See 
It’s good to run a skill-saw across your hand once in a while 
Look at all the neat stuff you’ve been able to do.
By the way…how is that hand doing, I’ve never forgotten the pics, I think I’ve even had nightmares about robots chopping hands with rotating knives. 
the hand is ok, thanks for asking. still a few limitations and some times pain but overall its healed well.
Hey that’s good, I’m glad it wasn’t a major loss of use for you…injuries are no fun…I’ve had my share.
ok well i have made the first polyurethane Full body cast. some of the details were destroyed by a few bubbles and also the tip of the beak set with a bubble trapped at the end so that didnt form very well. 
anyway a few lessons learned there.
the rest of the cast came out well, except a few areas toward the bottom of the bird above the stump. not a problem as this wont be seen.
I did how ever manage to get a nice 3mm think wall around the cast. 
i have already started putting it together, but no photo of that as my wife is off at a celebrity party… (lucky for some) and has taken the camera with her! 
post pictures of processes later.
The neck mech
The lower jaw
The paint job is only to show contrast, and will eventually be covered by feathers.
Having to work out a few solutions for attaching the neck mech to the inside of the body core among other issues.
I have managed to attach the parts together.
Im not 100% on this at the moment but im sure i can evolve my understanding on how this should all work.
There are some limitations with in the body regarding the SES and also with the neck skirt when rotating if tilted down.
Solutions are being worked out as i type this.
i need to fabricate a silicone foam skin that will fit over what is shown here.
Thats awesome Jonny, great work!
Fun to watch the progress, thanks for sharing. 
thanks Kåre.
Well im now looking into the foam skin, but in the mean time im experimenting with different latex forms.
Some expensive material out there!
I might have to re think the neck part of the body core.
Cant wait to dress it with feathers and finish the paint work on the beak and tree stump.
Also I might be building another animatronic “animal” but i will use conventional animatronic techniques by having all the joints powered using push and pull cables that run from a servo box, Instead of direct drive joints.
I would have done the same with the hawk but im happy with the movements im getting so im sticking with it.
Dont worry legged robots are still my favorite.
Ps: any updates on Morphex?
thanks.
I’ve not done much robotics at all lately, I’ve only done some minor thing like adding decks for mounting batteries and made a stand. Still busy with our new baby. I’ll update the thread as soon as I’ve done some progress and got time for taking photos.
yes i understand that completely. im glad everything is going well.
well i managed to get the kids to sleep quite early this evening so…
have you ever started something you wish you hadnt… Well this is one of them…
LOL, I can imagine that beeing messy with your kids around… 
Its the only time in my life id had a combination of “feathers and latex” in my house. lol
Falls squarely into the “TMI” category. lol
one can only apologize. lol.
making me sneeze tho. i have stopped for now and im nearly 2/3rds of the way 'so nearly there. i will do a final demo run before i feather up the neck and head. maybe tomorrow.
another hour and a few more feathers. im still working on ideas for the neck so ignore the latex bandage.
looks nothing like a hawk but an interesting project at that.
Im currently using the SSC and ABB with this project but im thinking it might just save a board (SSC) if i just use the ABB.
Now im a Non SSC user virgin, as i have always use it along side the ABB. i understand i will need the ENABLEHSERVO command along other small changes to the code.
now, i have made an attempt at Rewriting my hawk code without the SSC with bad response.
anyway, i have now given into asking for help.
i have attached the current working code for ABB-SSC, but would anybody help me loose the SSC and just have the ABB
hawk_atom_ps2test.bas (11.5 KB)
Jonny,
I’d check out some of the Brat code (abrat1.bas ?).
;Program written for Bot Board II, Basic Atom Pro 28, IDE Ver. 8.0.1.7
;Written by Nathan Scherdin, modified by Jim and James Frye
You’d need to add/replace with:
[code]ENABLEHSERVO
hservo [lefthip\TOINT (-lefthippos*stepsperdegree) + aServoOffsets(3)\TOINT lhspeed][/code]
Although this example might be a little old…
Alan KM6VV
thanks alan,
I also downloaded the atom code for the arms but its still confusing trying to convert the code.
need to change and add variables that im not sure are needed. the servos do not need timed moves or positions to be defined.
how can i change the serout for hservo without having to add time or positions. just need to tell the code to output to the pins on the BB.
It should be as simple as only specifying the pin and position.
[code]hservo [pinp\pan]
hservo [pint\tilt]
(from xrover01.BAS)[/code]
The latest Studio manual I have doesn’t document it yet.
From some linetracker notes:
; HSERVO wants -12000 to 12000 range, center 0
;LSpeed = 6000
;RSpeed = 6000
Kurt might know off the top of his head. I have to refer to my notes…
Alan KM6VV
Hi Guys, the most recent document up on the Basic Micro Reference Manual does document it, although there are errors in the documentation. It mentions that the range is from -12000 to 12000 which is correct for Basic Atom Pro28s, but is not correct for Arc32 or Bap40, which have a different range, more like ±15000. To figure out what the generated pulse width is from the specified value you do something like: PW = 1500 + HS/16 for Bap28 (change 16 to 20 on Arc32).
Or the reverse if you know you want a certain pulse width (PW) and you want to know the HServo value to use, you can reverse this equation: HS = 16PW - 24000
For Arc32/Bap40: HS= 20PW - 30000
From these equations, if you wish to stop a servo than you want a PW=0 you set the HSERVO to -24000 or -300000(Arc32)
Also there is a lot of information up on the thread: viewtopic.php?f=4&t=3224&start=17
Hope this makes a little sense…
Kurt
