Damn! good point you’ve got there! 
I need to appologize. Especially to Robot Dude.
It indeed was my fault. i did have a short circuit. It was strange though. Every hexapod that ive seen had its boards attached to eachother by the tiny 6 sided baults. I did the same, but with me it short circuitted the top and bottom layer of the ssc-32 controller.
is it really dead though? if you remove the short does it work again? a lot of this stuff is fairly rugged. if you managed to short the VS rail to something on the +5V line though it might not take that too well. 
frequently the hex stand-offs used to support the controller boards are nylon so even if the cap screw or the stand-off manages to hit a trace it doesn’t cause a short. were you using some other hardware?
The bottom of the SSC-32 has two ground planes, one for logic and one for the servo power. They are connected in one place to minimize ground loops. The top of the SSC-32 has the same planes (large areas of copper, but they are for 5vdc and VS. The area by the DB9 is 5vdc and everywhere else is VS. This is to provide the most robust power distribution possible. So it depends on which of the four mounting positions that shorted. I suspect it was the 5vdc output went direct to ground. This would result in the regulator going thermonuclear. If you remove the regulator and power the 5vdc circuitry the board should be back in business. Replacing the regulator should also work. So there is a light at the end of the tunnel anyway. 
Oh and yes we use nylon standoffs for the electronics to avoid this exact scenario. 
It’s still working properly. As far as i can tell ofcourse. I don’t know wich point made contact. I have replaced the metal parts by plastic baults and ABS pipe.
So now the bot is working again, i want to use my freshly built head. as earlyer mensioned in this topic i inserted the code. it compiles and programs the BBA pro 28. But when starting up i get the tune twice and the bot doesn’t react. when pushing “start” again i get the tune once and the sevos twitch once then it colapses again.
It is a pure software problem. here is the code. Can anyone tell me what the problem is?
[code];Project Lynxmotion Phoenix
;Description: Phoenix, controlled by a PS2 remote
;Software version: V1.3
;Date: 20-10-2008
;Programmer: Jeroen Janssen (aka Xan)
;
;Hardware setup: ABB2 with ATOM 28 Pro, SSC32 V2, PS2 remote (See further for connections)
;
;NEW IN V1.3
; - Changed controls L1+ right stick
; - Balance calculations Thanks to KÃ¥re Halvorsen (aka Zenta)
;
;PS2 CONTROLS:
; - Start Turn on/off the bot
; - select Switch gaits
; - Left Stick Walk/Strafe
; - Right Stick Rotate
; - D-Pad up Body up 10 mm
; - D-Pad down Body down 10 mm
; - Triangle Move body to 35 mm from the ground (walk pos)
; - Circle Move body to the ground
; - Square Switch Balance mode on or off
; - L1 & L. Stick Shift body X/Z
; - L1 & R. Stick Shift body Y and rotate body Y
; - L2 & Sticks Rotate body X/Y/Z
; - R2 & L. Stick Double gait travel length
;
;KNOWN BUGS:
; - None at the moment
;
;====================================================================
;[CONSTANDS]
TRUE con 1
FALSE con 0
BUTTON_DOWN con 0
BUTTON_UP con 1
;--------------------------------------------------------------------
;[SERIAL CONNECTIONS]
SSC_LM_SETUP con 1 ;Changes the SSC pins corresponding to the setup
;1 = Setup with connector to the front
;0 = Setup with connector to the back
SSC_OUT con P11 ;Output pin for (SSC32 RX) on BotBoard (Yellow)
SSC_IN con P10 ;Input pin for (SSC32 TX) on BotBoard (Blue)
SSC_BAUTE con i38400 ;SSC32 Baute rate
;--------------------------------------------------------------------
;[PS2 Controller]
PS2DAT con P12 ;PS2 Controller DAT (Brown)
PS2CMD con P13 ;PS2 controller CMD (Orange)
PS2SEL con P14 ;PS2 Controller SEL (Blue)
PS2CLK con P15 ;PS2 Controller CLK (White)
PadMode con $79
;--------------------------------------------------------------------
;[PIN NUMBERS]
#IF SSC_LM_SETUP ;Connector to the front
; Deck Pin
HeadHPin con P28 ;Head rotation
HeadVPin con P29 ;Head up/down
TailHPin con P30 ;Head rotation
TailVPin con P31 ;Head rotation
RRCoxaPin con P16 ;Rear Right leg Hip Horizontal
RRFemurPin con P17 ;Rear Right leg Hip Vertical
RRTibiaPin con P18 ;Rear Right leg Knee
RMCoxaPin con P20 ;Middle Right leg Hip Horizontal
RMFemurPin con P21 ;Middle Right leg Hip Vertical
RMTibiaPin con P22 ;Middle Right leg Knee
RFCoxaPin con P24 ;Front Right leg Hip Horizontal
RFFemurPin con P25 ;Front Right leg Hip Vertical
RFTibiaPin con P26 ;Front Right leg Knee
LRCoxaPin con P0 ;Rear Left leg Hip Horizontal
LRFemurPin con P1 ;Rear Left leg Hip Vertical
LRTibiaPin con P2 ;Rear Left leg Knee
LMCoxaPin con P4 ;Middle Left leg Hip Horizontal
LMFemurPin con P5 ;Middle Left leg Hip Vertical
LMTibiaPin con P6 ;Middle Left leg Knee
LFCoxaPin con P8 ;Front Left leg Hip Horizontal
LFFemurPin con P9 ;Front Left leg Hip Vertical
LFTibiaPin con P10 ;Front Left leg Knee
#ELSE ;Connector to the back
RFCoxaPin con P2 ;Front Right leg Hip Horizontal
RFFemurPin con P1 ;Front Right leg Hip Vertical
RFTibiaPin con P0 ;Front Right leg Knee
RMCoxaPin con P6 ;Middle Right leg Hip Horizontal
RMFemurPin con P5 ;Middle Right leg Hip Vertical
RMTibiaPin con P4 ;Middle Right leg Knee
RRCoxaPin con P10 ;Rear Right leg Hip Horizontal
RRFemurPin con P9 ;Rear Right leg Hip Vertical
RRTibiaPin con P8 ;Rear Right leg Knee
LFCoxaPin con P18 ;Front Left leg Hip Horizontal
LFFemurPin con P17 ;Front Left leg Hip Vertical
LFTibiaPin con P16 ;Front Left leg Knee
LMCoxaPin con P22 ;Middle Left leg Hip Horizontal
LMFemurPin con P21 ;Middle Left leg Hip Vertical
LMTibiaPin con P20 ;Middle Left leg Knee
LRCoxaPin con P26 ;Rear Left leg Hip Horizontal
LRFemurPin con P25 ;Rear Left leg Hip Vertical
LRTibiaPin con P24 ;Rear Left leg Knee
#ENDIF
;--------------------------------------------------------------------
;[MIN/MAX ANGLES]
HeadHPin_Min con -60 ;Mechanical limits of the head ROTATE
HeadHPin_Max con 60
HeadVPin_Min con -60 ;Mechanical limits of the head ROTATE
HeadVPin_Max con 60
TailHPin_Min con -60 ;Mechanical limits of the head ROTATE
TailHPin_Max con 60
TailVPin_Min con -60 ;Mechanical limits of the head ROTATE
TailVPin_Max con 60
RRCoxa_MIN con -26 ;Mechanical limits of the Right Rear Leg
RRCoxa_MAX con 74
RRFemur_MIN con -101
RRFemur_MAX con 95
RRTibia_MIN con -106
RRTibia_MAX con 77
RMCoxa_MIN con -53 ;Mechanical limits of the Right Middle Leg
RMCoxa_MAX con 53
RMFemur_MIN con -101
RMFemur_MAX con 95
RMTibia_MIN con -106
RMTibia_MAX con 77
RFCoxa_MIN con -58 ;Mechanical limits of the Right Front Leg
RFCoxa_MAX con 74
RFFemur_MIN con -101
RFFemur_MAX con 95
RFTibia_MIN con -106
RFTibia_MAX con 77
LRCoxa_MIN con -74 ;Mechanical limits of the Left Rear Leg
LRCoxa_MAX con 26
LRFemur_MIN con -95
LRFemur_MAX con 101
LRTibia_MIN con -77
LRTibia_MAX con 106
LMCoxa_MIN con -53 ;Mechanical limits of the Left Middle Leg
LMCoxa_MAX con 53
LMFemur_MIN con -95
LMFemur_MAX con 101
LMTibia_MIN con -77
LMTibia_MAX con 106
LFCoxa_MIN con -74 ;Mechanical limits of the Left Front Leg
LFCoxa_MAX con 58
LFFemur_MIN con -95
LFFemur_MAX con 101
LFTibia_MIN con -77
LFTibia_MAX con 106
;--------------------------------------------------------------------
;[BODY DIMENSIONS]
CoxaLength con 29 ;Length of the Coxa [mm]
FemurLength con 90 ;Length of the Femur [mm]
TibiaLength con 125 ;Lenght of the Tibia [mm]
CoxaAngle con 60 ;Default Coxa setup angle
RFOffsetX con -36 ;Distance X from center of the body to the Right Front coxa
RFOffsetZ con -95 ;Distance Z from center of the body to the Right Front coxa
RMOffsetX con -63 ;Distance X from center of the body to the Right Middle coxa
