My limited tinkering and observation indicates that an analog input from foot force sensors will eventually just be used as a digital input, which might be better done easier/cheaper using an on/off contact type switch. The one advantage from an analog foot input would be to stop servo movement when the desired leg force was being applied to support the bot in its desired position. Keeping the sensors calibrated to perform this desired function may need to be considered/tested.
Ok, I used a pot to test the high to low transition voltage of the Atom Pro inputs. It’s exactly 2.5vdc, and there is no hysteresis. With my foot sensor connected as follows I get a high to low (or vise versa) transition, but with .50 pound on the sensor.
However if you change the resistor to 100k the transition goes down to .20 lbs. To get lower weight you must use configuration B and with 200k the pressure required is .15 lbs. It works and it’s fast. 8)
Hi all,
Thanks all for helping me out here.
I think I know what you are talking about. I’ve also been thinking about how I’ll keep the body at the same height and don’t let it overshoot until the legs are fully stretched or in the air. I’ve got a idea about how I could fix this. But I need to do some tests before I know if it works.
Thanks for the great explanation! I think I’ll go with your “other paragraphâ€
Some microcontrollers actually have Schmitt triggers on their I/O pins built in. I’m not familliar with the chip used on the BAP but maybe one of the guys doing low level hardware and assembly stuff with it can check it out and comment as to whether this applies or not.
Did a quick look through the 3694 document that is downloaded with the IDE and did not see anything. This is more likely something for Nathan…
Kurt
I agree with that. However my thoughts with changing the resister values were to keep the forbidden range very small, so in normal use it would pass through this area quickly. Plus the I/O pins could be software filtered. Even if the leg sensor were in the forbidden area on one read, it surely would have passed by the next loop of the program. In other words the fact that the legs sensors are checked in such a slow (relatively) loop it may not present a problem (automatic debounce.)Compare this scenario to using a standard CMOS input with an analog input, where the input changes very slowly and gradually and the I/O is being checked in a very fast loop.
Anyway I would never criticize one for using the safe method. I may try using the unconventional method when the code is making progress. I’m such a rebel. lol 
hi xan,
what value of resitor do you use? 10K or 100K?
i build the same 
where u found the new endcaps from the legs?
greez t4ndu
Hi Jim,
No problem about you beeing a rebel. I’m still a little bit of a stubborn because I’m using the Schmitt trigger. 
I’ve made a little homebuilt PCB with the components. Does anybody know a sheep way to get a decent PCB. I got the layout. I miss the time that I was still at school and could make my own PCB’s in the lab. 
Hi t4ndu,
I assembled everything and tried what resistor was the most suitable. I came up with a 6k8 resistor. This works the best for switching on and off. I think it’s better to test it on your setup because I don’t know if it response identical to my setup.
Lynxmotion got them but they are not on the website. You can send a PM to Jim (Robot Dude) if you’re interested.
Xan
Hi Xan,
I’m a bit confused about the end caps, didn’t you use the original caps that came with the LM Phoenix kit? 
Hi Zenta,
Sorry about the confusion. The caps are not the original ones. Those are slightly bigger.
Xan
I think these are what Xan is using.
lynxmotion.com/Product.aspx? … tegoryID=6
They are the next larger ones compared to these (used in the kit.)
LOL, I couldn’t find them! 
I’ll verify which ones I’m using and let it know later on today.
Xan
Ok, I got it. I think I’ve to order them too one time. The miscellaneous page had a whole bunch of different sizes!
Great, I’ve been looking for these, they are very hard to find on the web though…
I know exactly what you’re talking about! I don’t know a decent Dutch word for it. You don’t want to know how long I’ve been searching for the “rubber-end-lid-cap-protector-bump-thingy…â€
Exactly!
I think they are called end tips.
I got a little tip of this by another hexapod guru from GB… Guess who
He said you’ve to order at least a 100’s of them… 
Rubber End Cap is a good search term as well. I use StockCap as a source. All you had to do was ask…
Ehm, you’re right, asking is a good start…
EDIT: BTW, that site was awesome! Thanks!