Check out my latest video, I shot it today. It’s a demonstration of my Phoenix, where it gets up and walks, rotates, rotates back and walks back to its origin.
Sorry for the time-lapse, it was the only way for the video to remain small
youtube.com/watch?v=LeI3j-pw … annel_page
I’m still trying to figure out what the heck I was doing a year ago. Trying to audit my code and figuring out the complexity…
Welcome back
Yeah, welcome back Tom!
The video looks good but give us a hint when the non-timelapsed are uploaded.
welcome back man.
:mrgreen:
EB
Thanks guys, it’s great to be back. 
I’m planning to upload it tonight. I goofed and fell asleep last night. It’s about 225mb so I’m gonna upload it before I go to sleep.
I noticed that the video has a problem. Not really sure why it cuts out 7 seconds before it ends…
Anywho, I’m currently just playing with my old baseline code that I have. I didn’t even realize that I had all the sensor subroutine in there… I think it’ll take me a few days to figure out what I was doing in those codes.
I noticed many “extraneous” variables in the code, but after fiddle farting with it, I found out that those variables aren’t so “extaneous” afterall
Right now, I’m just getting used to which variables control Phoenix’s body and which ones are for what angle. I have my own IK engine in there, so I’m just playing with a handful of variables that are only necessary to control the bot.
I’m also trying to empirically collect some data for the “Quanta” numbers in my code actually translates to what in the real world (inches, feet, radians/degrees, etc.)
I have an add-on deck that I bought for my CH3-R handy, I was thinking of sawing off the four “sides” of the circle (I know circles don’t have sides) to make the circle deck into a rectangular one to better fit the Phoenix’s body.
What I’m planning to do is maybe get robot arm kit from LM and mount it to the Phoenix as a scorpion’s tail sort of thing that can also grab…
My only fear is, I’m using 645MGs, which is the best value servo I’ve ever seen, but I don’t think it’s strong enough for that kind of payload…
I’m considering to go LiPo like you Zenta (Kare)! So I’m trying to figure out the form factor that can best fit into the body of the Phoenix.
Curious, which LiPo fit best in your Phoenix Zenta? Did you go to Hobby King/Hobby City for cheap LiPos? In my other hobby, RC cars, Zippy LiPos are one of the best value in the business.
I might even consider replacing my 645MGs with something more powerful, like the 5990TGs so that it can take a higher voltage, therefore allowing me to use a standard 7.2V RC LiPo packs (2S)
1S LiPo doesn’t seem to be enough, since it would be 3.6V right (or maybe 3.7V since 2S are often rated as 7.4V)???
Again, I missed all of you robot junkies! Geez, I forgot how addicting (hurtful to the wallet) this hobby can be!!!
Hi Tom,
Yes, I bought my 2S 4000 mAh LiPo at unitedhobbies/hobbycity/hobbyking and that battery made a perfect fit and it was cheap too. But sadly that battery are discontinued. You should be able to find another LiPo that would work too. There is another thread with this topic lynxmotion.net/viewtopic.php?t=4858.
A 2S LiPo deliver 8,4v when its charged. I’m not sure if that might be a bit too much even for the 5990TG? I’m not sure though, maybe someone have tried this. Did you estimate the extra payload you are thinking about?
Anyway, I’m not sure if Phoenix is the best hexapod platform to use for adding an arm. The single femur construction would be my biggest concern. Why not use your CH3-R for that project?
When it comes to the 645MG servo I’m also very impressed of what they can handle. Check out my A-Pod, an ant inspired hexapod. A-Pod has a total weight of about 3,3 kg and it can pick up objects that weights 0,5 kg. For powering A-Pod I’m using a 2S 5100 mAh LiPo and two Turnigy switch regulators.
Welcome back!
thanks all! I know where I left off last time. Feels great to be home again 
Happy to have you back on board Tom!
Welcome back!
Group fist-taps for everyone!!! Thanks!!! This is what I missed about the robot world, we’re all one, big, addicted-to-servos, family!
Looks Great
Kurt