RMOffsetZ con 0 ;Distance Z from center of the body to the Right Middle coxa
RROffsetX con -36 ;Distance X from center of the body to the Right Rear coxa
RROffsetZ con 88 ;Distance Z from center of the body to the Right Rear coxa
LFOffsetX con 36 ;Distance X from center of the body to the Left Front coxa
LFOffsetZ con -95 ;Distance Z from center of the body to the Left Front coxa
LMOffsetX con 63 ;Distance X from center of the body to the Left Middle coxa
LMOffsetZ con 0 ;Distance Z from center of the body to the Left Middle coxa
LROffsetX con 36 ;Distance X from center of the body to the Left Rear coxa
LROffsetZ con 88 ;Distance Z from center of the body to the Left Rear coxa
;--------------------------------------------------------------------
;[REMOTE]
TravelDeadZone con 4 ;The deadzone for the analog input from the remote
;====================================================================
;[ANGLES]
HeadHAngle var sword ;Actual Angle of the head rotate
HeadVAngle var sword ;Actual Angle of the head up/down
TailHAngle var sword ;Actual Angle of the head rotate
TailVAngle var sword ;Actual Angle of the head up/down
RFCoxaAngle var sword ;Actual Angle of the Right Front Leg
RFFemurAngle var sword
RFTibiaAngle var sword
RMCoxaAngle var sword ;Actual Angle of the Right Middle Leg
RMFemurAngle var sword
RMTibiaAngle var sword
RRCoxaAngle var sword ;Actual Angle of the Right Rear Leg
RRFemurAngle var sword
RRTibiaAngle var sword
LFCoxaAngle var sword ;Actual Angle of the Left Front Leg
LFFemurAngle var sword
LFTibiaAngle var sword
LMCoxaAngle var sword ;Actual Angle of the Left Middle Leg
LMFemurAngle var sword
LMTibiaAngle var sword
LRCoxaAngle var sword ;Actual Angle of the Left Rear Leg
LRFemurAngle var sword
LRTibiaAngle var sword
;--------------------------------------------------------------------
;[POSITIONS]
RFPosX var sword ;Actual Position of the Right Front Leg
RFPosY var sword
RFPosZ var sword
RMPosX var sword ;Actual Position of the Right Middle Leg
RMPosY var sword
RMPosZ var sword
RRPosX var sword ;Actual Position of the Right Rear Leg
RRPosY var sword
RRPosZ var sword
LFPosX var sword ;Actual Position of the Left Front Leg
LFPosY var sword
LFPosZ var sword
LMPosX var sword ;Actual Position of the Left Middle Leg
LMPosY var sword
LMPosZ var sword
LRPosX var sword ;Actual Position of the Left Rear Leg
LRPosY var sword
LRPosZ var sword
;--------------------------------------------------------------------
;[INPUTS]
butA var bit
butB var bit
butC var bit
prev_butA var bit
prev_butB var bit
prev_butC var bit
;--------------------------------------------------------------------
;[OUTPUTS]
LedA var bit ;Red
LedB var bit ;Green
LedC var bit ;Orange
;--------------------------------------------------------------------
;[VARIABLES]
Index var byte ;Index used for freeing the servos
SSCDone var byte ;Char to check if SSC is done
;GetSinCos
AngleDeg var float ;Input Angle in degrees
ABSAngleDeg var float ;Absolute value of the Angle in Degrees
AngleRad var float ;Angle in Radian
sinA var float ;Output Sinus of the given Angle
cosA var float ;Output Cosinus of the given Angle
;GetBoogTan
BoogTanX var sword ;Input X
BoogTanY var sword ;Input Y
BoogTan var float ;Output BOOGTAN2(X/Y)
;Body position
BodyPosX var sbyte ;Global Input for the position of the body
BodyPosY var sword
BodyPosZ var sbyte
;Body Inverse Kinematics
BodyRotX var sbyte ;Global Input pitch of the body
BodyRotY var sbyte ;Global Input rotation of the body
BodyRotZ var sbyte ;Global Input roll of the body
PosX var sword ;Input position of the feet X
PosZ var sword ;Input position of the feet Z
PosY var sword ;Input position of the feet Y
RotationY var sbyte ;Input for rotation of a single feet for the gait
BodyOffsetX var sbyte ;Input Offset betweeen the body and Coxa X
BodyOffsetZ var sbyte ;Input Offset betweeen the body and Coxa Z
sinB var float ;Sin buffer for BodyRotX calculations
cosB var float ;Cos buffer for BodyRotX calculations
sinG var float ;Sin buffer for BodyRotZ calculations
cosG var float ;Cos buffer for BodyRotZ calculations
TotalX var sword ;Total X distance between the center of the body and the feet
TotalZ var sword ;Total Z distance between the center of the body and the feet
DistCenterBodyFeet var float ;Total distance between the center of the body and the feet
AngleCenterBodyFeetX var float ;Angle between the center of the body and the feet
BodyIKPosX var sword ;Output Position X of feet with Rotation
BodyIKPosY var sword ;Output Position Y of feet with Rotation
BodyIKPosZ var sword ;Output Position Z of feet with Rotation
;Leg Inverse Kinematics
IKFeetPosX var sword ;Input position of the Feet X
IKFeetPosY var sword ;Input position of the Feet Y
IKFeetPosZ var sword ;Input Position of the Feet Z
IKFeetPosXZ var sword ;Length between the coxa and feet
IKSW var float ;Length between shoulder and wrist
IKA1 var float ;Angle between SW line and the ground in rad
IKA2 var float ;?
IKSolution var bit ;Output true if the solution is possible
IKSolutionWarning var bit ;Output true if the solution is NEARLY possible
IKSolutionError var bit ;Output true if the solution is NOT possible
IKFemurAngle var sword ;Output Angle of Femur in degrees
IKTibiaAngle var sword ;Output Angle of Tibia in degrees
IKCoxaAngle var sword ;Output Angle of Coxa in degrees
;--------------------------------------------------------------------
;[Ps2 Controller]
DualShock var Byte(7)
LastButton var Byte(2)
DS2Mode var Byte
PS2Index var byte
BodyYShift var sbyte
;--------------------------------------------------------------------
;[TIMING]
lTimerWOverflowCnt var long ;used in WTimer overflow. Will keep a 16 bit overflow so we have a 32 bit timer
lCurrentTime var long
lTimerStart var long ;Start time of the calculation cycles
lTimerEnd var long ;End time of the calculation cycles
CycleTime var byte ;Total Cycle time
SSCTime var word ;Time for servo updates
PrevSSCTime var word ;Previous time for the servo updates
InputTimeDelay var byte ;Delay that depends on the input to get the “sneaking” effect
;--------------------------------------------------------------------
;[GLOABAL]
HexOn var bit ;Switch to turn on Phoenix
;--------------------------------------------------------------------
;[Balance]
BalanceMode var bit
TravelHeightY var sword
TotalTransX var sword
TotalTransZ var sword
TotalTransY var sword
TravelLengthXZ var sword
TotalYbal var sword
TotalXBal var sword
TotalZBal var sword
TotalY var sword ;Total Y distance between the center of the body and the feet
;[HEAD]
Deck_Pulse var Word
DeckTilt_Pulse var Word
;[gait]
GaitType var byte ;Gait type
NomGaitSpeed var byte ;Nominal speed of the gait
LegLiftHeight var byte ;Current Travel height
TravelLengthX var sword ;Current Travel length X
TravelLengthZ var sword ;Current Travel length Z
TravelRotationY var sword ;Current Travel Rotation Y
TLDivFactor var byte ;Number of steps that a leg is on the floor while walking
NrLiftedPos var nib ;Number of positions that a single leg is lifted (1-3)
HalfLiftHeigth var bit ;If TRUE the outer positions of the ligted legs will be half height
GaitInMotion var bit ;Temp to check if the gait is in motion
StepsInGait var byte ;Number of steps in gait
LastLeg var bit ;TRUE when the current leg is the last leg of the sequence
GaitStep var byte ;Actual Gait step
RFGaitLegNr var byte ;Init position of the leg
RMGaitLegNr var byte ;Init position of the leg
RRGaitLegNr var byte ;Init position of the leg
LFGaitLegNr var byte ;Init position of the leg
LMGaitLegNr var byte ;Init position of the leg
LRGaitLegNr var byte ;Init position of the leg
GaitLegNr var byte ;Input Number of the leg
TravelMulti var sbyte ;Multiplier for the length of the step
