Zenta,
could you help me for the rotation center moving around the neck(head tracking mode)?
if not possible, I understand
I managed to move the head by taking the lower body as a reference (from top to bottom and from bottom to top).
from left to right, taking the left foreleg as a reference.
I doubt that this is not how to do
I quote myself from the A-Pod thread:
I breathe again! 
Sorry, I did not see this line.
I did some modification on the code. I made two videos (first before to broke tail servo 
and the second after with rotation mode and translation)
I’ve also modify some values from phoenix code .
I’ve uploaded the second… I hope to be that on the good way.
I tried to correct my mistakes 
Hi,
I have some trouble with cRRInitPosX,cRRInitPosY, cRRInitPosZ
I’m trying to use PEP to solve this but I don’t know where I can pick up values.
;[START POSITIONS FEET]
cRRInitPosX con ? ;Start positions of the Right Rear leg
cRRInitPosY con ?
cRRInitPosZ con ?
cRMInitPosX con ? ;Start positions of the Right Middle leg
cRMInitPosY con ?
cRMInitPosZ con 0
cRFInitPosX con ? ;Start positions of the Right Front leg
cRFInitPosY con ?
cRFInitPosZ con -?
cLRInitPosX con ? ;Start positions of the Left Rear leg
cLRInitPosY con ?
cLRInitPosZ con ?
cLMInitPosX con ? ;Start positions of the Left Middle leg
cLMInitPosY con ?
cLMInitPosZ con 0
cLFInitPosX con ? ;Start positions of the Left Front leg
cLFInitPosY con ?
cLFInitPosZ con -?i have this:
;--------------------------------------------------------------------
;[BODY DIMENSIONS]
cCoxaLength con 47
cFemurLength con 87
cTibiaLength con 129
;cAbdomenLength con 196
;cHeadLength con 87 ;w/ mandibule(187)
cHeadWristAngle1 con 600 ;Default head setup Pos angle FK
cHeadXAngle1 con 700 ;Default head setup Pos angle FK
cHeadYAngle1 con 200 ;Default head setup Pos angle FK
cRRCoxaAngle1 con -600-80;Default Coxa setup angle, decimals = 1
cRMCoxaAngle1 con 0-40;Default Coxa setup angle, decimals = 1
cRFCoxaAngle1 con 600-46 ;Default Coxa setup angle, decimals = 1
cLRCoxaAngle1 con -600+19;Default Coxa setup angle, decimals = 1
cLMCoxaAngle1 con 0+36 ;Default Coxa setup angle, decimals = 1
cLFCoxaAngle1 con 600-38 ;Default Coxa setup angle, decimals = 1
cRROffsetX con -72 ;Distance X from center of the body to the Right Rear coxa
cRROffsetZ con 113 ;Distance Z from center of the body to the Right Rear coxa
cRMOffsetX con -72 ;Distance X from center of the body to the Right Middle coxa
cRMOffsetZ con 0 ;Distance Z from center of the body to the Right Middle coxa
cRFOffsetX con -72 ;Distance X from center of the body to the Right Front coxa
cRFOffsetZ con -113 ;Distance Z from center of the body to the Right Front coxa
cLROffsetX con 72 ;Distance X from center of the body to the Left Rear coxa
cLROffsetZ con 113 ;Distance Z from center of the body to the Left Rear coxa
cLMOffsetX con 72 ;Distance X from center of the body to the Left Middle coxa
cLMOffsetZ con 0 ;Distance Z from center of the body to the Left Middle coxa
cLFOffsetX con 72 ;Distance X from center of the body to the Left Front coxa
cLFOffsetZ con -113 ;Distance Z from center of the body to the Left Front coxa
if someone can help me…
little update
I need heat shrink and another servo for abdomen
well,
I think I found where to pick up values(=verdier) x verdiers column
after setup values, click on body 1 or body 2 to draw hexapod and pick them up
I did some progress with the code:
full extension of the body is similar to the original(rotate mode)
Looks like you’ve found the correct place for “verdiene” 
i’m learning norwegian too, great!
I have some problem with a-pod. I redo calibration of all legs. Impossible to have the home position as view in the “TV interview”
Impossible in what way? It might be a mechanical issue since you are using the relative large/thick SES tube between the two femur parts.
precisely
i need to cut 1mm or 2 on each inner leg.
when the legs are set, the maximum angle of the femur is vertical as illustrate.
I don’t know if I’m on the right track or if I need to substract or add fermur angle when servo =0
It’s a great project
Hi again Zenta,
I don’t understand what I need to do using PEP to have Y value and lowest body.
I would have at initial position as on the picture above.
I tried many different settings but I’m lost
for Y values, I have -65 
I found home gait but middle don’t move after that. values ​​are the maximum mechanical limits
Servo tested with lynx. All is ok.
so, values are wrong 
some new pictures (Switch for Rx/Tx) and cabke sleeves
Are you thinking of the InitY positions in the cfg file?
If you look in the setup sheet in PEP, if you read my comment for “The lowest part of body:”
The confusing part with A-Pod is that the lowest part is the lower part of the femur servo/bracket that touches the ground. For my A-Pod that is about 15mm, meaning that the initY should be about 15.
It was for inity=-65 at the last test. previously: -66 (height coxa servo+15)
I confused.
I redid calibration of all legs with lynxterm. Store all values. may be, i will add readservooffset function
thanks
rx tx switch works fine.
Zenta and others 
I found the problem. “inity” has awake my little brain…
I was so focused on another thing that I forgotten everything else…
Body Height is modify
Order shipped from hobbyking(LiPo Battery)
great day today!
during the night, I’ve tested home gait, rotation ,translation etc. all works fine.
readservoffset added(thanks kurte)
3 switch added
Hi,
extra potmeter have been added to the DIY remote control. Not like the fact Zenta because I haven’t lathe but on each extremity of xbee module. Above the lcd screen. The code has been also modified
bug corrected to display all 8 values on the lcd(// to serial lcd module from sparkfun diy)
Some new pictures…
What do you think about abdomen!? It’s the first time for balsa.
Impossible to me, to make one from ABS 3mm
Real Balsa Wood? Haven’t seen that in a long time!
Looks good!
Alan KM6VV