I have been working on getting my biped scout to walk using phoenix code.
i have converted most of the appropriate Dimensions, leg config, and arrangements, etc.
The one argument i am having is, When setting up the phoenix you define the angles at 90º:
http://www.lynxmotion.com/images/assembly/phoenix/phoen15.jpg http://www.lynxmotion.com/images/assembly/phoenix/phoen16.jpg
While for the scout its set to 30º and 45º
http://www.lynxmotion.com/images/assembly/bpsv3/6dof212.jpg http://www.lynxmotion.com/images/assembly/bpsv3/6dof213.jpg
In the phoenix code (1.3) i have noticed that in [SERVODRIVER] the angles are defined at 90º
[code]ServoDriver:
;Rear Right leg
serout SSC_OUT,SSC_BAUTE,"#",dec RHipRotatePin,“P”,dec TOINT(TOFLOAT(-RHipRotateAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RHipZPin,“P”,dec TOINT(TOFLOAT(-RHipZAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RKneeZPin,“P”,dec TOINT(TOFLOAT(-RKneeZAngle+90)/0.10588238)+650]
;Rear Left leg
serout SSC_OUT,SSC_BAUTE,"#",dec LHipRotatePin,“P”,dec TOINT(TOFLOAT(LHipRotateAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LHipZPin,“P”,dec TOINT(TOFLOAT(LHipZAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LKneeZPin,“P”,dec TOINT(TOFLOAT(LKneeZAngle+90)/0.10588238)+650][/code]
**
will i have to change these to accommodate the scout? **
Im currently on defining the current pins and will be adding the others once i get further into the project.
[code];[PIN NUMBERS]
RHipRotatePin con P21 ;Right leg Hip Horizontal Y
;RHipX con P20 ;Right leg Hip Vertical X
RHipZPin con P19 ;Right leg Hip Vertical Z
RKneeZPin con P18 ;Right leg Knee Vertical Z
;RAnkleZ con P17 ;Right leg Ankle vertical Z
;RFootRotate con P16 ;Right leg Foot X
LHipRotatePin con P5 ;Left leg Hip Horizontal Y
;LHipX con P4 ;Left leg Hip Vertical X
LHipZPin con P3 ;Left leg Hip Hip Vertical Z
LKneeZPin con P2 ;Left leg Knee Vertical Z
;LAnkleZ con P1 ;Left leg Ankle vertical Z
;LFootRotate con P0 ;Left leg Foot X [/code]
Any help on this would be greatly appreciated as always. thanks jonny.