RFGaitPosX var sbyte ;Relative position corresponding to the Gait
RFGaitPosY var sbyte
RFGaitPosZ var sbyte
RFGaitRotY var sbyte ;Relative rotation corresponding to the Gait
RMGaitPosX var sbyte
RMGaitPosY var sbyte
RMGaitPosZ var sbyte
RMGaitRotY var sbyte
RRGaitPosX var sbyte
RRGaitPosY var sbyte
RRGaitPosZ var sbyte
RRGaitRotY var sbyte
LFGaitPosX var sbyte
LFGaitPosY var sbyte
LFGaitPosZ var sbyte
LFGaitRotY var sbyte
LMGaitPosX var sbyte
LMGaitPosY var sbyte
LMGaitPosZ var sbyte
LMGaitRotY var sbyte
LRGaitPosX var sbyte
LRGaitPosY var sbyte
LRGaitPosZ var sbyte
LRGaitRotY var sbyte
GaitPosX var sbyte ;In-/Output Pos X of feet
GaitPosY var sword ;In-/Output Pos Y of feet
GaitPosZ var sbyte ;In-/Output Pos Z of feet
GaitRotY var sbyte ;In-/Output Rotation Y of feet
;====================================================================
;[TIMER INTERRUPT INIT]
ONASMINTERRUPT TIMERWINT, Handle_TIMERW
;====================================================================
;[INIT]
;Turning off all the leds
LedA = 0
LedB = 0
LedC = 0
'Feet Positions
RFPosX = 53 ;Start positions of the Right Front leg
RFPosY = 25
RFPosZ = -91
RMPosX = 105 ;Start positions of the Right Middle leg
RMPosY = 25
RMPosZ = 0
RRPosX = 53 ;Start positions of the Right Rear leg
RRPosY = 25
RRPosZ = 91
LFPosX = 53 ;Start positions of the Left Front leg
LFPosY = 25
LFPosZ = -91
LMPosX = 105 ;Start positions of the Left Middle leg
LMPosY = 25
LMPosZ = 0
LRPosX = 53 ;Start positions of the Left Rear leg
LRPosY = 25
LRPosZ = 91
;Body Positions
BodyPosX = 0
BodyPosY = 0
BodyPosZ = 0
;Body Rotations
BodyRotX = 0
BodyRotY = 0
BodyRotZ = 0
;Gait
GaitType = 0
BalanceMode = 0
LegLiftHeight = 50
GaitStep = 1
GOSUB GaitSelect
;Timer
WTIMERTICSPERMS con 2000; we have 16 clocks per ms and we are incrementing every 8 so divide again by 2
TCRW = 0x30 ;clears TCNT and sets the timer to inc clock cycle / 8
TMRW = 0x80 ;starts the timer counting
lTimerWOverflowCnt = 0
enable TIMERWINT_OVF
;PS2 controller
high PS2CLK
LastButton(0) = 255
LastButton(1) = 255
BodyYShift = 0
;SSC
SSCTime = 150
HexOn = False
;====================================================================
;[MAIN]
main:
'Start time
GOSUB GetCurrentTime], lTimerStart
'Reset IKsolution indicators
IKSolution = False
IKSolutionWarning = False
IKSolutionError = False
;Gait
GOSUB GaitSeq
;Balance calculations
TotalTransX = 0 'reset values used for calculation of balance
TotalTransZ = 0
TotalTransY = 0
TotalXBal = 0
TotalYBal = 0
TotalZBal = 0
IF (BalanceMode>0) THEN
gosub BalCalcOneLeg -RFPosX+BodyPosX+RFGaitPosX, RFPosZ+BodyPosZ+RFGaitPosZ,RFGaitPosY, RFOffsetX, RFOffsetZ]
gosub BalCalcOneLeg -RMPosX+BodyPosX+RMGaitPosX, RMPosZ+BodyPosZ+RMGaitPosZ,RMGaitPosY, RMOffsetX, RMOffsetZ]
gosub BalCalcOneLeg -RRPosX+BodyPosX+RRGaitPosX, RRPosZ+BodyPosZ+RRGaitPosZ,RRGaitPosY, RROffsetX, RROffsetZ]
gosub BalCalcOneLeg [LFPosX-BodyPosX+LFGaitPosX, LFPosZ+BodyPosZ+LFGaitPosZ,LFGaitPosY, LFOffsetX, LFOffsetZ]
gosub BalCalcOneLeg [LMPosX-BodyPosX+LMGaitPosX, LMPosZ+BodyPosZ+LMGaitPosZ,LMGaitPosY, LMOffsetX, LMOffsetZ]
gosub BalCalcOneLeg [LRPosX-BodyPosX+LRGaitPosX, LRPosZ+BodyPosZ+LRGaitPosZ,LRGaitPosY, LROffsetX, LROffsetZ]
gosub BalanceBody
ENDIF
'Reset IKsolution indicators
IKSolution = False
IKSolutionWarning = False
IKSolutionError = False
;Right Front leg
GOSUB BodyIK -RFPosX+BodyPosX+RFGaitPosX, RFPosZ+BodyPosZ+RFGaitPosZ,RFPosY+BodyPosY+BodyYShift+RFGaitPosY, RFOffsetX, RFOffsetZ, RFGaitRotY]
GOSUB LegIK [RFPosX-BodyPosX+BodyIKPosX-RFGaitPosX, RFPosY+BodyPosY+BodyYShift-BodyIKPosY+RFGaitPosY, RFPosZ+BodyPosZ-BodyIKPosZ+RFGaitPosZ]
RFCoxaAngle = IKCoxaAngle + CoxaAngle ;Angle for the basic setup for the front leg
RFFemurAngle = IKFemurAngle
RFTibiaAngle = IKTibiaAngle
;Right Middle leg
GOSUB BodyIK -RMPosX+BodyPosX+RMGaitPosX, RMPosZ+BodyPosZ+RMGaitPosZ,RMPosY+BodyPosY+BodyYShift+RMGaitPosY, RMOffsetX, RMOffsetZ, RMGaitRotY]
GOSUB LegIK [RMPosX-BodyPosX+BodyIKPosX-RMGaitPosX, RMPosY+BodyPosY+BodyYShift-BodyIKPosY+RMGaitPosY, RMPosZ+BodyPosZ-BodyIKPosZ+RMGaitPosZ]
RMCoxaAngle = IKCoxaAngle
RMFemurAngle = IKFemurAngle
RMTibiaAngle = IKTibiaAngle
;Right Rear leg
GOSUB BodyIK -RRPosX+BodyPosX+RRGaitPosX, RRPosZ+BodyPosZ+RRGaitPosZ,RRPosY+BodyPosY+BodyYShift+RRGaitPosY, RROffsetX, RROffsetZ, RRGaitRotY]
GOSUB LegIK [RRPosX-BodyPosX+BodyIKPosX-RRGaitPosX, RRPosY+BodyPosY+BodyYShift-BodyIKPosY+RRGaitPosY, RRPosZ+BodyPosZ-BodyIKPosZ+RRGaitPosZ]
RRCoxaAngle = IKCoxaAngle - CoxaAngle ;Angle for the basic setup for the front leg
RRFemurAngle = IKFemurAngle
RRTibiaAngle = IKTibiaAngle
;Left Front leg
GOSUB BodyIK [LFPosX-BodyPosX+LFGaitPosX, LFPosZ+BodyPosZ+LFGaitPosZ,LFPosY+BodyPosY+BodyYShift+LFGaitPosY, LFOffsetX, LFOffsetZ, LFGaitRotY]
GOSUB LegIK [LFPosX+BodyPosX-BodyIKPosX+LFGaitPosX, LFPosY+BodyPosY+BodyYShift-BodyIKPosY+LFGaitPosY, LFPosZ+BodyPosZ-BodyIKPosZ+LFGaitPosZ]
LFCoxaAngle = IKCoxaAngle + CoxaAngle ;Angle for the basic setup for the front leg
LFFemurAngle = IKFemurAngle
LFTibiaAngle = IKTibiaAngle
;Left Middle leg
GOSUB BodyIK [LMPosX-BodyPosX+LMGaitPosX, LMPosZ+BodyPosZ+LMGaitPosZ,LMPosY+BodyPosY+BodyYShift+LMGaitPosY, LMOffsetX, LMOffsetZ, LMGaitRotY]
GOSUB LegIK [LMPosX+BodyPosX-BodyIKPosX+LMGaitPosX, LMPosY+BodyPosY+BodyYShift-BodyIKPosY+LMGaitPosY, LMPosZ+BodyPosZ-BodyIKPosZ+LMGaitPosZ]
LMCoxaAngle = IKCoxaAngle
LMFemurAngle = IKFemurAngle
LMTibiaAngle = IKTibiaAngle
;Left Rear leg
GOSUB BodyIK [LRPosX-BodyPosX+LRGaitPosX, LRPosZ+BodyPosZ+LRGaitPosZ,LRPosY+BodyPosY+BodyYShift+LRGaitPosY, LROffsetX, LROffsetZ, LRGaitRotY]
GOSUB LegIK [LRPosX+BodyPosX-BodyIKPosX+LRGaitPosX, LRPosY+BodyPosY+BodyYShift-BodyIKPosY+LRGaitPosY, LRPosZ+BodyPosZ-BodyIKPosZ+LRGaitPosZ]
LRCoxaAngle = IKCoxaAngle - CoxaAngle ;Angle for the basic setup for the front leg
LRFemurAngle = IKFemurAngle
LRTibiaAngle = IKTibiaAngle
;Headtracking
GOSUB HeadTracking
GOSUB CheckAngles
LedC = IKSolutionWarning
LedA = IKSolutionError
;Read input
GOSUB Ps2Input
;GOSUB ReadButtons ;I/O used by the PS2 remote
;GOSUB WriteLeds ;I/O used by the PS2 remote
;Head Angle
HeadHAngle = (HeadHAngle min HeadHPin_MIN) max HeadHPin_MAX
HeadVAngle = (HeadVAngle min HeadVPin_MIN) max HeadVPin_MAX
TailHAngle = (TailHAngle min TailHPin_MIN) max TailHPin_MAX
TailVAngle = (TailVAngle min TailVPin_MIN) max TailVPin_MAX
;Get endtime and calculate wait time
GOSUB GetCurrentTime], lTimerEnd
CycleTime = (lTimerEnd-lTimerStart)/WTIMERTICSPERMS
IF(HexOn)THEN
;Wait for previous commands to be completed while walking
IF(ABS(TravelLengthX)>TravelDeadZone | ABS(TravelLengthZ)>TravelDeadZone | ABS(TravelRotationY*2)>TravelDeadZone) THEN
pause (PrevSSCTime - CycleTime -50) MIN 1 ; Min 1 ensures that there alway is a value in the pause command
IF(BalanceMode=0)THEN
SSCTime = NomGaitSpeed + (InputTimeDelay*2)
ELSE
SSCTime = NomGaitSpeed + (InputTimeDelay*2) + 100
ENDIF
ELSE
SSCTime = 200 ;NomGaitSpeed
ENDIF
GOSUB ServoDriver
ELSE
;Turn the bot off
GOSUB FreeServos
ENDIF
HeadTracking: ;(Head Tracking)
;Return to the middle position
HeadHAngle=0
HeadVAngle=0
TailHAngle=0
TailVAngle=0
IF (ABS(TravelLengthX)>TravelDeadZone | ABS(TravelLengthZ)>TravelDeadZone | ABS(TravelRotationY*2)>TravelDeadZone) THEN
;Calculate walking direction X and Z
TravelLengthXZ = SQR((TravelLengthX * TravelLengthX) + TravelLengthZ * TravelLengthZ)
HeadHAngle = TOINT(FACOS(TOFLOAT(TravelLengthZ) / TOFLOAT(TravelLengthXZ)) * 180.0 / 3.141592)-180
;Add sign depending on the direction of X
HeadHAngle = HeadHAngle * (TravelLengthX/ABS(TravelLengthX))
ENDIF
;Calculate body angle depending on rotation
IF ABS(TravelRotationY2) >TravelDeadZone & ABS(TravelRotationY3) > ABS(HeadHAngle) THEN
HeadHAngle = -TravelRotationY3 ; Rotation max = 166 to get max range of 90 deg.
