WOW, 
and u havent even added load balancing springs…
u should be able to add atleast 3lbs mabe 6lbs a legg!!18 to36 more lbs of load!!
gettin close too carrying ur twin .50 cal,s 
, if u put the spring mounts behind and below the axel the should flip and help hold the legs tight to the top when folded
Thanks for all the compliments.
I almost have it working.
I’m having trouble getting the PS2 controller to do anything. I’m using a sony Dualshock PS2. SSC-32, ABB with Atom Pro 28 and Kurte’s Inline version PS2 Hexapod program converted to Atom Pro.
-I changed the pin hookups for the PS2 from the 4,5,6,7 positions to the 12,13,14,15 positions.
-I moved I moved the SSC-32 wire to the pin 11 position.
-I made sure the program specified the new locations
-I soldered a 1K ohm resistor between pin 12 (Brown Data line) and the +5V leftmost pin above it. ( This is how I saw it done in another picture on the forums here)
- set baud rate and tx/rx jumpers for communicating with the ABB.
- loaded Kurte’s program into the Atom Pro via the IDE 8.0.0.0
When I power everything up, the BB beaps once, the legs move into position and hold there. But the light under the analog button on the PS2 controller just flashes very faintly. And no response from it.
When I put a jumper between the 2 pins next to the Green wire, the light comes on solid when the analog button is pressed on the controller. And the botboard goes, beebummmbooooo…beeebummmmbaaabummmboooo. LOL Then nothing.
Should the resistor be soldered from pin 12 to the pin directly below it instead?
Does the Purple pin off the PS2 adapter go anywhere? And am I missing any jumpers or anything on my botboard or SSC-32?
I don’t know what to try now. I’m probably missing something real simple.
Here are some pictures of the pin placements, jumpers and boards.
http://i138.photobucket.com/albums/q253/gfisher2002/robots/Hexelectronics002.jpg
http://i138.photobucket.com/albums/q253/gfisher2002/robots/Hexelectronics005.jpg
http://i138.photobucket.com/albums/q253/gfisher2002/robots/Hexelectronics003.jpg
http://i138.photobucket.com/albums/q253/gfisher2002/robots/Hexelectronics006.jpg
http://i138.photobucket.com/albums/q253/gfisher2002/robots/Hexelectronics004.jpg
Looking at your pictures it looks like you may not have jumper installed to direct +5V to the pins below. I believe you need one for the two groups: 8-11 and 12-15.
Also my code sortof depends on a second wire like your one on P11 to go From P10 to the TX line on the SSC32. This allows the program to query the SSC32 to see if it completed the last request. I did put a timeout in this code in case the communications did not work.
I hope this helps.
Kurt
I was wondering about that. Do I just install a jumper on the 2 right pins on each of the VS pin sets?
I hadn’t got around to the other Tx line yet. Is jumper from the SSC Tx to pin 10 just 1 wire? It goes to the Tx pin directly below the Rx pin on the SSC-32?
I’ll try with the jumpers on the VS.
Thanks Kurte.
Yes, This will route +5V to each of the power pins in the IO groups. If you wish to run servos off of a group, you would instead put the jumper to the left two pins…
Your welcome
[size=150]MOOOHHHHHHHHAAAAAAAHHHHHHHHAHAAAAAHAAHAHAA[/size]
[size=150]It’s alive!![/size]
Awesome!!! LOLOL What a great feeling to see have everything finally work.
Thanks alot for helping me along so far guys. I really appreciate it.
All the PS2 commands are functional and everything is working great.
Kurte, your program works flawlessly so far. I had it propped up for the initial tests. All the offsets and min/max values have to be setup. Instead of guessing and loading, testing, reloading over and over, I’m going to get the hex setup in Powerpod and create a program. Then I can compare your program I’m running with the one I made. And I’ll transfer my offsets and min/max values to your program. I have to double the offset and min/max servo values when I’m converting from Basic Atom to Pro, right?
Thanks again Kurte. I just have to do some setup and I’ll try an actual walk with her.
That is Great news!!!
This sounds great. As you said, you will need to transfer the offsets, Leg Diminensions, and MIN/MAX. I don’t remember doing any changes here for the Min and Max, but maybe I need to??? Since all of our calculations are used to produce commands for the SSC32, I am not sure if we need to modify these, but let me know if you find that these values do need to be updated.
Well I did some walking tests under it’s own power and I got to tell ya. This thing looks mighty freaky walking across a room. LOL
Now, the good news and the bad news.
Good news.
-After abusing it for 5 minutes straight, the servos aren’t even warm running on 7.2 Volts at 16.5 pounds total weight.
-Peak amp draw while mid gait, 24.6 Amps. Average, 19 Amps
-Peak amp draw while standing, 7.2 Amps.
-Peak amp draw raising and lowering stance, 28.6 Amps. Average 26 amps
-the program and all my wiring is obviously correct.
-my hundreds of tiny little solder joints on all the wires are obviously good.
-It works at all. 
