Hey Guys… I have a problem that I cant track down…
I just got a CH3-R from lynxmotion, got everything up and working fine. Used powerpod, made a firmware, uploaded it and everything works!
Next step was to try out this awesome firmware… I used the ch3 config file and the ps2 input file in a project and had them in the right order, built it and it programmed just fine. I start it up, and everything seems good, but the walk looks funny. After closer examination, the front left hip verticle servo isnt moving (ssc32 #25)… so the leg just drags.
As a test, I connected the ssc32 to lynxterm and scrubbed its value and it rotates just fine. I then loaded back in the powerpod firmware, and the leg works fine with that also. I didnt change anything in your 2.0 code either… freshly downloaded and programmed.
Anyone have any ideas?
I did read thru this whole thread trying to find an answer before asking, so I apologize if I missed it, but it was a lot to read lol
Just as an update… I updated my ssc32 from 2.03EX to 2.04GP beta, and I grabbed the file again from this page lynxmotion.com/images/html/build159.htm#programs (ch3r2ps2.zip)
and I still get the same response… I even loaded the default powerpod firmware one more time to test the leg/ssc32 and it all works fine with that file.
I put it into single leg mode also and moved all the legs, that hip verticle still doesnt move
I’m having a little trouble figuring out what you’re actually trying to do here. Please note firmware is what you load onto the SSC-32 to effect how it works. But the code for a Basic Atom Pro is not called firmware, it’s just a basic program. I’m at a loss as to what could be going on here.
The Phoenix code for the CH3-R has not been tested by us. We will do our best to try and test it, but it will not be immediately. Anyone else use the Phoenix code for CH3-R?
I have a chr-3 that is running phoenix code - although much changed for XBee… I was also the first one to hack up a config file to make it work. There are probably some refinements to be made to the config file, like the starting position and the like. But did not have a phoenix in front of me to verify that it looked the same…
Also I have found that some gaits work better than others. Try changing the gait to one of the tripod gaits and see if it works with that one. I don’t remember which button you press on the PS2 remote to change the gait, but it should not be hard… Also may add a PS2 controller back to my CHR-3 to test out some speed stuff, but that is part of a different thread…
I updated the firmware on the ssc32 from 2.03XE to 2.04GP
I run the powerpod program and everything works fine, the #25 joint moves just fine. I also tried connecting the PC directly to the ssc32 and ran lynxterm and it moves and sees the servo fine.
Looking at the config it does have the front left hip verticle joint as P25
cLFFemurPin con P25 ;Front Left leg Hip Vertical
I did also try different gaits (select button on the ps2 controller changes it). I also tried going into individual leg control, switched to the front left leg and tried moving it… the servo also doesnt move with that. I will dig into the config more and see if I can find something, but as this is all new to me I am not too sure what too look for as of yet
I thought this was tested and being used by lots of people, so I just figured it was something wrong with my hex
Thanks guys
oh, and sorry for posting in the other thread… In my attempt to not clutter up the forum, I cluttered up a thread instead feel free to delete my other posts in there too…
Thanks!
Is the effected servo holding position or is it a limp noodle?
This code is still relatively new. As for our CH3-R, PowerPod is the code currently used in our tutorials, so we have tested it fully. But the Phoenix code has not been tested on the CH3-R by us yet.
I’m currently moving to my new home so time isn’t on my side at the moment. I’ll try to check this forum from time to time tho.
I was wondering how the servo at #25 moves when you are doing body moves like body translate or rotate. Does it move like it should or is it frozen as well?
I can’t think of much when I read trough the posts. The line from the config file you’ve posted looks the way it should. And you’re sure it is really connected to #25 right? I don’t know the powerpod configuration that well so I’m not sure it is the same.
Another question, what power source are you using? I’ve noticed some strange movement when my batteries are almost down. Maybe your batteries are bearly strong enough. It sounds silly since it is working fine with the powerpod program but the phoenix program moves ALL servos at the same time. I’m not sure if the powerpod program updates all servos in each step of the gait. It’s just a guess but if it doesn’t, it will consume less power.
I did look over the code some and everything seems in order… I didnt try that test but will tonight when I get home.
Another test I will try is just moving the pin to another pin and test that way… tho I dont see how that could be the issue… but you must test every option right?
I got the 6.0vdc Ni-MH 2800mAh battery that was listed on the page lynxmotion.com/Product.aspx?productID=426&CategoryID=48
honestly I am disapointed in the run time… it seems to die out quickly.
My next question (or search more likely) was about LiPo batteries… what are people using? is it possible to use one lipo to power the servos and the “brains”
I am betting there is a thread in here about that I just havnt looked yet lol.
I’m glad you found the problem. I suspected it was a typo. The only scenario that made any sense.
The NiMH batteries will take a few charge / discharge cycles to get to full capacity. But when walking hexapods draw quite a bit of current. About 1 amp standing still, but up to 6-7 amps when walking.
Oh I know… I wasnt saying I was disappointed and thought you guys were selling crappy batteries or anything like that… I guess disappointed is a bad choice of words I figured it wouldnt last super long and have always planned on upgrading to lipo
For me, I have a 2800mah battery for the servos and a 1600mah battery for the logic/xbee… So far the run times have not hurt me as I spend more time playing with the code versus actually running the robot.
Also after seeing a few different videos of what can happen with a LIPO, I personally prefer shorter run times versus the possiblity of burning down my house, but that is me!
Now back to woking on the fast SSC mode… Different thread.
I downloaded the file in question and I can’t find what exactly you are referring to. What do you mean the numbers are reversed? They all seem to be in order to me. I compared them to our tutorials and everything matched up.
