thanks again, i will try and get round to some testing this weekend.
mean while i loaded another vid up on youtube last night.
That is probably the nicest looking Quadrapod walk I’ve seen (the battery dragging behind made me laugh).
However, the font you’re using makes my eyes bleed! I find it pretty difficult to read, unfortunately.
That looks awesome. It looks a lot like the Stalker robot you started. Very cool! 8)
Nice video!
Kurt
thanks for your comment beth. very kind of you. sorry bout the font. ill try and choose a much less eye squinting one next time. lol 
sometimes i look at it and think the same thing. its that extra DOF i think that does it.
thanks i will try your suggestions and see how we get on. also id like to do another video (with better camera in hand!) once complete.
Great work on the gait Jonny!
Always fun to follow your new creations. 
Nice work Jonny!
Others have already picked up on the dragged battery, what about the battery on the head (PS/2 XCVR)?
The gait is very fluid, if a little slow. but if you’ve ever studied spiders for a while, they can be seen to make very deliberate steps as well when stalking.
Maybe more overall processor speed would help! Or use of hardware for peripheral I/O, as Kurt has been discussing.
I’ll get my new LM parts tomorrow, I think. Now to decide which 'bot to work on! decisions, decisions!
Alan KM6VV
the dragging battery is quite funny. its mainly while im working on several projects and that battery is one of my best so i keep swapping it over.
it wont quite fit in the chassis but it can be mounted on the underside. 
once i have this bot fully working, and once i no longer need to hook the Botboard to my PC, i will slip the Botboard inside with the SSC along with the Ps2 receiver. Then ill put the 9v inside a cover i wish to use on the top.
this morning i got though my door a pair of these:
if i didnt put the Botboard inside i was hoping to use them to 'in case the electronics on the top. it would then give me a places to mount turrets to the sides. 
kinda like this:
http://i531.photobucket.com/albums/dd355/innerbreed/100_2399.jpg
but unfortunately the mounting holes dont line up! 
That’s an interesting way to enclose the electronics!
But if you put the electronics inside, you’ll still need to plug in the RS-232, right? That connector does get a little pesky to work with. I’ve often wished for a .025" header to allow remote placement of this connector (Jim?).
Alan KM6VV
i have been looking for a smaller bluetooth adapter than current ones available but i cannot find anything “tiny!”
i have also been looking at ordering the ARC-32 board to make extra room.
We have a faster walking quad now. i have decided to shrink down the table and steps:
'Walking comp tables for 24step:
; GaitLegNr(cLF) = 13
; GaitLegNr(cRR) = 19
; GaitLegNr(cRF) = 1
; GaitLegNr(cLR) = 7
; (RF) (LR) (LF) (RR)
;0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24,
X_Axis_Shift bytetable 89, 90,100,110,120,130,140,150,151,152,153,152,151,150,140,130,120,110,100, 90, 89, 88, 87, 88, 89,
; (RF) (LR) (LF) (RR)
;0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24,
Z_Axis_Shift bytetable 130,128,130,132,134,136,138,140,138,136,134,132,130,128,130,132,134,136,138,140,138,136,134,132,130,
These numbers work just as well as the larger tables.
and walks just as fast as in my last video when speed-ed up. 
code update:4DofQUAD_V20.rar (32 KB)
i still need to clean up the code for a final quad code. need to remove the middle legs etc.
Smaller then the Blue Smirf parts here?
Parts:
1 x WRL-00158 : Bluetooth Modem - BlueSMiRF RP-SMA
1 x WRL-00150 : Bluetooth USB Module
1 x WRL-00145 : 2.4GHz Duck Antenna RP-SMA
I like the rubber duck, but you can get the modem with on-board antenna as well.
Alan KM6VV
to be honest iv not looked at the Blue Smirf’s.
i was just typing in wireless RS-232.
i might look into it. think it will benefit more if i get the ARC32.
Isn’t the ARC-32 a different form factor?
Alan KM6VV
No, it has the exact same dimensions as the BB2 and SSC-32.
Ah! Good to know!
Alan KM6VV
Well after a bang and pop i have removed the threaded parts to allow for the 2mm gain i needed to mount the boards: **
http://i531.photobucket.com/albums/dd355/innerbreed/102_2417.jpg
**
here is what it looks like with the carriers and standoffs added:
http://i531.photobucket.com/albums/dd355/innerbreed/102_2418.jpg
http://i531.photobucket.com/albums/dd355/innerbreed/102_2419.jpg
Very ingenious! I’ll bet they were never envisioned to be used that way!
Alan KM6VV
Jonny,
I finally stopped just looking at the code and went to compile it. Could the 4dofhex_v20.bas file be incorrect? Aside from the “INC” problem that Kurt reported, and Nathan gave a fix for, it seems that the SSC pin number tables have/want 6 legs…
I’m thinking I’d also change the “hex” to “quad” in the file names, and add you as a contributor the “quad” version.
Humm, you did say cleanup and remove middle legs; but how are you compiling??
Thanks!
Alan KM6VV
P.S. Got T-Hex leg parts in, haven’t put them together yet. Also got the new aluminum wheels and hubs. Well, wrong hubs, my bad. Getting more brackets and what not made for the MicroMoose. Has tilt/pan Blackfin Camera, and a Jaw on a simple tilt wrist.
i haven’t removed the middle legs yet mainly due to time but here is the current code. 4DofQuad_V20.rar (31.9 KB)
its not just a matter of clearing the Middle legs from the code. been there done that! 
other sections of the code will need changing too.
you can use the code as it is but without attaching the middle legs.
good luck with the build.