ENDIF
RETURN
goto main
;====================================================================
;[ReadButtons] Reading input buttons from the ABB
ReadButtons:
input P4
input P5
input P6
prev_butA = butA
prev_butB = butB
prev_butC = butC
butA = IN4
butB = IN5
butC = IN6
return
;--------------------------------------------------------------------
;[WriteLEDs] Updates the state of the leds
WriteLEDs:
if ledA = 1 THEN
low p4
ENDIF
if ledB = 1 THEN
low p5
ENDIF
if ledC = 1 THEN
low p6
ENDIF
return
;--------------------------------------------------------------------
;[PS2Input] reads the input data from the Wiiremote and processes the
;data to the parameters.
Ps2Input:
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$1\8]
shiftin PS2DAT,PS2CLK,FASTLSBPOST,[DS2Mode\8]
high PS2SEL
pause 1
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$1\8,$42\8]
shiftin PS2DAT,PS2CLK,FASTLSBPOST,[DualShock(0)\8, DualShock(1)\8, DualShock(2)\8, DualShock(3)\8, |
DualShock(4)\8, DualShock(5)\8, DualShock(6)\8]
high PS2SEL
pause 1
if DS2Mode <> PadMode THEN
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$1\8,$43\8,$0\8,$1\8,$0\8] ;CONFIG_MODE_ENTER
high PS2SEL
pause 1
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$44\8,$00\8,$01\8,$03\8,$00\8,$00\8,$00\8,$00\8] ;SET_MODE_AND_LOCK
high PS2SEL
pause 1
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$4F\8,$00\8,$FF\8,$FF\8,$03\8,$00\8,$00\8,$00\8] ;SET_DS2_NATIVE_MODE
high PS2SEL
pause 1
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$5A\8,$5A\8,$5A\8,$5A\8,$5A\8] ;CONFIG_MODE_EXIT_DS2_NATIVE
high PS2SEL
pause 1
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8] ;CONFIG_MODE_EXIT
high PS2SEL
pause 100
sound P9,[100\4000, 100\4500, 100\5000]
return
ENDIF
IF (DualShock(1).bit3 = 0) and LastButton(0).bit3 THEN ;Start Button test
IF(HexOn) THEN
'Turn off
Sound P9,[100\5000,80\4500,60\4000]
BodyPosX = 0
BodyPosY = 0
BodyPosZ = 0
BodyRotX = 0
BodyRotY = 0
BodyRotZ = 0
TravelLengthX = 0
TravelLengthZ = 0
TravelRotationY = 0
SSCTime = 600
GOSUB ServoDriver
HexOn = False
ELSE
'Turn on
Sound P9,[60\4000,80\4500,100\5000]
SSCTime = 200
HexOn = True
ENDIF
ENDIF
IF HexOn THEN
IF (DualShock(1).bit0 = 0) and LastButton(0).bit0 THEN ;Select Button test
IF TravelLengthX=0 & TravelLengthZ=0 & TravelRotationY=0 THEN
;Switch to next Gait type
IF GaitType<7 THEN
Sound P9,[50\4000]
GaitType = GaitType+1
ELSE
Sound P9,[50\4000, 50\4500]
GaitType = 0
ENDIF
GOSUB GaitSelect
ENDIF
ENDIF
IF (DualShock(1).bit4 = 0) and LastButton(0).bit4 THEN ;Up Button test
BodyPosY = BodyPosY+10
ENDIF
IF (DualShock(1).bit6 = 0) and LastButton(0).bit6 THEN ;Down Button test
BodyPosY = BodyPosY-10
ENDIF
IF (DualShock(2).bit4 = 0) and LastButton(1).bit4 THEN ;Triangle Button test
BodyPosY = 35
ENDIF
IF (DualShock(2).bit5 = 0) and LastButton(1).bit5 THEN ;Circle Button test
BodyPosY = 0
ENDIF
IF (DualShock(2).bit6 = 0) and LastButton(1).bit6 THEN ;Cross Button Attack Modus
serout ssc_out,SSC_BAUTE, "#",RMCoxaPin,1800,RMFemurPin,1700,RMTibiaPin,1700,LMCoxaPin,1200,LMFemurPin,1300,LMTibiaPin,1300/288,13]
pause 288
serout ssc_out,SSC_BAUTE,"#",RMFemurPin,1500,RMTibiaPin,1500,LMFemurPin,1500, |
LMTibiaPin,"P1500T288",13]
pause 288
serout ssc_out,SSC_BAUTE,"#",RRFemurPin,"P1800#",RRTibiaPin,"P1800#",RMFemurPin,"P1400#", |
RMTibiaPin,"P1400#",RFCoxaPin,"P1800#",RFFemurPin,"P2100#",LRFemurPin,"P1200#", |
LRTibiaPin,"P1200#",LMFemurPin,"P1600#",LMTibiaPin,"P1600#",LFCoxaPin,"P1200#", |
LFFemurPin,"P900T288",13]
pause 288
for Index = 1 to 10
serout ssc_out,SSC_BAUTE,"#",RFFemurPin,"P2000#",RFTibiaPin,"P1600#",LFFemurPin,"P900#", |
LFTibiaPin,"P1600T144",13]
pause 144
serout ssc_out,SSC_BAUTE,"#",RFFemurPin,"P2100#",RFTibiaPin,"P1400#",LFFemurPin,"P1000#", |
LFTibiapin,"P1400T144",13]
pause 144
next
serout ssc_out,SSC_BAUTE,"#",RFCoxaPin,"P1500#",RFTibiaPin,"P1500#",LFCoxapin,"P1500#", |
LFFemurPin,"P900#",LFTibiaPin,"P1500T288",13]
pause 288
serout ssc_out,SSC_BAUTE,"#",RRFemurPin,"P1500#",RRTibiaPin,"P1500#",RMFEmurPin,"P1500#", |
RMTibiaPin,"P1500#",RFFemurPin,"P1500#",LMFemurPin,"P1500#",LMTibiaPin,"P1500#", |
LFFemurPin,"P1500#",LRFemurPin,"P1500#",LRTibiaPin,"P1500T576",13]
pause 576
serout ssc_out,SSC_BAUTE,"#",RMCoxaPin,"P1500#",RMFemurPin,"P1700#",RMTibiaPin,"P1700#", |
LMCoxaPin,"P1500#",LMFemurPin,"P1300#",LMTibiaPin,"P1300T288",13]
pause 288
serout ssc_out,SSC_BAUTE,"#",RMFemurPin,"P1500#",RMTibiaPin,"P1500#",LMFemurPin,"P1500#", |
LMTibiaPin,"P1500T288",13]
pause 288
sound P9,[100\4000, 50\8000]
sound P9,[250\2000]
ENDIF
IF (DualShock(2).bit7 = 0) and LastButton(1).bit7 THEN ;Square Button test
IF BalanceMode = 0 THEN
BalanceMode = 1
sound P9,[100\4000, 50\8000]
ELSE
BalanceMode = 0
sound P9,[250\2000]
ENDIF
ENDIF
IF (DualShock(2).bit3 = 0) THEN ;R1 Button test
LegLiftHeight = 80
ELSE
LegLiftHeight = 50
ENDIF
BodyYShift = 0
IF (DualShock(2).bit2 = 0) THEN ;L1 Button test
BodyPosX = (Dualshock(5) - 128)/2
BodyPosZ = -(Dualshock(6) - 128)/3
BodyRotY = (Dualshock(3) - 128)/6
BodyYShift = (-(Dualshock(4) - 128)/2)MIN-(BodyPosY-10)
ELSEIF (DualShock(2).bit0 = 0) ;L2 Button test
BodyRotX = (Dualshock(6) - 128)/8
BodyRotY = (Dualshock(3) - 128)/6
BodyRotZ = (Dualshock(5) - 128)/8
BodyYShift = (-(Dualshock(4) - 128)/2)MIN-(BodyPosY-10)
ELSE ;Walk
'BodyPosX = 0
'BodyPosZ = 0
'BodyRotX = 0
'BodyRotY = 0
'BodyRotZ = 0
IF (DualShock(2).bit1 = 0) THEN ;R2 Button test
TravelLengthX = -(Dualshock(5) - 128)
TravelLengthZ = (Dualshock(6) - 128)
ELSE
TravelLengthX = -(Dualshock(5) - 128)/2
TravelLengthZ = (Dualshock(6) - 128)/2
ENDIF
TravelRotationY = -(Dualshock(3) - 128)/4
ENDIF
;Calculate walking time delay
InputTimeDelay = 128 - (ABS((Dualshock(5) - 128)) MIN ABS((Dualshock(6) - 128))) MIN ABS((Dualshock(3) - 128))
ENDIF
LastButton(0) = DualShock(1)
LastButton(1) = DualShock(2)
return
;--------------------------------------------------------------------
;[GAIT Select]
GaitSelect
;Gait selector
