I want to ask about imu razor 9 dof,
I want to build a hexapod and I’m using USB SSC 32 + IMU razor 9 dof for accurate control position
but, I don’t know how to connect IMU to SSC 32
I’m a newbie in this project
so, help me Master 
Thank you
Please don’t multiple post. We read all posts.
Both the SSC32 and the IMU will need to talk to a CPU board (Botboarduino).
Alan KM6VV
You could use an ARC-32, although I don’t think there is much support for it now.
Alan KM6VV
Like Alan said, multiple posts only make it confusing.
Yes, you can use the ARC-32. I’m using that for my MorpHex.
Using hardware serial (one of the two UART’s connected to the IMU). I believe I changed the dataformat on the IMU a little too, if I recall correctly.
I’m sorry, because the multiple posts 
Zenta, how to change the dataformat on the IMU.
I don’t understand.
By editing the IMU SF9DOF AHRS code in the Arduino IDE in the output.ino file. Though it’s not sure you’ll have to do it, I just did it because I wanted another format. Sorry for confusing you.
For reading the IMU data on the ARC-32 I’m using a very simple line of basic code:
hserin 1,IMUTimeOut,200000,[WAIT("!ANG:"), sdec swXimu, sDec swYimu]
wow, so your morphex just use ARC-32, IMU, and remote?
and ho to make one of the two UART’s connection?
i confuse because of this problem.
thank you
oh ya, i forgot this
why you change the IMU SF9DOF AHRS code? because i use the same IMU
the first i want to use pololu, but i just get the IMU razor 9DOF hehe
Hi,
MorpHex uses ARC-32, SSC-32, Razor IMU (on RX pin UART1, JP5), 24 Starlites RGB leds (software serial) and XBee for remote control on UART2.
In other words I’m using the same UART as the FTDI (USB) is using, but only the RX line since I’m only receiving serial data from the IMU. At the same time I can send debug data to PC terminal using TX through USB. To solve this I’m using a simple switch to connect/disconnect the IMU TX to the UART1 RX pin when I need to program the ARC-32. Using a 3 pin switch with common © connected to BAP RXD, Normaly Closed (N.C) to FTDI TXD and Normaly Open (N.O) to IMU TXD.
I changed the dataformat on the IMU since I’m only using two of the angles. Also did some recalculations of the angles and added an enable/disable function using the MISO pin on IMU. You don’t need to do this to make it work though.
Wow, incredible
Why you still use ssc-32 if you have already had arc-32?
I think, i must study more for build a robot hehe
Several reasons. I got some bugs when trying to control 31 servos on the ARC-32, never figured it out. Using the SSC-32 made it easier to replace the main controller board it I wanted in the future. More available pins on the ARC-32.
bugs on ARC-32?
your morphex uses ssc-32 + imu? but Alan said they must talk with borboarduino?
i think ARC-32 is a simple solution, but like you said there are some bugs.
i got some references now
how to fix the bugs on arc-32, Zenta?
The bug was probably related to the software we are using (Phoenix code) when saving calibrated positions on the ARC-32. This code part was written by Kurt Eckhardt and worked fine for a 18x servos hexapod. But I experienced problem when using 25 servos. For some reasons the calibrated data got lost. I never figured it out, I might did something wrong, not sure, so the easiest solution was to use a SSC-32 in addition. Beside that the ARC-32 worked fine for a “normal” hexapod.
Again, the IMU does not talk to the SSC-32, it’s talking to the main mcu, in my case the ARC-32.
I ever saw your morphex Zenta, I ever think to try to build it. It is amazing robot, but I never know how to build it.
I must study more xixi
Thank you Zenta
Zenta - a Bug in Phoenix and/or Arc32 code? 
If it were me and I was starting a new project, I would probably not use the Arc32. While I personally think it is/was a great board, I could be wrong, but I do not believe that they are built anymore.
The company who made them (Basic Micro) has now since changed names (ION Motor control) and is mainly focused on Motor Controllers RoboClaw.
