Here’s a quick run down for it:
The full example Phoenix code for 3 DoF / 4 DoF is available on the Lynxmotion GitHub. You can find it here. Here is a direct download for the 3 DoF version.
You will also need the PS2X library from Bill Porter (the Lynxmotion version). It is available here. Here is a direct download to import in the Arduino IDE.
Get the latest Arduino IDE version here (1.8.2 at the time of this post). Make sure to remove any previous PS2X library version from your libraries folder (Documents > Arduino > libraries). Then, follow this procedure to import the PS2X library.
As for connecting the robot together, aside from having a full built hexapod with all servomotors and brackets placed properly, you will need to do the following for the electronics:
- Connect all the servomotors to the SSC-32U to the proper channels. You can find those in the code here.
- Connect the power (6 V DC) to VS1 of the SSC-32U. Make sure the VS=VL jumper is not present. Also, make sure the VS1=VS2 jumpers (both of them) are present and properly placed (check the SSC-32U manual, page 10, bottom half).
- Power the SSC-32U with your 6 V power source and connect it by USB to your computer. Change its baud rate to 38400 (see details in SSC-32U manual, page 34, bottom half).
- Download and install Lynxterm. Change the setup to connect to the right COM port (you can find this under Ports (COM & LPT) under Device Manager) and the right baud rate (38400). (See image below for details)
- Connect to the SSC-32U and go to the black text box and type “ver” followed by the [return] key. The board should reply with its firmware version. (See image below for details)
- If all works up to now, try and move some of the servo channels using the right-side slider and buttons to change channels. Your motors should respond right away.
- (keep your fingers away from the robot) Click the All=1500 button. All of your motors will center themselves. You should normally get nice 90 degree angles from your robot legs. If some are quite off (many degrees), you may want to remove the brackets/horns and replace them to get as close to 90 degree angles as possible. Once done, press the Reg button to continue the calibration (fine-tuning).
8] See the image below for details on calibration in the Reg menu. You will need to do it for each channel one by one.
- Once the calibration is done (you can confirm after pressing Write by pressing Read and confirming the values are saved properly), we move on to adding the BotBoarduino.
- Connect the BotBoarduino to the SSC-32U by pin 12/13 to the TX/RX. Also, make sure to have a common ground between them. You can see a wiring example using software serial (option #2) in the SSC-32U manual, page 21 (do not pay attention to the jumpers, they will differ from what was said above).
- Connect the VS2 screw terminal of the SSC-32U (while it is not powered) to the VL input of the BotBoarduino. Change its jumper to EXT (instead of USB) when using it with the hexapod / powered by battery. Change its jumper to USB if you wish to power/program it by USB only. You can simply leave it on EXT most of the time, unless you expect the programming done to make the robot move, then you may want to move to USB powered and cut-off power to the SSC-32U to prevent movement.
- For the PS2 adapter/receiver, follow the diagram on page 23 of the SSC-32U manual. You can check the actual data/cmd/att connection in the code here.
That should cover most of it. If you want more details concerning the BotBoarduino itself, check its manual here.
Sincerely,