IF (GaitType = 0) THEN ;Ripple Gait 6 steps
LRGaitLegNr = 1
RFGaitLegNr = 2
LMGaitLegNr = 3
RRGaitLegNr = 4
LFGaitLegNr = 5
RMGaitLegNr = 6
NrLiftedPos = 1
TLDivFactor = 4
StepsInGait = 6
NomGaitSpeed = 150
ENDIF
IF (GaitType = 1) THEN ;Ripple Gait 12 steps
LRGaitLegNr = 1
RFGaitLegNr = 3
LMGaitLegNr = 5
RRGaitLegNr = 7
LFGaitLegNr = 9
RMGaitLegNr = 11
NrLiftedPos = 3
HalfLiftHeigth = TRUE
TLDivFactor = 8
StepsInGait = 12
NomGaitSpeed = 100
ENDIF
IF (GaitType = 2) THEN ;Quadripple 9 steps
LRGaitLegNr = 1
RFGaitLegNr = 2
LMGaitLegNr = 4
RRGaitLegNr = 5
LFGaitLegNr = 7
RMGaitLegNr = 8
NrLiftedPos = 2
HalfLiftHeigth = FALSE
TLDivFactor = 6
StepsInGait = 9
NomGaitSpeed = 150
ENDIF
IF (GaitType = 3) THEN ;Tripod 4 steps
LRGaitLegNr = 3
RFGaitLegNr = 1
LMGaitLegNr = 1
RRGaitLegNr = 1
LFGaitLegNr = 3
RMGaitLegNr = 3
NrLiftedPos = 1
TLDivFactor = 2
StepsInGait = 4
NomGaitSpeed = 150
ENDIF
IF (GaitType = 4) THEN ;Tripod 6 steps
LRGaitLegNr = 4
RFGaitLegNr = 1
LMGaitLegNr = 1
RRGaitLegNr = 1
LFGaitLegNr = 4
RMGaitLegNr = 4
NrLiftedPos = 2
HalfLiftHeigth = FALSE
TLDivFactor = 4
StepsInGait = 6
NomGaitSpeed = 120
ENDIF
IF (GaitType = 5) THEN ;Tripod 8 steps
LRGaitLegNr = 5
RFGaitLegNr = 1
LMGaitLegNr = 1
RRGaitLegNr = 1
LFGaitLegNr = 5
RMGaitLegNr = 5
NrLiftedPos = 3
HalfLiftHeigth = TRUE
TLDivFactor = 4
StepsInGait = 8
NomGaitSpeed = 110
ENDIF
IF (GaitType = 6) THEN ;Wave 12 steps
LRGaitLegNr = 7
RFGaitLegNr = 1
LMGaitLegNr = 9
RRGaitLegNr = 5
LFGaitLegNr = 11
RMGaitLegNr = 3
NrLiftedPos = 1
HalfLiftHeigth = FALSE
TLDivFactor = 10
StepsInGait = 12
NomGaitSpeed = 120
ENDIF
IF (GaitType = 7) THEN ;Wave 18 steps
LRGaitLegNr = 10
RFGaitLegNr = 1
LMGaitLegNr = 13
RRGaitLegNr = 7
LFGaitLegNr = 16
RMGaitLegNr = 4
NrLiftedPos = 2
HalfLiftHeigth = FALSE
TLDivFactor = 16
StepsInGait = 18
NomGaitSpeed = 100
ENDIF
return
;--------------------------------------------------------------------
;[GAIT Sequence]
GaitSeq
;Calculate Gait sequence
LastLeg = FALSE
GOSUB Gait [LRGaitLegNr, LRGaitPosX, LRGaitPosY, LRGaitPosZ, LRGaitRotY]
LRGaitPosX = GaitPosX
LRGaitPosY = GaitPosY
LRGaitPosZ = GaitPosZ
LRGaitRotY = GaitRotY
GOSUB Gait [RFGaitLegNr, RFGaitPosX, RFGaitPosY, RFGaitPosZ, RFGaitRotY]
RFGaitPosX = GaitPosX
RFGaitPosY = GaitPosY
RFGaitPosZ = GaitPosZ
RFGaitRotY = GaitRotY
GOSUB Gait [LMGaitLegNr, LMGaitPosX, LMGaitPosY, LMGaitPosZ, LMGaitRotY]
LMGaitPosX = GaitPosX
LMGaitPosY = GaitPosY
LMGaitPosZ = GaitPosZ
LMGaitRotY = GaitRotY
GOSUB Gait [RRGaitLegNr, RRGaitPosX, RRGaitPosY, RRGaitPosZ, RRGaitRotY]
RRGaitPosX = GaitPosX
RRGaitPosY = GaitPosY
RRGaitPosZ = GaitPosZ
RRGaitRotY = GaitRotY
GOSUB Gait [LFGaitLegNr, LFGaitPosX, LFGaitPosY, LFGaitPosZ, LFGaitRotY]
LFGaitPosX = GaitPosX
LFGaitPosY = GaitPosY
LFGaitPosZ = GaitPosZ
LFGaitRotY = GaitRotY
LastLeg = TRUE
GOSUB Gait [RMGaitLegNr, RMGaitPosX, RMGaitPosY, RMGaitPosZ, RMGaitRotY]
RMGaitPosX = GaitPosX
RMGaitPosY = GaitPosY
RMGaitPosZ = GaitPosZ
RMGaitRotY = GaitRotY
return
;--------------------------------------------------------------------
;[GAIT]
Gait [GaitLegNr, GaitPosX, GaitPosY, GaitPosZ, GaitRotY]
;Check IF the Gait is in motion
GaitInMotion = ((ABS(TravelLengthX)>TravelDeadZone) | (ABS(TravelLengthZ)>TravelDeadZone) | (ABS(TravelRotationY)>TravelDeadZone) )
;Leg middle up position
;Gait in motion Gait NOT in motion, return to home position
IF (GaitInMotion & (NrLiftedPos=1 | NrLiftedPos=3) & GaitStep=GaitLegNr) | (GaitInMotion=FALSE & GaitStep=GaitLegNr & ((ABS(GaitPosX)>2) | (ABS(GaitPosZ)>2) | (ABS(GaitRotY)>2))) THEN ;Up
GaitPosX = 0
GaitPosY = -LegLiftHeight
GaitPosZ = 0
GaitRotY = 0
ELSE
;Optional Half heigth Rear
IF ((NrLiftedPos=2 & GaitStep=GaitLegNr) | (NrLiftedPos=3 & (GaitStep=GaitLegNr-1 | GaitStep=GaitLegNr+(StepsInGait-1)))) & GaitInMotion THEN
GaitPosX = -TravelLengthX/2
GaitPosY = -LegLiftHeight/(HalfLiftHeigth+1)
GaitPosZ = -TravelLengthZ/2
GaitRotY = -TravelRotationY/2
ELSE
;Optional half heigth front
IF (NrLiftedPos>=2) & (GaitStep=GaitLegNr+1 | GaitStep=GaitLegNr-(StepsInGait-1)) & GaitInMotion THEN
GaitPosX = TravelLengthX/2
GaitPosY = -LegLiftHeight/(HalfLiftHeigth+1)
GaitPosZ = TravelLengthZ/2
GaitRotY = TravelRotationY/2
ELSE
;Leg front down position
IF (GaitStep=GaitLegNr+NrLiftedPos | GaitStep=GaitLegNr-(StepsInGait-NrLiftedPos)) & GaitPosY<0 THEN
GaitPosX = TravelLengthX/2
GaitPosY = 0
GaitPosZ = TravelLengthZ/2
GaitRotY = TravelRotationY/2
;Move body forward
ELSE
GaitPosX = GaitPosX - (TravelLengthX/TLDivFactor)
GaitPosY = 0
GaitPosZ = GaitPosZ - (TravelLengthZ/TLDivFactor)
GaitRotY = GaitRotY - (TravelRotationY/TLDivFactor)
ENDIF
ENDIF
ENDIF
ENDIF
;Advance to the next step
IF LastLeg THEN ;The last leg in this step
GaitStep = GaitStep+1
IF GaitStep>StepsInGait THEN
GaitStep = 1
ENDIF
ENDIF
return
;--------------------------------------------------------------------
;[BalCalcOneLeg]
BalCalcOneLeg [PosX, PosZ, PosY, BodyOffsetX, BodyOffsetZ]
;Calculating totals from center of the body to the feet
TotalZ = BodyOffsetZ+PosZ
TotalX = BodyOffsetX+PosX
TotalY = 150 + PosY’ using the value 150 to lower the centerpoint of rotation 'BodyPosY +
TotalTransY = TotalTransY + PosY
TotalTransZ = TotalTransZ + TotalZ
TotalTransX = TotalTransX + TotalX
gosub GetBoogTan [TotalX, TotalZ]
TotalYbal = TotalYbal + TOINT((BoogTan180.0) / 3.141592)
gosub GetBoogTan [TotalX, TotalY]
TotalZbal = TotalZbal + TOINT((BoogTan180.0) / 3.141592)
gosub GetBoogTan [TotalZ, TotalY]
TotalXbal = TotalXbal + TOINT((BoogTan*180.0) / 3.141592)
'serout S_OUT, i9600, “BalOneLeg PosX=”, sdec PosX," PosZ=", sdec PosZ," TotalXTransZ=", sdec TotalTransZ, 13]
return
;--------------------------------------------------------------------
;[BalanceBody]
BalanceBody:
TotalTransZ = TotalTransZ/6
TotalTransX = TotalTransX/6
TotalTransY = TotalTransY/6
if TotalYbal < -180 then 'Tangens fix caused by +/- 180 deg
TotalYbal = TotalYbal + 360
endif
if TotalZbal < -180 then 'Tangens fix caused by +/- 180 deg
