Actually most of the work came from Laurent Gay who did the original work including powerpod. I simply did some translations and was happy to share these. Hopefully soon Laurent will get some time to integrate these into his software so more people can use the PRO.
Now that my Hex with the new legs is working reasonably well with the PS2, I will get back to adding sensors and probably repeat a bunch of work that Linuxguy has done. My current plan is to cut out an upper deck to install on my round hex (I probably should have ordered one in my previous order). I plan to mount a servo, maybe a tilt servo as well and attach two SRF08’s or SRF10’s to these servos. I will probably attach 4 or 6 sharp sensors at fixed locations on this deck, as well as a few other minor things like LCD display.
So I too will be needing to integrated code and may find that either someone else like your or Linuxguy have code that I can use here as well!!!
You shouldn’t actually have to repeat any of my work. You could help me with converting my code to the Atom PRO though. That will be my first project as soon as I get an Atom PRO for myself. My code is mostly all in subroutines already, so it’s quite modular. I’ll upload my most recent Basic Atom code as v1.5.0 BETA to my website, since I have not integrated readings from the PING sensor into the mainline and I have not fine tuned the PING code yet. I think all my future robotics work with Atoms will be with the PRO now.
I’m redesigning my servo hinges. The first batch is getting molded tomorrow. They will be a direct replacement for the bottom plate on the servo case. Just like the tapped servo case bottoms on the HSR-5995TG’s.
I also got my track put together and fitted on the Hex. I still need to pick up some ESC’s for the motors. Here are some pics of the hex on the tracks:
yeah very nice! can it roll? does it have any motors yet? and, why did you put the legs like that? I thout they were going kinda towards the inside, like on the drawing CAD you made at page 1
The body seems to small to do that, I think, as well as the fact that the servos dont rotate that far out I think. Or maybe he just put it that way for better pictures.
The servo have lots of room for travel to fold up into the center like in the pictures. However my hexapod program requires the servos center position to be horizontal and vertical. So I have to offset the servo about 45 deg each for them to travel the full distance up. And I haven’t modified the program to allow for the servos center positions to be changed. It’s just a matter of offsetting every servo a certain amount, I just haven’t done it yet.
They hex does walk on it’s own. The program just needs some tweaking.
The tracks and motors only add 2 and a half pounds. It’s weight isn’t as much of an issue as it’s resilience to walk straight.
You’ll notice I’m missing the cross members on the fibula. I’m waiting for my tubing order to arrive before I can make them. Without them, there is some for/aft flex int eh legs and want to clear it up before I continue to test the walking.
We were talking about a 4DOF leg, and I got to thinking how to do it… So, I designed one with the self leveling foot (right/left tilt). The foot’s forward tilt currently has a servo for control, but it could also be made to self level. I could also easily make this leg full 5DOF.
I think this new leg I designed is worth experimenting with. It can definitely be built easily enough. This leg is designed for serious lifting too.
Well I got some prototype Servo Case bottoms made. These wil replace the Servo Hinge Brackets I made ealier. They are stronger, lighter, and…well…just look cooler. Plus they have ball bearings. And the stock screws and o-rings all fit on just like the original.
That will be my first project as soon as I get an Atom PRO for myself. My code is mostly all in subroutines already, so it’s quite modular. 
That’s huge. It looks pretty cool. 8)