Hi,
I wanted to start a new thread about some findings when using GP player combined with PO registers. In my T-Hex thread I posted about adding speed control on the GP player.
I’ve done some testing lately using the PO registers for calibrating. Like Mike said the PO affect the sequences, so I had to reprogram the EEPROM with new sequences by setting the SSC-32 configuration to default (0 deg = 1500).
So far so good. The sequences seem to work ok, but I noticed that the speed was slower. At first I thought there was a bug in the BAP code, but the same bug occur when using the SSC-32 alone connected to a PC.
I’m using LynxTerm to set the PO register. These are the values I’m using (values are from the Phoenix cfg file):
[code];[SSC PIN NUMBERS]
cRRCoxaPin con P0 ;Rear Right leg Hip Horizontal
cRRFemurPin con P1 ;Rear Right leg Hip Vertical
cRRTibiaPin con P2 ;Rear Right leg Knee
cRMCoxaPin con P4 ;Middle Right leg Hip Horizontal
cRMFemurPin con P5 ;Middle Right leg Hip Vertical
cRMTibiaPin con P6 ;Middle Right leg Knee
cRFCoxaPin con P8 ;Front Right leg Hip Horizontal
cRFFemurPin con P9 ;Front Right leg Hip Vertical
cRFTibiaPin con P10 ;Front Right leg Knee
cLRCoxaPin con P16 ;Rear Left leg Hip Horizontal
cLRFemurPin con P17 ;Rear Left leg Hip Vertical
cLRTibiaPin con P18 ;Rear Left leg Knee
cLMCoxaPin con P20 ;Middle Left leg Hip Horizontal
cLMFemurPin con P21 ;Middle Left leg Hip Vertical
cLMTibiaPin con P22 ;Middle Left leg Knee
cLFCoxaPin con P24 ;Front Left leg Hip Horizontal
cLFFemurPin con P25 ;Front Left leg Hip Vertical
cLFTibiaPin con P26 ;Front Left leg Knee
;--------------------------------------------------------------------
#IFDEF UseCodeOffsets
;[SERVO Offsets]
cRFCoxaOffset con 83 ;Front Right leg Hip Horizontal
cRFFemurOffset con -60 ;Front Right leg Hip Vertical
cRFTibiaOffset con 70 ;Front Right leg Knee
cRMCoxaOffset con -27 ;Middle Right leg Hip Horizontal
cRMFemurOffset con -21 ;Middle Right leg Hip Vertical
cRMTibiaOffset con 46 ;Middle Right leg Knee
cRRCoxaOffset con -1 ;Rear Right leg Hip Horizontal
cRRFemurOffset con -27 ;Rear Right leg Hip Vertical
cRRTibiaOffset con 81 ;Rear Right leg Knee
cLFCoxaOffset con 49 ;Front Left leg Hip Horizontal
cLFFemurOffset con 23 ;Front Left leg Hip Vertical
cLFTibiaOffset con 5 ;Front Left leg Knee
cLMCoxaOffset con -11 ;Middle Left leg Hip Horizontal
cLMFemurOffset con -51 ;Middle Left leg Hip Vertical
cLMTibiaOffset con -16 ;Middle Left leg Knee
cLRCoxaOffset con -57 ;Rear Left leg Hip Horizontal
cLRFemurOffset con -37 ;Rear Left leg Hip Vertical
cLRTibiaOffset con -36 ;Rear Left leg Knee [/code]
The EEPROM are programmed with these sequences (.EEP file):
PhoenixLM02_270311.zip (14 KB)
I’m using the GP player in Visual Sequencer to test the sequences. When the PO registers are set the sequences run at a much slower speed. When reseting the PO registers (set to default) the sequences run at normal speed again.
I’ve tried this several times and its pretty clear that there is something that affect the GP speed when the PO are set.
Any idea whats causing this?
(When the new T-Hex arrives 
)