TotalZbal = TotalZbal + 360
endif
if TotalXbal < -180 then 'Tangens fix caused by +/- 180 deg
TotalXbal = TotalXbal + 360
endif
;Balance rotation
TotalYBal = TotalYbal/6
TotalXBal = TotalXbal/6
TotalZBal = -TotalZbal/6
;Balance translation
LFGaitPosZ = LFGaitPosZ - TotalTransZ
LMGaitPosZ = LMGaitPosZ - TotalTransZ
LRGaitPosZ = LRGaitPosZ - TotalTransZ
RFGaitPosZ = RFGaitPosZ - TotalTransZ
RMGaitPosZ = RMGaitPosZ - TotalTransZ
RRGaitPosZ = RRGaitPosZ - TotalTransZ
LFGaitPosX = LFGaitPosX - TotalTransX
LMGaitPosX = LMGaitPosX - TotalTransX
LRGaitPosX = LRGaitPosX - TotalTransX
RFGaitPosX = RFGaitPosX - TotalTransX
RMGaitPosX = RMGaitPosX - TotalTransX
RRGaitPosX = RRGaitPosX - TotalTransX
LFGaitPosY = LFGaitPosY - TotalTransY
LMGaitPosY = LMGaitPosY - TotalTransY
LRGaitPosY = LRGaitPosY - TotalTransY
RFGaitPosY = RFGaitPosY - TotalTransY
RMGaitPosY = RMGaitPosY - TotalTransY
RRGaitPosY = RRGaitPosY - TotalTransY
return
;--------------------------------------------------------------------
;[GETSINCOS] Get the sinus and cosinus from the angle +/- multiple circles
;AngleDeg - Input Angle in degrees
;SinA - Output Sinus of AngleDeg
;CosA - Output Cosinus of AngleDeg
GetSinCos [AngleDeg]
;Get the absolute value of AngleDeg
IF AngleDeg < 0.0 THEN
ABSAngleDeg = AngleDeg *-1.0
ELSE
ABSAngleDeg = AngleDeg
ENDIF
;Shift rotation to a full circle of 360 deg -> AngleDeg // 360
IF AngleDeg < 0.0 THEN ;Negative values
AngleDeg = 360.0-(ABSAngleDeg-TOFLOAT(360*(TOINT(ABSAngleDeg/360.0))))
ELSE ;Positive values
AngleDeg = ABSAngleDeg-TOFLOAT(360*(TOINT(ABSAngleDeg/360.0)))
ENDIF
IF AngleDeg < 180.0 THEN ;Angle between 0 and 180
;Subtract 90 to shift range
AngleDeg = AngleDeg -90.0
;Convert degree to radials
AngleRad = (AngleDeg*3.141592)/180.0
SinA = FCOS(AngleRad) ;Sin o to 180 deg = cos(Angle Rad - 90deg)
CosA = -FSIN(AngleRad) ;Cos 0 to 180 deg = -sin(Angle Rad - 90deg)
ELSE ;Angle between 180 and 360
;Subtract 270 to shift range
AngleDeg = AngleDeg -270.0
;Convert degree to radials
AngleRad = (AngleDeg*3.141592)/180.0
SinA = -FCOS(AngleRad) ;Sin 180 to 360 deg = -cos(Angle Rad - 270deg)
CosA = FSIN(AngleRad) ;Cos 180 to 360 deg = sin(Angle Rad - 270deg)
ENDIF
return
;--------------------------------------------------------------------
;[BOOGTAN2] Gets the Inverse Tangus from X/Y with the where Y can be zero or negative
;BoogTanX - Input X
;BoogTanY - Input Y
;BoogTan - Output BOOGTAN2(X/Y)
GetBoogTan [BoogTanX, BoogTanY]
IF(BoogTanX = 0) THEN ; X=0 -> 0 or PI
IF(BoogTanY >= 0) THEN
BoogTan = 0.0
ELSE
BoogTan = 3.141592
ENDIF
ELSE
IF(BoogTanY = 0) THEN ; Y=0 -> +/- Pi/2
IF(BoogTanX > 0) THEN
BoogTan = 3.141592 / 2.0
ELSE
BoogTan = -3.141592 / 2.0
ENDIF
ELSE
IF(BoogTanY > 0) THEN ;BOOGTAN(X/Y)
BoogTan = FATAN(TOFLOAT(BoogTanX) / TOFLOAT(BoogTanY))
ELSE
IF(BoogTanX > 0) THEN ;BOOGTAN(X/Y) + PI
BoogTan = FATAN(TOFLOAT(BoogTanX) / TOFLOAT(BoogTanY)) + 3.141592
ELSE ;BOOGTAN(X/Y) - PI
BoogTan = FATAN(TOFLOAT(BoogTanX) / TOFLOAT(BoogTanY)) - 3.141592
ENDIF
ENDIF
ENDIF
ENDIF
return
;--------------------------------------------------------------------
;[BODY INVERSE KINEMATICS]
;BodyRotX - Global Input pitch of the body
;BodyRotY - Global Input rotation of the body
;BodyRotZ - Global Input roll of the body
;RotationY - Input Rotation for the gait
;PosX - Input position of the feet X
;PosZ - Input position of the feet Z
;BodyOffsetX - Input Offset betweeen the body and Coxa X
;BodyOffsetZ - Input Offset betweeen the body and Coxa Z
;SinB - Sin buffer for BodyRotX
;CosB - Cos buffer for BodyRotX
;SinG - Sin buffer for BodyRotZ
;CosG - Cos buffer for BodyRotZ
;BodyIKPosX - Output Position X of feet with Rotation
;BodyIKPosY - Output Position Y of feet with Rotation
;BodyIKPosZ - Output Position Z of feet with Rotation
BodyIK [PosX, PosZ, PosY, BodyOffsetX, BodyOffsetZ, RotationY]
;Calculating totals from center of the body to the feet
TotalZ = BodyOffsetZ+PosZ
TotalX = BodyOffsetX+PosX
;PosY are equal to a “TotalY”
;Successive global rotation matrix:
;Math shorts for rotation: Alfa (A) = Xrotate, Beta (B) = Zrotate, Gamma (G) = Yrotate
;Sinus Alfa = sinA, cosinus Alfa = cosA. and so on…
;First calculate sinus and cosinus for each rotation:
GOSUB GetSinCos [TOFLOAT(BodyRotX+TotalXBal)]
SinG = SinA
CosG = CosA
GOSUB GetSinCos [TOFLOAT(BodyRotZ+TotalZBal)]
SinB = SinA
CosB = CosA
GOSUB GetSinCos [TOFLOAT(BodyRotY+RotationY+TotalYBal)]
;Calcualtion of rotation matrix:
BodyIKPosX = TotalX-TOINT(TOFLOAT(TotalX)CosACosB - TOFLOAT(TotalZ)CosBSinA + TOFLOAT(PosY)SinB)
BodyIKPosZ = TotalZ-TOINT(TOFLOAT(TotalX)CosGSinA + TOFLOAT(TotalX)CosASinBSinG +TOFLOAT(TotalZ)CosACosG-TOFLOAT(TotalZ)SinASinBSinG-TOFLOAT(PosY)CosBSinG)
BodyIKPosY = PosY - TOINT(TOFLOAT(TotalX)SinASinG - TOFLOAT(TotalX)CosACosGSinB + TOFLOAT(TotalZ)CosASinG + TOFLOAT(TotalZ)CosGSinA*SinB + TOFLOAT(PosY)CosBCosG)
return
;--------------------------------------------------------------------
;[LEG INVERSE KINEMATICS] Calculates the angles of the tibia and femur for the given position of the feet
;IKFeetPosX - Input position of the Feet X
;IKFeetPosY - Input position of the Feet Y
;IKFeetPosZ - Input Position of the Feet Z
;IKSolution - Output true IF the solution is possible
;IKSolutionWarning - Output true IF the solution is NEARLY possible
;IKSolutionError - Output true IF the solution is NOT possible
;IKFemurAngle - Output Angle of Femur in degrees
;IKTibiaAngle - Output Angle of Tibia in degrees
;IKCoxaAngle - Output Angle of Coxa in degrees
LegIK [IKFeetPosX, IKFeetPosY, IKFeetPosZ]
;Length between the Coxa and Feet
IKFeetPosXZ = TOINT(FSQRT(TOFLOAT((IKFeetPosX*IKFeetPosX)+(IKFeetPosZ*IKFeetPosZ))))
;IKSW - Length between shoulder and wrist
IKSW = FSQRT(TOFLOAT(((IKFeetPosXZ-CoxaLength)*(IKFeetPosXZ-CoxaLength))+(IKFeetPosY*IKFeetPosY)))
;IKA1 - Angle between SW line and the ground in rad
GOSUB GetBoogTan [IKFeetPosXZ-CoxaLength, IKFeetPosY]
IKA1 = BoogTan
;IKA2 - ?
