As you mentioned in your post, the settings for changing the size/angles of your legs (servomotors) are all in Hex_Cfg.h.
You can find the min/max angles here (lines 136-189), the leg dimensions here (lines 194-227) and the body dimensions here (lines 232-251).
The comments on each line specify what each setting is related to. We recommend that you play around with them and see the impact on your custom hexapod.
Yes, the values are from the center, most likely in mm.
The axis seem to be setup as shown below:
The values for the body dimensions are on a XZ-plane, where the center is (0,0) and the values grow towards the left (X) and rear (Z).
Since both cRROffsetX and cRROffsetZ values start from the same point (center) and end up to the same point (right rear coxa) how come have different values on the original hex_cfg file on the pheonix code?
#define cRROffsetX -69 //Distance X from center of the body to the Right Rear coxa #define cRROffsetZ 119 //Distance Z from center of the body to the Right Rear coxa
can you provide with a drawing based on my hexapod body?
As mentioned previously, the values are X/Z coordinates from the center of the body to the center of the articulation (in mm). The X & Z coordinates will most likely be different on most hexapod bodies.
In the example you mention, the right-rear coxa is situated at (-69, 119), which would place it roughly here:
Yes, as mentioned in our previous response, they are indeed coordinates. In this coordinate system (XZ plane), the origin (position (0,0)) is in the center of the body of the robot.
You seem to have a good grasp of what you are doing at this point. Is there anything specific we can help you with?
Also, we encourage you to simply take the code, modify the values to fit your hexapod and try it out, tweak it and see how it goes.
You seem to have attached images in your post, but they are not visible. We recommend that you try to attach them using the **Attachments **bar in **Full editor **and then click the “Place inline” button to add them in the text.
The one image visible (from google drive) seems to indicate you have the right idea with the measurements.
All we can say on this is you’ll have to experiment with it and try different things until you get it to work. We cannot offer more info than this for custom bodies/structures. That being said, you seem on the right path.
You may want to make sure to not just change the body dimensions but also the leg dimensions and angles, too.
The things that i have changed was the body dimentions, and leg dimentios. I did not change the angles, since the values are ok for the body-leg orientation.
Do i have to change them? and how they affect the code?
All the dimensions and the angles affect the code by changing how the gait will move the robot around. Unfortunately, we cannot really offer much more than that on this point. You’ll really just have to go through some trial and error with this, since you are using a custom chassis.
