (its a start but i’m proud of it). I got a hand on the inputs and on the servo controls.
Here, i’ve programed a “new” way for it to walk. I wasn’t satisfied by the stock one so i created mine (inspired by the stock one). Here’s the the first video: miikeorb88.jexiste.be/Robot/videos.html

Thanks again

blup