Apod configuration problem

Lynxmotion Legged Robots
61

Morning Kare!
Thanx for ur help,even if U haven’t lynxmotion apod version U try to help to resolve this problems;-)…

Yes,I’m using 645’s

1- Legs lift from gound …but not so much to don’t make feet scapes the ground ( especially during bot turning)

2-maybe increasing that value will resolve the problem ’ 1’ , can it be?..
But looking better each leg when the bot is on ( pressed start button ) the angles between coxa,femur,tibia seams to be slightly different . That make to think that I wrong samething during servos calibration, but I remeber to did a good alignmet ,like also the abdomen alignment.
So,or maybe I wrong alignment again or can be that the code use ur UseCodeOffsets?

62

Hi. Anjys I commented out this part just to be safe dont know if that will help :confused: [code];Zenta, the UsecodeOffsets section can be removed in the final release:
;--------------------------------------------------------------------
;[SERVO Offsets]
#IFDEF UseCodeOffsets
cRFCoxaOffset con 644 ;Front Right leg Hip Horizontal ;650-6
cRFFemurOffset con 564 ;Front Right leg Hip Vertical ;650-86
cRFTibiaOffset con 670 ;Front Right leg Knee ;650+20

cRMCoxaOffset con 662 ;Middle Right leg Hip Horizontal ;650+12
cRMFemurOffset con 555 ;Middle Right leg Hip Vertical ;650-95
cRMTibiaOffset con 675 ;Middle Right leg Knee ;650+25

cRRCoxaOffset con 707 ;Rear Right leg Hip Horizontal ;650+57
cRRFemurOffset con 556 ;Rear Right leg Hip Vertical ;650-94
cRRTibiaOffset con 684 ;Rear Right leg Knee ;650+34

cLFCoxaOffset con 629 ;Front Left leg Hip Horizontal ;650-21
cLFFemurOffset con 802 ;Front Left leg Hip Vertical ;650+152
cLFTibiaOffset con 573 ;Front Left leg Knee ;650-77

cLMCoxaOffset con 689 ;Middle Left leg Hip Horizontal ;650+39
cLMFemurOffset con 720 ;Middle Left leg Hip Vertical ;650+70
cLMTibiaOffset con 584 ;Middle Left leg Knee ;650-66

cLRCoxaOffset con 713 ;Rear Left leg Hip Horizontal ;650+63
cLRFemurOffset con 790 ;Rear Left leg Hip Vertical ;650+140
cLRTibiaOffset con 564 ;Rear Left leg Knee ;650-86

#endif
[/code]
I have the same problem with the leg lift height not rising up high enough when turning fast, and only on the side I am turning to. So if I go left or right throw the stick over fast the front left or right leg scrapes the floor if I do it slow and smooth it does not seem to do it. Walking and strafing straight are fine it is only turning. I am wondering if reducing the amount the body pitches over when turning would help I do not know where to adjust that I would need Zenta to point me to it.

Ps Thanks Kare for the help with tibia length/ mandible speed they work great! :smiley:

63

Hi,

Ok, I see…
Did you notice when you increase the body height does the leg lifting problem on the turning side get better?

Look for this code in the PS2 control file (in walking mode section):

[code];Walking
TravelLengthX = -(Dualshock(5) - 128)*2/3 ;max 85
TravelLengthZ = (Dualshock(6) - 128)*2/3
TravelRotationY = -(Dualshock(3) - 128)/6 ;Right Stick Left/Right ,max 21

  GOSUB SmoothControl -(Dualshock(3) - 128), BodyRotZ1, 2], BodyRotZ1
  GOSUB SmoothControl -(Dualshock(4) - 128), BodyRotX1, 2], BodyRotX1
 
  GOSUB HeadControl (Dualshock(3) - 128)/5, HeadPanInput1, -(Dualshock(4) - 128)] 
  HeadTiltAngle1 =  HeadTiltOut1
  HeadRotAngle1 =  HeadRotOut1[/code]

This line can be modified to decrease the amount of body Z rotation:

GOSUB SmoothControl -(Dualshock(3) - 128), BodyRotZ1, 2], BodyRotZ1

For example change it to:

GOSUB SmoothControl -(Dualshock(3) - 128)/2, BodyRotZ1, 2], BodyRotZ1

You can try /3 or /4 or just comment out the line.

Let me know if that help.

64

:smiley: Yes! The higher the body the problem improves also helps with coax not hitting the ground
In rotate mode. I realize that I created, that problem with my longer leg sections another reason
i wanted to decrease the amount the robot pitches over.
Thank you so much I will try it to night and let you know.

65

The main problem in the walking/ turning and ‘start position’ is just

CHexInitYÂ Â Â Â con 15
Like Kare saied!!
I have increased this to 25 and ‘start position’ seams to be right ( even if same alignment are slightly not correct, but for this I’ll calibrate servo offsets again when I’ll have more time )
Thanx again Kare!

I have changed also the value here

Code:
GOSUB SmoothControl -(Dualshock(3) - 128), BodyRotZ1, 2], BodyRotZ1

Decreasing to /2 , but for to be sure i have to test again

66

:smiley: Thanks zenta. That was it /2, is much better. /3 takes too much movement away.
Now I need to reduce the amount of rotation in “rotate mode” Is that also in the ps2?
I see this section;[Rotate functions] IF (ControlMode=ROTATEMODE) THEN ;Switch Rotate Function IF (DualShock(1).bit0 = 0) and LastButton(0).bit0 THEN ;Select Button test IF RotateFunction<2 THEN Sound cSpeakerPin, [50\4000] RotateFunction = RotateFunction+1 ELSE Sound cSpeakerPin, [50\4000, 50\4500] RotateFunction = 0 ENDIF but not sure if that is it.
PS. I also changed this line GOSUB SmoothControl -(Dualshock(4) - 128), BodyRotX1, 2], BodyRotX1
to GOSUB SmoothControl -(Dualshock(4) - 128)/2, BodyRotX1, 2], BodyRotX1
now the head won’t smack the ground when walking. I don’t know if other people are having problems with short ps2 stick throw and control
The DIY XBEE must be nice. :unamused: but I thought I would share.

67

Kurte wrote:“The file also use the use code offsets and battery detector options commented out. For normal use we should reenable the FSR. Also should update tutorial to show it plugged in.”