HELP using HSERVO for walking code

Lynxmotion Electronics & Software
1

Hi,

I am trying to make a walking sequence using HSERVO and I am first trying to find proper positions for a single step.

[code]righthip con p7
rightknee con p6
rightankle2 con p5
rightankle con p4
lefthip con p3
leftknee con p2
leftankle2 con p1
leftankle con p0

lefthippos var float
leftkneepos var float
leftanklepos var float
leftanklepos2 var float
righthippos var float
rightkneepos var float
rightanklepos var float
rightanklepos2 var float
last_lefthippos var float
last_leftkneepos var float
last_leftanklepos var float
last_righthippos var float
last_rightkneepos var float
last_rightanklepos var float
lhspeed var float
lkspeed var float
laspeed var float
rhspeed var float
rkspeed var float
raspeed var float
speed var float
longestmove var float

NUMSERVOS con 6
aServoOffsets var sword(NUMSERVOS)
ServoTable bytetable righthip,rightknee, rightankle,rightankle2,leftankle,leftankle2,leftknee,lefthip

TRUE con 1
FALSE con 0

;calibrate steps per degree.
stepsperdegree fcon 166.6

;Interrupt init
ENABLEHSERVO

;Init positions
;Note, movement subroutine arguments are Rightankle,Rightknee,Righthip,Leftankle,Leftknee,Lefthip,speed
gosub start 0, 0, 0, 0, 0, 0, 0, 0, 0 ]

start [rightanklepos,rightanklepos2,rightkneepos,righthippos,leftanklepos,leftanklepos2,leftkneepos,lefthippos,speed]
hservo[rightankle\rightanklepos\speed,rightankle2\rightanklepos2\speed,rightknee\rightkneepos\speed,righthip\righthippos\speed,leftankle\leftanklepos\speed,leftankle2\leftanklepos2\speed,leftknee\leftkneepos\speed,lefthip\lefthippos\speed]
pause 4000 ;pause is necessary to give some time to the processor to transfer the data
hservowait[righthip,rightknee, rightankle,rightankle2,leftankle,leftankle2,leftknee,lefthip]
hservo[rightankle2-30stepsperdegree\500]
hservowait[rightankle2]
pause 2000
hservo[righthip-45stepsperdegree\500]
hservowait[righthip]
pause 2000
hservo[lefthip-10stepsperdegree\500]
hservowait[lefthip]
pause 2000
hservo[leftknee-10stepsperdegree\500]
hservowait[leftknee]
pause 2000
[/code]

All the servos move accordingly, but at the of the code the righthip moves again, and I don’t understand why, since I am not telling it to move in my code!!!

thank you

2

Is that all of the code?

A couple of issues. You have a gosub start, but then there is no return statement to actually return after the code completes.

If there was a return at the end of the start function, then the code would then fall through into the start code again.

Kurt

3

Hi,

Yeah that’s it for now, i don’t want it to loop yet. I feel that it should stay into that position and thats it the code is over, but instead the hip keeps moving.

Thank you.