The custom camera mount, did you cut the part your self or did you use a service? Tell us more about how you made that part.
Hi Mike,
yes, the camera mount is a standard aluminium plate. The hole for the camera drilled with a metal drill. If you can see the camera picture some mechanical fine work was necessary to fit the camera inside the aluminium plate. This fine work done with a metal rasp and took a few hours. The plate mounted with special metal glue at the SES part.
Hi,
short update on this project. I added a video on youtube that demonstrates the upgrade process and shows the MKII version with some modifications in the code.
Video:
Code for the separate Head control in Bodymove mode
;Support for 180° Deck
;pin 31 for Panning servo,pin28 for Tilt servo
;
;Support separate Head controll,only in BodyMove Mode
;
;L1 => turn left
;R1 => turn right
;L2 => move up
;R2 => move down
;Deck
DeckPan_PulseMin con 750 ;limit for panning servo in pulse width
DeckPan_PulseMax con 2250
DeckTilt_PulseMin con 1500 ;limit for tilt servo in pulse width
DeckTilt_PulseMax con 2250
;Deck Pin Assignment
DeckPan Con "3" ;Panning servo : pin 31
DeckPan2 Con "1"
DeckTilt Con "2" ;Tilt servo : pin 28
DeckTilt2 Con "8"
;--------------------------------------------
;separate Deck controll,only in BodyMove mode
;--------------------------------------------
DeckTilt_Pulse = ((DeckTilt_Pulse + (DualShock(2).bit1 * 100) - (DualShock(2).bit0 * 100)) |
min DeckTilt_PulseMin) max DeckTilt_PulseMax
DeckPan_Pulse = ((DeckPan_Pulse + (DualShock(2).bit2 * 100) - (DualShock(2).bit3 * 100)) |
min DeckPan_PulseMin) max DeckPan_PulseMax
GaitSpeedTmp = StepFlag + 2
else
DeckPan_Pulse = 1500 ;centers the Deck if switched back to Walk Mode (all time P1500)
DeckTilt_Pulse = 1500Code for the Flashlights
;Support for LED System
;LED's connected to pin 3,7,11,19,23,27
;LED flashlight connected to pin 13,29,30
;
;LED Flashlight front active if robot in bodymove mode
;LED flashlight Pin Assignment
LEDFLF Con "3" ;LED flashligt front : pin 30
LEDFLF2 Con "0"
LEDFLBL Con "2" ;LED flaslight body left : pin 29
LEDFLBL2 Con "9"
LEDFLBR Con "1" ;LED flaslight body right : pin 13
LEDFLBR2 Con "3"
;Code
if LockLegs then
serout SSC32,i38400,"#",LEDFLF,LEDFLF2,"P2250#",13] ;flashlight front on
else
serout SSC32,i38400,"#",LEDFLBL,LEDFLBL2,"P750#",13] ;flashlights off
serout SSC32,i38400,"#",LEDFLBR,LEDFLBR2,"P750#",13]
serout SSC32,i38400,"#",LEDFLF,LEDFLF2,"P750#",13]Regards
Matthias
The new head works very well but I discover an problem with the 2,4 GHz based wireless camera. The signal disturbes the PS2 remote controller and reduced the range for the remote control. So I search for an new camera model that don’t affect the remote control. I use an 1,2 GHz based wireless camera model and fixed the issue with the signal. The new camera dont sisturb the remote control range and provide a better picture quality as the old model.
Here a picture that shows the robot with the redesigned head.
http://www.exmachina-robots.com/mediapool/81/814606/resources/15224681.JPG
Further I worked on the pan & tilt head code. The new code allows to control the head in walk and bodymove mode. In walkmode only panning servo available but in bodymove mode both pan & tilt servo are assessable.
Here a video that shows the robot running the new code.
That’s the last update for the next time. My new project starts in a few days. I build a Phoenix based hexapod named “Digital Eye” updates available later in another thread here in the forum.
For interested people I attached the file with the code for the PS2 control and the separate head control.
Regards
Matthias
ch3-r v1.5.bas (23.8 KB)
Hi Matthias,
can you explain me this part of code?
;LED’s connected to pin 3,7,11,19,23,27
;LED flashlight connected to pin 13,29,30
What are the difference between LED and LED FLASHLIGHT?
Which LED are in the legs?
Thanks!
You have a PM in your Inbox.
Greatings
Matthias