Hi, I’m interested to built a 4dof quadruped robot. I have play with the quadruped sq3 phoenix code where I have connected the servo to the coxa, femur, tabia, and tar input on the ssc32, everything seem to be moving except for the tar. Do I have to include anything on the codes to make the tar joint to work? I have researching for a while but could not find a working codes for it. Could somebody help me?
What hardware do you have? Can you provide some photos? Did you follow the SQ3 setup?
My hardware setup are boarduino and ssc32 with ps2 remote. What I wanted to do is to create 4dof quadruped. The problem that I’ve ran into is that the arduino code for the SQ3 have the Tars input on pin 3,11,19,27 on the ssc32. I’ve connect all of the servo according to Hex_Cfg file but only the Coxa, Femur, and Tibia was moving, but no respond from the Tar. The SQ3 setup is for 3dof, so my question is, is the arduino code support 4dof since there is an assigned pin for the Tar? And if it support the Tar, what code do I need to add to make the Tar work?
Ah, our apologies if we overlooked that your quadruped is 4DoF. You would need to delve more into the code to see if it’s supported, and how to implement it.
This code was graciously done by members of the community, most notably Zenta, Xan, Kurte.
I will try to answer some of the stuff here versus PM, as it might help others as well.
Sorry I have not touched RC servos in several years, mostly doing stuff with Robotis AX servos, nor have I touched ps2 for a long time as well. So no bets on things.
As for converting SQ3 to SQ4, you can probably enable the other servos, by adding a line:
#define c4DOF
Toward the start of the Hex_Cfg.h file
However no bets on what it will do as I have not ever tried it with these.
First suggestion: Is not sure what code base you are using, my sortof current stuff is up at:
github.com/KurtE/Arduino_Phoenix_Parts
If you install it such that all of the libraries are installed in your Arduino sketch/libraries folder and restart Arduino IDE. There should be an example sketch THex4_PS2_SSC32 for the THex with 4dof legs using the PS2 and SSC-32. You should compare the settings in it’s configuration file with yours.
Also no bets on how well the Lynxmotion Quad will work with 4dof legs. When I played with the 3dof version it was pretty temperamental on how it moved to keep it walking. Adding the additional weight of another Servo on each leg may make things interesting. It will change the COG of the robot so all of the balance stuff will probably be effected. Also with the additional weight I would assume minimum of using HS-645mg servos for most/all of the servos.
Also the Botboarduino and likewise equivalent other Arduinos (UNO,…), may be pretty tight to fit the code, especially when you add additional stuff. These days I do most things with Teensy processors and/or Linux boards
Good Luck
I’ve added #define c4DOF below #define QUADMODE in the SQ3_Arduino_PS2 Hex_cfg file as shown below.
#define QUADMODE
#define c4DOF
But as I tried to compile it in Arduino 1.6.4, it won’t compile and it’s just hanging there and do nothing. I also tried to compile with the lastest Arduino 1.6.12, and all its give me is a bunch of Tars error in Phoenix_code.h
So my question is, I’ve seen a lot of people successfully turn Quadruped SQ3 phoenix code based into 4dof Quadruped. I mean how would they do it, do they have to modified the code them self?
Not sure what to tell you.
I compiled the LSQuadA_PS2_SSC32 example program and added the define: c4DOF
in the Hex_Cfg.h file right after the define for QUADMODE and my Arduino Hexapod Parts project (link in previous post) built, both for Teensy 3.2 as well as Arduino Deemilanove. Note: there are some compiler warning, which someday I may clean up, as some of them were uncovered as the compiler was updated in newer version of Arduino.
Note: I am building using Arduino 1.6.12.