I dont understand how the code can know you have moved the servohorn one or two clicks, but Ill soon do a feldtest…
really thats like saying the code would also need to know what servos you are using. i feel i do understand how you have got confused. i have been there loads of times, but remember we are not giving the servos pulses but degrees to move to and if the servo is say at (0) or 1500 pulse and we snap out the horn and turn it one click, (15º). replace the horn and then tell the servo to rotate 90 the horn will be in a -+75º or -+105º (angle) in relation to the (0) point. im getting confused now… ill stop. lol 
lol.
but seriously
I can think of a possible reason for values beond ±90 for the Min/Max-values for Coxa if the statement is absolute, and not relative to the center configured in
;[BODY DIMENSIONS]
cRRCoxaAngle1 con -300 ;Default Coxa setup angle, decimals = 1
But there are no such deffinisions for the for Femur and Tibia …
… and i am trying to understand what is up and down, negative or possitive placed right or left in the [MIN/MAX ANGLES]-section …
Robotics is fun !
You could also take a look at PEP to get a better understanding of the angles (+/- and so). When it comes to the travel range for servos I’ve seen that they can vary a bit. Some has up to 190-200 deg of travel and often do some of them go further to one side than another. But to make a femur servo move in another range you’ve to calibrate it with a larger offset. Snapping out the horn is one solution but then you’ve to compensate it by using an offset constant in the code equally to the snaps ( 
not the right word 
), ex: 2 click gives and offset of 300. I used this method on T-Hex and Archer.
Still confused?
If so, don’t pay attention to it just move further along in understanding the code. Sooner or later you’ll get it 
.
ok, I’ll dig further…
May I muddy up the water? lol
It’s easy to align something if it’s precisely vertical or horizontal. The assembly guides take advantage of this by telling you to build, then calibrate, then physically move the servo to where the software already expects it to be. This is where we take advantage of the 24 tooth spline and the 15 degree per “click” to make the accurate change. The other option is to build, change the servo horn the 15 degrees, then calibrate it for accurate position, being 15 degrees offset from vertical or horizontal. Not nearly as easy.
Hello guys Could you please tell where i found the "Offset Table" in Kutrs Programm?
some legs of my little hex arent in the right angle and i want to fix this issue in the offsets like by my two Ch3-rs.
But i cant found the offsets…
Please Help 
It is held in the EEPROM of the SSC-32…
There is a servo offset finder/editor as part of the Phoenix Arc32 code. Simply connect you Arc32 to a USB port. Then connect a terminal program (including basic micros IDE) to that comm port at 38400. It should display a prompt. One option is the offset editor (O), which first shows you the current offsets and then allows you to choose a servo and update it…
Kurt
Sorry for my late Postreply- was very busy the last weeks.
Big THANK YOU for your post. i found the terminal programm but here is the next problem - who could i save my changend settings?
i connect the robot, changend my inits but i dont see any effect. i choose another leg, typ +or-,the leg is turn left and right and in the terminal changend the Num +50. but that is all. the leg doesnt move in the new position. who in the main programm are these changend degrees or settings? after i programmend the hexapod again there is no effect.the legs are in the same position as befor.
btw- i only used the ARC-32!!! not arc-32 with ssc32!!!
hope you could help again.
i got it!!! dont know why but now it works. start Basic Micro Studio new and now it works.
now the new question- i turn the joystik to left and the hex turn right. i must changend left to right- but who in the programm. i cant find it… on the left joystick froward and backward works, but left and right is mirrored.
also on the right joystick on the ps2 controller is mirrored - i turn the joystick to right and the hex turns counterclockwise, joystick to the left is clockwise. who could i change this???
i really cant find it 
One simple way to take care of it is robot around…
You can change a lot of this functionality in the PS2 controller code. In the current version I have open, I find stuff like:
;Walking
IF WalkMethod THEN ;(Walk Method)
TravelLengthZ = (Dualshock(4) - 128) ;Right Stick Up/Down
ELSE
TravelLengthX = -(Dualshock(5) - 128)
TravelLengthZ = (Dualshock(6) - 128)
ENDIF
You can try changing the code for example where TravelLengthX is defined, try removing the -…
Kurt
Thank you! :mrgreen:
i found it and it works. yeehaaaa