Connect a raspberry to boatborduino to drive hexapod

Lynxmotion Legged Robots
1

Hello,

I have phoenix hexapod with SSC(32U and boatborduino
i works with ps2 controler but i want to add a raspberry to have possibility to drive hexapod from my smartphone by sendind commands.
boatborduino is “loaded” with phoenix code, there is 2 serial connections on boatboarduino if i remember well
actually one is connected to SSC-32 and now comes questions :

  • do i need to remove existing connection between boatborduino and ssc-32u and plug instead my raspberry serial port (with voltage adapter) ?
    or is it possible to plug serial port of raspberry on second serial port of boatboarduino ? in this case it should be perfect because i will drive with my ps2 or my raspberry…

  • i don’t understand informations in documentations of boatborduino, is it possible to send a command on serial port wich will makes move my hexapod on left or right in front etc ?
    i mean simply as my PS2 remote but with commands ,
    do you have an example of theses commands because in documentation i found only commands to drive one servo but it is not clear to me how to make a “complete” move …

thanks you very much for your help

Best regards

Xavier

2

Hello
no ideas ? :wink:
BR
xavier

3

I think you misunderstand the command-chain. Take a look in the unit PS2_controller.cpp.
As you can see, there will be set up some behavior for walking/moving.
The Main unit will consider these settings for calculating the servo positions.
In the next controller cycle these positions may be changed. There is no code for making a complete move.
It will be calculated based on the settings made by the user and the actual position of the robot.
If you try to modify the input source, I suggest you take the original PS2_controller.cpp and modify it so that it
will respond onto your commands send by serial interface.

4

Hi,

To use the Raspberry Pi to control the Phoenix, you would need to replace the BotBoarduino with Raspberry Pi and not the SSC-32U.
As the SSC-32U is the servo controller, you would need to get the Raspberry Pi to talk to your SSC-32U via serial.
You can find further information about using the Raspberry Pi to control the SSC-32U on this thread.

5

Hi bdaouas
Thanks you !
BR
Xavier