Help Please with Phoenix Hexapod Project

Lynxmotion Legged Robots
1

I’m starting a Phoenix 6-Leg Hexapod Robot project and need a little assistance with getting started. Have Phoenix frame ordered and on the way.
I’ve downloaded all of the required instructions, Arduino Code and the SSC-32 Servo Sequencer Utility and plan to use mostly the Robot Shop parts to complete the project (BotBoarduino, SSC-32 Servo Controller, PS2 Controller, etc.). Hitec Servos and battery to be purchased elsewhere.
My question is this: It seems that there are sufficient resources to build the frame, code for the BotBoarduino Board and for the Servo Controller but there seems to be no instructions as to what comes first or for that matter no identifiable order as to what the order of assembly and board construction (adding boards to the project, what code comes first, etc.) with code is.
Can someone who has successfully gone through this process identify the major steps and the order they must be followed to follow?
Also, the code for the BotBoarduino file “BotBoarduino_CH3R_PS2” has “KNOWN BUGS: - Lots :wink:” in the first couple lines of code which doesn’t instill a lot of confidence. Has anyone posted a version with these bugs corrected, or is this a throwback to an earlier buggy version and should be ignored?
Any assistance would be greatly appreciated.
Thanks!
Bill

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  • Follow build99f_H3_H3R_v20 pdf and build the chassis. (ignore leg calibration.)
  • Build82b_A_3DOF_Leg_V2 for the legs.
  • Install boards, battery and switches in chassis.
  • Install legs on chassis.
  • Download the BotBoarduino_CH3R_PS2 code.
  • wire servos
  • Calibrate (offsets) the legs.

You should be ready to go.

You’ll need to change a variable when you turn the Binary mode off. Change the variable name ServoMoveTime to wMoveTime.

You will probably have to change the leg and body types, I forget what it uses. Let you know later, when you’re ready.

I just got my inline (rectangular) hex working with type A 3DOF legs. You can change to the C type leg. Were you going to put on Phoenix legs? Will need to determine the leg parameters.

Need the Phoenix chassis parameters as well. I was thinking of ordering a Phoenix chassis.

What servos are you planning on using? Hitec 645 servos are necessary.

Alan KM6VV

3

Hi Alan,

Thanks for the quick and informative reply. I will be using Hitec HS-645MG servos. As far as where I will be putting the Phoenix legs, I don’t know yet and will probably follow the build instructions. I would imagine that the leg positions are either determined in part by the servos used (varying case dimensions) and/or by some selectivity with choosing pivot holes in the aluminum skeletal framework. Without having the kit in front of me (it’s on its way) I can’t definitively answer this yet.

It will probably some weeks before I’m assembling this project with Servos and will contact you (or post) when ready. Do you have your forum settings to allow e-mails from other members or will you need to identify your e-mail for me?

Thanks again!
Bill

4

Hi Bill,

I think you’re pretty well fixed on where to put the legs. Servos will make no difference in assembly. There are only one set of servo horn positions (pivot points), so you’re fixed there.

We should keep the conversations on this forum, so that others may share. PM works for private messages.

Alan KM6VV