tough to get traction on I’d guess.
:lol:
Nice work on the phoenix and sequences. 
Ah! Excellent!
It looks like you’ve full control of the PEP sheet now, great work!
thanks Xan for the compliments 
yeah SN96, that’s a polished marble floor and thats why the bot was slipping at its every leg with a lot of screeching. I am looking forward to put some rubber feet on the legs. Thanks for the compliments
Thanks EddieB
zenta, not a full control so far since I still doubt my sequences lack some accuracy. As you can see in the video that before the start of every gait “either walking or turning”, The bot shifts its legs backwards before putting them on the ground as the first step, by that I mean when it starts to walk forward then first the legs are moved backward and then brought forward as the first step in gait.This behavior I never noticed in your videos. Any thoughts on this?
Anyway I am still improving the moves and intending to shift the battery inside the body rather than below the lower deck.I’ll soon post a new video with some better sequences.
Thanks for your guidance.
And yeah zenta please think of adding a camera, some multi-DOF arm+gripper with your phoenix. I am waiting to follow your steps
Regards,
Umar
Some new snaps on the first page
Great action pics! 8)
Thanks Xan…
Ah! Cool! 8)
Hi all,
I followed the phoenix tutorial for connecting PS2 with BB2 and atom pro but havnt been able to develop a successfull communication link.
I followed the connections guide from the phoenix tutorial. Here is my setup:
1- The 6V battery pack is connected to SSC32 with both the VS1=VS2 & VS=VL jumpers installed since I am using the same battery pack for both the servos and SSC32 logic.
2- I connect the 9V battery to BB2 VL and pull out the BB2 VS=VL jumper.
3- I connec the red wire coming from SSC32 Rx to BB2 11 topmost pin and yellow wire coming from SSC32 Tx to BB2 10 top most pin. And the black wire goes from SSC32 ground to BB2 10 lowermost pin. So is this configuration correct? I observed that when I turn on the 6V battery pack switch, both the SSC32 and BB2 powered up. And when I turn on the 9V switch only the BB2 power on. I am a little confused here, shouldnt the ^v switch power only the SSC32 while the 9V clip turn on the BB2? Please help here.
Xan,
With the above configuration I installed the latest Atom IDE, then opened the Blackwido code version 2.2 When I press the debug button, it starts writing and then verifying but it breaks into the code before completing the verification process and marks the following line as green in the code.
LedA=0
kindly assist me in solving these issues. Thanks a lot.
Regards,
Umar
Hi Umar,
If I understood your description, the SSC-32 is powered by the 6v battery.
The BB2 logic side is powered by the 9v battery and there is no power to the servo side? My guess is that you don’t need any other power connected to the servo side assuming that all of the servo connector banks are using +5v and not VS. My guess is that when you turn on the 6v battery it is backfeading through one of the jumpers to the BB2 and powering it.
It sounds like you have the SSC-32 serial jumpers removed and have TX, RX and a ground connected over to your BB2.
I assume you meant to say the lateset Atom Pro IDE 8.0.1.7. When you hit the debug button and it marked the line in green, was that the first executable statement? Did you either through pressing a button, try clicking on the Step into or Step Over or Run or Animate commands? Since I have not seen the Blackwido code version 2.2 I don’t know if it for example has interrupt handlers. If so this can make using the debugger a bit of fun!
Edit: Guessing the code is similar or the same os the Phoenix 1.2 code, which the mentioned line is the first executable line of code. There is a timer interrupt in the code, but you should be able to step up to the line: "enable TIMERWINT_OVF " Have you simply tried the Program button instead of the debug? If so what happened? Do you have the correct baud (38400) rate jumpered on the SSC-32?
You might try jumpering the LED/switches on the BB2 to pins 4-6 as Xan mentioned recently he did in his code thread. You could then uncomment the line: “;GOSUB WriteLeds” to see if the gait engine is having problems. Or you can simply turn on an LED at different places in the code to see if you actually make it there…
Kurt
Hi kurte,
The SSC 32 has botth the VS1=VS2 and VS=VL jumpers installed. And yes the TX, RX and ground of SSC32 are connected to the BB2.
Yeah its set to 38.4k and yes I am using the latest 8017 atom IDE.
The thing I am worried more about is the wiring connection of BB2 and SSC32. Are my connections all correct? And if so then why BB2 gets power by both the buttons? Shouldnt it get the power only through the 9v switch, which I have connected directly to it. So when I turn the 6v switch on, it powers both the SSC32 and BB2, and then I turn the 9v swich,as a result the power light on BB2 gets even sharper. The jumper VS=VL on BB2 is taken off. It sounds something suspicious to me.
Any thoughts please?
Thanks alot
Umar
Hi all,
Now i have updated the connections just like how described in Phoenix tutorial. So, I have a 9V baatery which is just connected to VL of SSC32 and VL of BB2. SSC32 has VS1=VS2 jumper installed. and VS=VL jumper pulled out. After connecting to Atom pro IDE, I clicked Debug and the code stopped verifying LedA=0 line. I tried using commands step In and step out. Doing a number of times resulted in BB2 speaker start beeping. I plugged of the power and disconnected the serial cable from BB2.
Now whenever I turned the power of BB2 on, the speaker starts beeping for indefinite time, i.e t never stops. I tried pressing the reset button as well, but the speaker never stopped. I have still no luck what’s now wrong with my setup. Here is an image to my setup.
http://img219.imageshack.us/img219/6433/12345yx6.jpg
Your assisstance is requested please.
Thanks a lot.
My guess is either RX or TX are high on the SSC-32 and that power is feeding through the IO pins on the BB2 and it is sort-of backfeeding the BB2 through the Atom Pro.
The way I normally wire mine up is to have the 9V going to VL of both the BB2 and the SSC-32. ie I leave the VS=VL jumper on the BB2 and then I take two wires from the VS of the BB2 and connect it to the VL of the SSC-32, that way if there is a power surge on the servos it won’t reset either card.
Oops - I see you have made that change 
Ok, do you have the PS2 controller turned on? I believe the PS2 code will make a sound if it does not initialize properly
Also looking at your picture, it almost looks like the PS2 cable is shifted down one pin. ie the brown wire should be on P12 and it looks like it might be on P13.
Kurt
Ok fellows, luck this time
I finally managed to see the bot moving using Atom pro on BB2. And playing with PS2 with Xan’s code is a lot of fun, seriously . So i believe its an all new world for me now to explore
Will update a video soon.
Thanks kurte for your assistance. It helped a lot in double checking my configuration.
That solved the problem :)]
Thanks again kurte.
umar
LOL, I’m glad you like it!
Hi all,
I just wanted to post the updates of my work on IK determination. Its not yet complete but I am struggling to reach some definite results.
http://img255.imageshack.us/img255/6435/solutioncw6.jpg
Let me know if anyone interested in contribution
Thanks,
Umar
I think you just hurt my head. I should know better than to look at stuff like this too early in the morning. 
Its basically IK determination through a very popular denavit hartenberg principle which uses advance matrices to determine tool coordinates for FK and joint angles for IK. My FK equations are accurate and I have compared the results as well, but the IK implementation is still in progress. Still working on determining thetas for femur and tibia, thats why I particulalry asked if anyone wanted to put in some contribution
anyhow hope to work out the issues soon.
Hi just to let you know I’m putting a document together that should explain it all, hopefully finished tomorrow night
Andy
oh that’ll be a great contribution from you then
I am anxiously looking forward to it.
Thanks,
umar
Much appreciated!!