IKA2 = FACOS((TOFLOAT((FemurLength*FemurLength) - (TibiaLength*TibiaLength)) + (IKSW*IKSW)) / (TOFLOAT(2*Femurlength) * IKSW))
;IKFemurAngle
IKFemurAngle = (TOINT(((IKA1 + IKA2) * 180.0) / 3.141592)*-1)+90
;IKTibiaAngle
IKTibiaAngle = (90-TOINT(((FACOS((TOFLOAT((FemurLength*FemurLength) + (TibiaLength*TibiaLength)) - (IKSW*IKSW)) / TOFLOAT(2*Femurlength*TibiaLength)))*180.0) / 3.141592)) * -1
;IKCoxaAngle
GOSUB GetBoogTan [IKFeetPosZ, IKFeetPosX]
IKCoxaAngle = TOINT((BoogTan*180.0) / 3.141592)
;Set the Solution quality
IF(IKSW < TOFLOAT(FemurLength+TibiaLength-30)) THEN
IKSolution = TRUE
ELSE
IF(IKSW < TOFLOAT(FemurLength+TibiaLength)) THEN
IKSolutionWarning = TRUE
ELSE
IKSolutionError = TRUE
ENDIF
ENDIF
return
;--------------------------------------------------------------------
;[CHECK ANGLES] Checks the mechanical limits of the servos
CheckAngles:
RFCoxaAngle = (RFCoxaAngle min RFCoxa_MIN) max RFCoxa_MAX
RFFemurAngle = (RFFemurAngle min RFFemur_MIN) max RFFemur_MAX
RFTibiaAngle = (RFTibiaAngle min RFTibia_MIN) max RFTibia_MAX
RMCoxaAngle = (RMCoxaAngle min RMCoxa_MIN) max RMCoxa_MAX
RMFemurAngle = (RMFemurAngle min RMFemur_MIN) max RMFemur_MAX
RMTibiaAngle = (RMTibiaAngle min RMTibia_MIN) max RMTibia_MAX
RRCoxaAngle = (RRCoxaAngle min RRCoxa_MIN) max RRCoxa_MAX
RRFemurAngle = (RRFemurAngle min RRFemur_MIN) max RRFemur_MAX
RRTibiaAngle = (RRTibiaAngle min RRTibia_MIN) max RRTibia_MAX
LFCoxaAngle = (LFCoxaAngle min LFCoxa_MIN) max LFCoxa_MAX
LFFemurAngle = (LFFemurAngle min LFFemur_MIN) max LFFemur_MAX
LFTibiaAngle = (LFTibiaAngle min LFTibia_MIN) max LFTibia_MAX
LMCoxaAngle = (LMCoxaAngle min LMCoxa_MIN) max LMCoxa_MAX
LMFemurAngle = (LMFemurAngle min LMFemur_MIN) max LMFemur_MAX
LMTibiaAngle = (LMTibiaAngle min LMTibia_MIN) max LMTibia_MAX
LRCoxaAngle = (LRCoxaAngle min LRCoxa_MIN) max LRCoxa_MAX
LRFemurAngle = (LRFemurAngle min LRFemur_MIN) max LRFemur_MAX
LRTibiaAngle = (LRTibiaAngle min LRTibia_MIN) max LRTibia_MAX
return
;--------------------------------------------------------------------
;[SERVO DRIVER “FUTABA SERVOS”] Updates the positions of the servos (CCW)
ServoDriver:
;Head & Tail
Serout SSC_OUT,SSC_BAUTE,"#",dec HeadHPin,“P”,dec (HeadHAngle+60)*10000/1059+650]
Serout SSC_OUT,SSC_BAUTE,"#",dec HeadVPin,“P”,dec (HeadVAngle+60)*10000/1059+650]
Serout SSC_OUT,SSC_BAUTE,"#",dec TailHPin,“P”,dec (TailHAngle+60)*10000/1059+650]
Serout SSC_OUT,SSC_BAUTE,"#",dec TailVPin,“P”,dec (TailVAngle+60)*10000/1059+650]
;Front Right leg
serout SSC_OUT,SSC_BAUTE,"#",dec RFCoxaPin,“P”,dec TOINT(TOFLOAT(RFCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RFFemurPin,“P”,dec TOINT(TOFLOAT(RFFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RFTibiaPin,“P”,dec TOINT(TOFLOAT(RFTibiaAngle+90)/0.10588238)+650]
;Middle Right leg
serout SSC_OUT,SSC_BAUTE,"#",dec RMCoxaPin,“P”,dec TOINT(TOFLOAT(RMCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RMFemurPin,“P”,dec TOINT(TOFLOAT(RMFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RMTibiaPin,“P”,dec TOINT(TOFLOAT(RMTibiaAngle+90)/0.10588238)+650]
;Rear Right leg
serout SSC_OUT,SSC_BAUTE,"#",dec RRCoxaPin,“P”,dec TOINT(TOFLOAT(RRCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RRFemurPin,“P”,dec TOINT(TOFLOAT(RRFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RRTibiaPin,“P”,dec TOINT(TOFLOAT(RRTibiaAngle+90)/0.10588238)+650]
;Front Left leg
serout SSC_OUT,SSC_BAUTE,"#",dec LFCoxaPin,“P”,dec TOINT(TOFLOAT(-LFCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LFFemurPin,“P”,dec TOINT(TOFLOAT(-LFFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LFTibiaPin ,“P”,dec TOINT(TOFLOAT(-LFTibiaAngle+90)/0.10588238)+650]
;Middle Left leg
serout SSC_OUT,SSC_BAUTE,"#",dec LMCoxaPin,“P”,dec TOINT(TOFLOAT(-LMCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LMFemurPin,“P”,dec TOINT(TOFLOAT(-LMFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LMTibiaPin,“P”,dec TOINT(TOFLOAT(-LMTibiaAngle+90)/0.10588238)+650]
;Rear Left leg
serout SSC_OUT,SSC_BAUTE,"#",dec LRCoxaPin,“P”,dec TOINT(TOFLOAT(-LRCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LRFemurPin,“P”,dec TOINT(TOFLOAT(-LRFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LRTibiaPin,“P”,dec TOINT(TOFLOAT(-LRTibiaAngle+90)/0.10588238)+650]
;Send
serout SSC_OUT,SSC_BAUTE,“T”,dec SSCTime,13]
PrevSSCTime = SSCTime
return
;[SERVO DRIVER “ORIGINAL”] Updates the positions of the servos
;ServoDriver:
; ;Front Right leg
; serout SSC_OUT,SSC_BAUTE,"#",dec RFCoxaPin,“P”,dec TOINT(TOFLOAT(-RFCoxaAngle +90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec RFFemurPin,“P”,dec TOINT(TOFLOAT(-RFFemurAngle+90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec RFTibiaPin,“P”,dec TOINT(TOFLOAT(-RFTibiaAngle+90)/0.10588238)+650]
;
; ;Middle Right leg
; serout SSC_OUT,SSC_BAUTE,"#",dec RMCoxaPin,“P”,dec TOINT(TOFLOAT(-RMCoxaAngle +90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec RMFemurPin,“P”,dec TOINT(TOFLOAT(-RMFemurAngle+90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec RMTibiaPin,“P”,dec TOINT(TOFLOAT(-RMTibiaAngle+90)/0.10588238)+650]
;
; ;Rear Right leg
; serout SSC_OUT,SSC_BAUTE,"#",dec RRCoxaPin,“P”,dec TOINT(TOFLOAT(-RRCoxaAngle +90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec RRFemurPin,“P”,dec TOINT(TOFLOAT(-RRFemurAngle+90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec RRTibiaPin,“P”,dec TOINT(TOFLOAT(-RRTibiaAngle+90)/0.10588238)+650]
; ;Front Left leg
; serout SSC_OUT,SSC_BAUTE,"#",dec LFCoxaPin,“P”,dec TOINT(TOFLOAT(LFCoxaAngle +90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec LFFemurPin,“P”,dec TOINT(TOFLOAT(LFFemurAngle+90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec LFTibiaPin ,“P”,dec TOINT(TOFLOAT(LFTibiaAngle+90)/0.10588238)+650]
;Middle Left leg
; serout SSC_OUT,SSC_BAUTE,"#",dec LMCoxaPin,“P”,dec TOINT(TOFLOAT(LMCoxaAngle +90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec LMFemurPin,“P”,dec TOINT(TOFLOAT(LMFemurAngle+90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec LMTibiaPin,“P”,dec TOINT(TOFLOAT(LMTibiaAngle+90)/0.10588238)+650]
;Rear Left leg
; serout SSC_OUT,SSC_BAUTE,"#",dec LRCoxaPin,“P”,dec TOINT(TOFLOAT(LRCoxaAngle +90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec LRFemurPin,“P”,dec TOINT(TOFLOAT(LRFemurAngle+90)/0.10588238)+650]
; serout SSC_OUT,SSC_BAUTE,"#",dec LRTibiaPin,“P”,dec TOINT(TOFLOAT(LRTibiaAngle+90)/0.10588238)+650]
;Send
; serout SSC_OUT,SSC_BAUTE,“T”,dec SSCTime,13]
; PrevSSCTime = SSCTime
;return
;--------------------------------------------------------------------
;[FREE SERVOS] Frees all the servos
FreeServos
for Index = 0 to 31
serout SSC_OUT,SSC_BAUTE,"#",DEC Index,“P0”]
next
serout SSC_OUT,SSC_BAUTE,“T200”,13]
return
;-----------------------------------------------------------------------------------
;[Handle TimerW interrupt]
BEGINASMSUB
HANDLE_TIMERW
push.w r1 ; save away register we will use
bclr #7,@TSRW:8 ; clear the overflow bit in the Timer status word
mov.w @LTIMERWOVERFLOWCNT+1:16,r1 ; We will increment the word that is the highword for a clock timer
inc.w #1,r1
mov.w r1, @LTIMERWOVERFLOWCNT+1:16
pop.w r1 ; restore our registers
rte ; and return
return
;-------------------------------------------------------------------------------------
;[Simple function to get the current time and verify that no overflow happened]
GetCurrentTime
lCurrentTime = lTimerWoverflowCnt + TCNT ; calculate the timer
IF lCurrentTime.highword <> lTimerWOverflowcnt.highword THEN
lCurrentTime = lTimerWoverflowCnt + TCNT ; calculate the timer
ENDIF
return lCurrentTIme
;--------------------------------------------------------------------[/code]
Again. This is not the most polite way to ask for some help. You have to keep in mind that we don’t have your brain, we have no idea what you may have done with the code. Just posting up 20+ pages of code and saying “What did I do wrong” will get you nowhere fast. 
