Just finished building and setting up a CH3 (my first robot) and it is having some trouble walking.
Rotation, height adjustments and tilt are all fine but it seems to stagger about not really getting anywhere when trying to walk.
I’m going to check the alignment of all of the legs now but I just wondered if anyone had any other suggestions?
Also, combat mode doesn’t seem to work too well.
Thx.
Have you made 3 left and 3 right legs, or are they all the same?
It’s set up exactly as the lynxmotion tutorial using all the suggested settings.
It has 3 left and 3 right I believe.
In that case, I suggest you double-check your servo connections and make sure all of them are on the correct pins
I’ll check the connections out tomorrow when I take the bot board off.
As I said though, everything else seems fine and the servos all behaved as expected during setup and calibration.
have you uploaded the right code?
3a Tutorial The Complete H3/H3-R Tutorial (Mini-ABB)?
3b Tutorial The Complete H3/H3-R Tutorial (Bot Board II)?
are you using Powerpod? need to check:
IDE: Choose the appropriate version.
Control: PS2, Autonomous, or Serial.
H3 Legs: 3DOF-A, 3DOF-B, 3DOF-C, or 3DOF (Old).
H3 Body: Round or inline.
PS2 Controller / BB Connections: Choose between Bot Board I and Bot Board II settings.
PS2 sticks dead zone: Small, Normal, Large.
Tibia Angle: + values set foot tip away from knee. Value of +20 recommended for 3DOF-C leg.
Auto Legs Down: If enabled, lowers lifted tripod after period of inactivity.
Remember to click save to update your config file! Then click on “Build Basic Program” to create your custom program.
by stagger do you mean really small steps? or is the movement really unexceptable?!
like the legs are fighting with each other… if so assembly could be wrong!
check it!
what happends here?
Sorry it’s taken so long for me to reply, I have only just had a chance to get back to work on the bot.
Ok, Ive been through and double checked everything. The legs are set up as three left and three right and as far as I can tell they are connected correctly. When adjusting offset using powerpod the legs are all in the expected positions.
I went through and adjusted all the legs again and opened them out as far as the offset would allow. I also double checked all the settings for IDE, Control etc. and I had the wrong leg type selected (should have been 3DOF-C but had A selected) other than that all seemed fine.
After all that I put it back together and tried again. There has been slight improvement but the movement is very jerky and the steps are pretty small.
When combat mode is selected the robot drops to it front knees and shudders.
Also, despite double checking that all the legs are connected correctly, pushing the control stick forward causes it to walk backwards. Obviously, I 'm pretty new to this so I don’t know if the controls default to a kind of ‘flight stick’ style but it doesn’t seem to make a great deal of sense.
I’m using an SSC-32, Bot Board II and Basic Atom 28.
The setting I’m using are:
IDE: Basic Micro IDE V05.3.00
Control: PS2.
H3 Legs: 3DOF-C.
H3 Body: Round.
PS2 Controller / BB Connections: Bot Board II (pin 12, 13, 14, 15.
PS2 sticks dead zone: Normal.
Tibia Angle: Exterior 20.
Auto Legs Down: 10 secs.
I’m pretty stumped now. We’re gonna go through and manually adjust the legs a bit more and double check that they are all set at the same position but other than that I’n not really sure what to try.
(Edit) We’ve now sat and watched through a few videos on the site. It seems that, while the legs are connected to the correct pins for their location, they are in fact in the wrong places. (left legs on the right and vica versa) we’re now going to laboriously change them all and see what happens 
thanks for the help so far and we’ll let you know how it goes.
Yes it’s a matter of references. We always refer to left and right as the robots left or right side. Transposing left and right would make the robot walk the opposite direction, but not very well. 
When referencing the ‘left’ & ‘right’ of the robot, what is the point of reference?
Also, make sure the battery is charged well. If the battery is not charged, it can shudder and walk weird, that may be part of the problem.
Answered above. Yes it’s a matter of references. We always refer to left and right as the robots left or right side. Transposing left and right would make the robot walk the opposite direction, but not very well.
The very first image in the C-leg assembly page say’s Image of completed Robot’s Right Leg.
lynxmotion.com/images/html/build113.htm
So that leg goes on the robots right side.
Step 5 and 6 show the legs attached to the body and what pins on the SSC-32 the legs connect to.