I’m happy I better understand the Bot Board and SSC-32 not to mention I’m learning loads about the software by editing the program Kurte made and modifying it for my hex.
-I learned how to use the Atom Pro IDE and how to use a Tx and Rx line for bi-communication.
Bad news.
-Not enough travel in the legs. The need to lift higher and lower.
-The analog 805’s are showing their limiting abilities with 16 pounds on top of them. There is a bit of a bounce to the gait. Just a tiny one, they aren’t sagging or losing position. Maybe this is a bit normal. The feet get caught up a bit because of the bounce and the lack of vertical travel in the software.
-My Parrot is horribly afraid of it. He started yelling “No screaming” at it when it came in the room.
I’m thinking that load springs on the tibia and fibula are the answer to take some of the bounce out of the joints. A Digital 805 would be a dream come true.
And I’m working on changing the travel min/max. I’m just figuring out where it is and what values to change them to.
I’ll get some video as soon as I can.
Thanks guys.
Congratulations! I almost can’t imagine that thing moving. It must truly be a site to see.
As far as a digital 805, you could try an OpenServo modification to them. I’ve been playing with this idea, and actually ordered a couple 805s to attempt this on. Also since making my 5955s into OpenServos might allow me to up the voltage and correspondingly the torque, but 805s are cheaper, bigger, and therefore easier to work with first.
I think Jim is planning on selling some OpenServo boards through the main site as the gearhead based servos would use them, but I don’t see anything yet. So far the best place I know to buy assembled boards is from Pendragon Robotics, as advertised on the OpenServo Forum:
openservo.com/forums/viewtopic.php?t=188&postdays=0&postorder=asc&start=0. Of course if you have PCB fabrication and SMT soldering capacity, you can make them for far less from components. I really don’t trust myself to do either well, so it would probably be cheaper to buy (at least for now).
Excellent!
Are you using the PS2 remote control? If so press the R1 button and it’s automatically set for maximum ride height and leg lift.
Can’t wait to see it.
Thanks Jim.
Here are some of the videos I shot during static testing. unfortunetly, my camera died before I finished so I’m waiting on the batteries to charge to get some walking video.
They are taken with my Digital Camera so the video quality is terrible but you get the idea. I have about 6 of them but here are my 3 favorites. Just click the video to start it. They’re only 3 megs each.
i138.photobucket.com/albums/q253/gfisher2002/robots/th_Hexvideos013.jpg
i138.photobucket.com/albums/q253/gfisher2002/robots/th_Hexvideos012.jpg
i138.photobucket.com/albums/q253/gfisher2002/robots/th_Hexvideos014.jpg
And a couple timed pics to show some scale. I’m 6’3" and 230 pounds so that gives you an idea of how big it is.
http://i138.photobucket.com/albums/q253/gfisher2002/robots/Hexvideos007.jpg
http://i138.photobucket.com/albums/q253/gfisher2002/robots/Hexvideos008.jpg
Does that sum it up?
thats soo cool. The progarmming’s been nicely done, (credit to the programmer not you! ) lol 8)
Nothing you send to the SSC-32 will need to be adjusted like for things the Atom PRO or Basic ATOM control directly using the servo or hservo commands. The SSC-32 commands SHOULD be the same regardless of which microcontroller you use.
8-Dale
You should take that for walks down the street and freak out all your neighbors. 8)
Well done! I guess you won’t be needing my help then. Maybe I can help another time and earn those servos.
When do we get to see it actually walk?
8-Dale
You might as well use your time doing better things. I’m still sending you the servos though. I didn’t think someone would so generous to share their program with me but Kurte proved me wrong. I’m still sending you the servos though. I told you I would no matter what, and I’m a man of my word.
I’m working on adding a Sharp sensor right now and changing the max travel values. I’m also reassigning some of the buttons on the PS2.
The more I change this code, the more sense it is making to me. And I’m starting to actually remember some of the commands. I think this is a great way to learn the basics.
Glad to see you are learning more code.
Many thanks. I will definitely put the servos to good use!
Well, I’ve already written and tested code for the Sharp rangers and the IRPD, so feel free to use what you can. All my current code is for the Basic ATOM though, so might require some minor conversion for the PRO.
Yes, indeed it is! I am embarking on a new learning process also - relearning how to program in C and adding C++ to that for Linux/UNIX and KDE (K Desktop Environment). My goal is to create some robotics control software, the first being some sort of sequencer for the SSC-32. I am hoping to evantually emulate what I see Lynxmotion has done with SEQ. I have several other ideas also once I get working wireless connections on my PC and W.A.L.T.E.R. or my upcoming BRAT (where the servos you are sending me will be used first).
I already have two SSC-32’s to play with.
I’ve already redesigned the SES test body for Walk 'N Roll to make it easier to afford and lighter too. I will be gradually working on four different projects now - improving W.A.L.T.E.R., the BRAT, Walk 'N Roll, and my robotics software. This should all keep me busy enough and I can always work on one project when there isn’t anything I can do on the others.
8-Dale