Maybe you could start off with a list of some of the things that you’ve changed?
I only added the code for the head and tail moving. As shown on the page before. it compiles and programms fine.
To eliminate any possible power supply issues. Please create a SIMPLE program to move a few servos . Your battery must have taken a beating while you were working on troubleshooting the short circuit problems.
Normally when a piece of code doesn’t work, it at least does the same thing every time you try. But if you ARE having a power problem it may not act the same depending on the load the servos are drawing and the positioning of the bot, etc.
Have you gone back one program revision to make double sure it’s the changes you made to the code?
I will second James(fish) here. What have you done to try to issolate the issue? If you run the unmodified code does it work OK?
Are you sure it is not a battery/power problem? Is the VS seperated from VL on both SSC-32 and BAP? Fresh 9V battery? Moving something like 22 servos can be a pretty good load on a power system.
Kurt
Disconnect all the servos except the tail and head servos and see if they work as expected. If they do, then it is probably a power issue.
It was walking and working fine untill i programmed the new code. That’s all i changed.
I used it untill an hour and a half ago. No servo problem.
There must be something in the code that makes it** reset **the board…
power issue.
well first off id like to point out that once i copied and pasted it to my ide i noticed your servo driver have been commented out!!!
…Also (non issue related) with the head code you need to add (TravelLength?/ABS(TravelLength?)
for the following, as well as just for the (HeadHAngle)
- HeadVAngle=0
TailHAngle=0
TailVAngle=0*
yours looks like this and doesnt include (Travel length XYZ) for the other Vars.
[code] HeadHAngle=0
HeadVAngle=0
TailHAngle=0
TailVAngle=0
IF (ABS(TravelLengthX)>TravelDeadZone | ABS(TravelLengthZ)>TravelDeadZone | ABS(TravelRotationY*2)>TravelDeadZone) THEN
;Calculate walking direction X and Z
TravelLengthXZ = SQR((TravelLengthX * TravelLengthX) + TravelLengthZ * TravelLengthZ)
HeadHAngle = TOINT(FACOS(TOFLOAT(TravelLengthZ) / TOFLOAT(TravelLengthXZ)) * 180.0 / 3.141592)-180
;Add sign depending on the direction of X
HeadHAngle = HeadHAngle * (TravelLengthX/ABS(TravelLengthX))
ENDIF
;Calculate body angle depending on rotation
IF ABS(TravelRotationY2) >TravelDeadZone & ABS(TravelRotationY3) > ABS(HeadHAngle) THEN
HeadHAngle = -TravelRotationY3 ; Rotation max = 166 to get max range of 90 deg.
ENDIF
RETURN
goto main[/code]
so any other suggestions?
I tried pasting in the code all over again with a clean file but the same thing happens.
I really can’t find the problem…
Personally if it were me I would break this down to smaller pieces.
That is have you tried what Robot Dude suggested, and write a real simple program that simply moves all 4 of these servos and sees what happens. For example something like:
[code]
angle var long
main:
for angle = 900 to 2100 step 100 ; about -45 to 45
serout SSC_OUT, SC_BAUTE, “#28P”, dec angle, “#29P”,dec angle,"#30P", dec angle, “#31P”, dec angle, “T100”, 13]
pause 100
next
goto main[/code]
Note: I just typed this in on the fly, there may be problems, you may want to play with timings, but assuming I did this right it would imply that the servos work. You may also then wish to change the 900,2100 to the full range of the servos, to make sure that there is not some problem.
If this works then can you add a simple output to the 18 leg servos to put them all at their zero point and see if it still works, if it does then we probaly need to look more closely at the code.
Kurt
FYI - I did take a quick look through the code and do have some concerns.
As far as I can tell you are currently only playing with HeadHAngle. If it were me I would change the 4 variables HeadHAngle, HeadVAngle… to SLONG from SWORD. Here is why…
in the code you have:
Serout SSC_OUT,SSC_BAUTE,"#",dec HeadHPin,"P",dec (HeadHAngle+60)*10000/1059+650]Now assuming word math, you have lets say HeadHAngle at 20 degrees (actually zero may have problems as well)
Your math goes 20+60 = 80 * 10000 = 80000 which will not fit into a 16 bit value, now maybe internally it does it as 32 bit math but maybe not
Kurt
Update: This may not be a problem:
headhangle var sword
headhangle2 var slong
for headhangle = -60 to 60 step 10
headhangle2 = headhangle ; move to long
Serout s_out,I9600,[SDEC HEADHANGLE, "=", dec (HeadHAngle+60)*10000/1059+650, " ", dec ((HeadHAngle2+60)*10000)/1059+650, 13]
next
end
Had the output:
-60=650 650
-50=744 744
-40=838 838
-30=933 933
-20=1027 1027
-10=1122 1122
0=1216 1216
10=1311 1311
20=1405 1405
30=1499 1499
40=1594 1594
50=1688 1688
60=1783 1783
Thanx a lot! I just wanted to ask you if you can help me implement it in the coe. I don’t know where to put it… and what to remove…
I more or less had the first version there, except I did not add the defines for the SSC pin and baud. Here is a version that first walks through with only the head and tail, then after the first pass should try to set the leg servos all to 1500…
[code]SSC_OUT con P11 ;Output pin for (SSC32 RX) on BotBoard (Yellow)
SSC_IN con P10 ;Input pin for (SSC32 TX) on BotBoard (Blue)
SSC_BAUTE con i38400 ;SSC32 Baute rate
angle var long
time var long
Sound P9,[60\4000,80\4500,100\5000]
; get them first to init position.
serout SSC_OUT, SSC_BAUTE, “#28P1500#29P1500#30P1500#31P1500”, 13]
; first time through will only move the head and tail…
main:
time = 250
for angle = 900 to 2100 step 100 ; about -45 to 45
serout SSC_OUT, SSC_BAUTE, “#28P”, dec angle, “#29P”, dec angle, “#30P”, dec angle, “#31P”, dec angle, “T”, dec time, 13]
pause time
time = 100 ; make first one move slower, longer ways to go…
next
pause 5000 ; wait a few seconds.
; now set all of the leg pins to 1500
serout SSC_OUT, SSC_BAUTE, "#00P1500 #01P1500 #02P1500 #04P1500 #05P1500 #06P1500",|
"#08P1500 #09P1500 #10P1500 #16P1500 #17P1500 #18P1500", |
"#20P1500 #21P1500 #22P1500 #24P1500 #25P1500 #26P1500", 13]
goto main
[/code]
This is the whole program, you simply need to create a new file, cut and paste, save and download…
Indeed! this worked fine! So what does this tell? Can we fix my problem now?