Sorry: I have larger reply, but system is rejecting with internal error. So trying to edit some in piecemeal
Hi Kurt!
There are always some bugs when working with hexapods
Yeah, the ARC-32 was a great board. But if I should choose a new board for MorpHex combined with the SSC-32 I would try your Teensy 3.1 breakoutboard.
Plenty of UART’s. I keep telling myself that I should try it on MorpHex. A bit to much work to do at the moment.
I’ve not heard from the BM side for years, so I’m not sure how they are doing.
Sorry to hear about the internal error…
Hi Kurt and Kåre!
ION Motor control? Another company? That is very strange. We met Orion team at Robogames a couple of years ago, but I haven’t heard much since either.
The ARC-32 is no longer available, so is probably not a good choice for new builds. I can’t even find my old Basic Micro boards! The BotboardDuino or an Arduino is a good way to go.
I just looked at the Razor 9 again, I’d played with one a few years ago. Even tried to get it interfaced to ROS, but that wasn’t working at the time. Now ROS has changed a few revisions, I’ haven’t kept up. There is a new version of the ROS driver.
Alan KM6VV
Attempt 3:
Options for Hexapod CPU
Botboarduino connected up to SSC-32 - Can work, as we have versions of Hexapod code base that does this. However the code base uses
up most of the processing power, memory and the one UART.
So if you are thinking of then adding on the IMU and wanting the code to make use of it, you would probably be stretching the capabilities of this.
You do have lots of options:
If you wish to say in the Arduino(ish) world, you could go to
a) Arduino Mega: again still 16mhz, 8 bit processor, but has 4 hardware UARTS, so can use one for SSC-32 and another for IMU… Also has more memory, so room to grow
b) Arduino Due, …: Have not tried these out in a long time. Earlier lots of stuff not implemented, but probably better now.
c) Teensy 3.1 (or LC) by PJRC - Personally I really like these (pjrc.com/teensy/index.html), 32 bit processor can run up
to lets say 120mhz, uses same Arduino IDE, great support. Note: I have my own boards I populate these into…
The same (or updated) code base that runs on the Botboarduino will run on all of these… Again in the Arduino world these days, I mainly only use the Teensy.
Linux Boards (I have tried a few 
an have the Phoenix code base working on many of these. I have some different versions of the code base running on these
(was in the middle of converting from fixed point math to floating point as many of these processors have hardware floating point). Some that I have tried include:
a) Intel Edison: I have love/hate with these. Interesting in that they are small, have wifi/bluetooth/usb… Also they have a setup to use the same Arduino IDE as Arduinos,
which is nice as way for people to transition to Linux box, but personally I prefer using them with their Eclipse IDE setup… Support can be frustrating.
b) RaspberryPi (including the new 2): My first linux board was an RPI and just this last Friday I received a new RPI2, which looks like a nice upgrade.
c) Odroid: (I have tried U2/U3 and C1): great boards, lots of horsepower, graphics may not be as good as RPI2, but for example the C1
(ameridroid.com/products/odroid-c1) is a quad core 1.5ghz processor with 1gb of memory and can use either SDCards or their eMMc chips)…
d) BeagleBone Black: nice boards keep meaning to play with again
Again I have played with all of the above, and have/had each of them on on some form of Hexapod or quad, and I have versions of the code base up on github.
Which one would I choose? Not sure, but my new robot from Trossen Robotics shipped yesterday an it uses either Edison or RPI2 and for us beta testers it ships with both.
They are also looking at supporting some Odroid(s). So if I were just starting off in the Linux world, I would choose one of the first 3…
Connecting up the SSC-32 and IMU to any of the above boards, can be one a couple of different ways.
SSC-32U - can simply plug a usb cable in
IMU - can hook up to hardware UART on these boards. Depending on board (example Edison using mini breakout), may need voltage level converters.
Another option is to use an USB to serial adapter and again plug the IMU into USB port…
Sorry if I am a little off topic here. Good Luck. Also feel free to ask questions.
Kurt
Nice run-down Kurt!
Alan KM6VV