Hi!
I require your help regarding a problem I’m encountering.
Description:
I want to post the problems I had and the ways I went to go about fixing them. I had two big problems, power and communication. I was trying to mix two builds:
botboarduino + ssc32u + PS2
ssc32u + bluetooth xbee
My goal was to power the logic with 9v and servos with 6v. I just tried to combine them improperly which effected both power and communication. I am not sure if the set up I have is necessary, but this is what I have
botboarduino Logic (+/- terminals on the left) have the 9v and switch connected and wires from the terminals to the logic terminals on the ssc32u. The 6v connector with switch are attached to the servo power on the ssc32u
Because I was changing around my power configuration I lost track of the jumpers. I did not expect this but I had an issue with the communication because I had my jumpers set wrong. Maybe it was low voltage because of my improper set up. For the set up I have above my jumpers are as follows:
botboarduino - set to use external power not USB, VS=VL jumper on
SSC32U - right side VS VL is open, no jumper on it. Left side jumpers are on VS1/VS2
The next problem I had was the communication. You can have both the ps2 and xbee connected but only one can communicate at a time. I just keep the PS2 connection for the most part. I have used the flowbotics studio and that is a pretty nice software for manipulating the bot and coming up with actions
Note
For the PS2 v3 breakoutboard 1. I believe the code and image are flipped. So if you follow the diagram used by lynxmotion and don’t get communication to the PS2 (not power but comm). Either switch the DAT, CMD, ATT wires or change the code (6,7,8 to 8,7,6). Eith way this is one thing to check if your PS2 is not working
I will continue to add more to this post. I really do like this bot
Hardware concerned:
ssc32u, boboarduino, xbee, os2 controller and dongle
Software concerned:
Troubleshooting steps already taken:
Additional information:
This is a great video about the Nuke, the original(?) kinematic engine. There are a couple others from which Pheonix and the project for the quad. Talks about leg measurements, body, and more. They use a tool that I have not tried, but looks cool.
Very important video about the dev of this quad
Link to .ino and hex_cfg that gets closer to a working SQ3U
https://community.robotshop.com/forum/uploads/default/original/3X/c/e/cec94a44c2a5ebf25e89594d3c9ebba0cbd29031.zip
Hex_cfg
Leg code for mine organized
//====================================================================
//
//[SSC32 Pin Numbers]
#define cLFCoxaPin 0 //Front Left leg Hip Horizontal
#define cLFFemurPin 1 //Front Left leg Hip Vertical
#define cLFTibiaPin 2 //Front Left leg Knee
#define cLFTarsPin 3 // Tar
#define cLRCoxaPin 8 //Rear Left leg Hip Horizontal
#define cLRFemurPin 9 //Rear Left leg Hip Vertical
#define cLRTibiaPin 10 //Rear Left leg Knee
#define cLRTarsPin 11 // Tar
#define cRRCoxaPin 24 //Rear Right leg Hip Horizontal
#define cRRFemurPin 25 //Rear Right leg Hip Vertical
#define cRRTibiaPin 26 //Rear Right leg Knee
#define cRRTarsPin 27 // Tar
#define cRFCoxaPin 16 //Front Right leg Hip Horizontal
#define cRFFemurPin 17 //Front Right leg Hip Vertical
#define cRFTibiaPin 18 //Front Right leg Knee
#define cRFTarsPin 19 // Tar
//--------------------------------------------------------------------
[SERVO PULSE INVERSE]
I kept the default
I am still working on this, each leg has the same settings
[MIN/MAX ANGLES]
#define cLFCoxaMin1 -460 //Mechanical limits of the Left Front Leg
#define cLFCoxaMax1 460
#define cLFFemurMin1 -1050
#define cLFFemurMax1 750
#define cLFTibiaMin1 -420
#define cLFTibiaMax1 900
[LEG DIMENSIONS]
//Universal dimensions for each leg in mm
#define cXXCoxaLength 25 // This is for CH3-R with Type 3 legs
#define cXXFemurLength 57
#define cXXTibiaLength 127
Thank you so much in advance for your help!
