AH3-R Autonomous using BasicMicro IDE

winterx · June 7, 2008, 12:06am

Hi,

I am using an AH3-R with and ssc-32 and a Bot Board II. How do i make it move autonomously? can i export a program i used in Visual Sequencer and load it to the Bot Board using the BasicMicro IDE?
Do the connections on the Bot Board II and the SSC-32 need to be changed if i have it connected to PS2 settings? or is it the same connections minus the PS2 cable?

tom_chang79 · June 7, 2008, 12:10am

winterX, refer to the following:

lynxmotion.com/images/html/build99c.htm

Step 13. Autonomous Program Information
You can use this program to create your own autonomous program or integrate your own remote control code. Just edit the lines in movequery sub routine. The variables that effect the motion of the robot are as follows:

Walking speed is defined by the XSpeed and YSpeed variables. The XSpeed variable has a range of 120 (forward) to -120 (backwards). The YSpeed variable has a range of 120 (right) to -120 (left). Rotation is named Steering. It’s not really steering because if you try to turn while both XSpeed and YSpeed are 0, the robot will rotate in place. The range is 20 (right) to -20 (left) for steering and the speed of rotation is proportional to the value. The body height is set by the Height variable and also has a range of -25 to 25.

For this version, to alter the LegUpShift (leg lift), you can utilize a range of 20 (close to floor) to 70 (about 2.5" from floor). If LegUpShift > 45 the tripod Gait is modified to allow extra vertical movement and GaitSpeed is limited to 8-4 range. Also, you’ll have to move the body higher (by setting Height to -15 or -20 for example). If LegUpShift is close to 70 it’s recommended to use a 8-5 range for GaitSpeed. (If GaitSpeed is too fast, there won’t be time for the extra vertical movement.)

To use it like a car, decrease XSpeed (from 0 to -120) to go forward, then use the steering variable to turn, this way, the “head” will always look straight in the direction it walks. To use crab walk use only XSpeed and YSpeed. The Head will always look in the same direction when controlled this way.