Wow that looks very cool!!
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Happy New Years to all (actually here still New Years Eve).
Hope everyone is staying safe and healthy and having some fun.
The MechDog looks nice.
I need to get back to playing with the Hexapod.
Again hope all of you are doing well!
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Happy New Year to you too and all those here.
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Bonne année à tous! 
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For me, yesterday (Jan 20) really marked the start of a “New Year”, but don’t want to be political here.
@kurte @xan @zenta so what’s the plan?
Xan - from what I can tell, you were the first to create the Phoenix code. Want to use whatever Arduino shield-compatible microcontroller you have to get the basic Phoenix code working with this new Hexapod? Use the regular PS2 for the moment since we’re still looking into creating a new Lynxmotion remote control.
Kurte - the new board you made looked interesting - we can create a few prototypes and send them out to each person here and check that Xan’s updated Phoenix code works better on the Teensy.
Zenta - want to start making suggestions to the body / design itself and then testing the updated code which Xan will hopefully develop?
These three posts are among the most popular of all time on the community:
Open to ideas and we want everyone working on parts they are most passionate about. We’re all really happy and excited to have you onboard for this project.
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Happy new year as well!
Sorry I have not been as active on this in awhile.
First on boards: The current one that I have played with, although I have never actually fully populated a full board, with everything, is up on github:
Most of it is up in the directory:
With the names like Robotshop and LSS… I believe there are two different ones in that directory.
The one I have mostly played with is: T4-T36-Breakout-Robotshop.dip
but I also have a version with mostly a set of Arduino headers which allow you to plug in your Arduino LSS shield and it converts the signals for 3.3v to 5v, on both the Servo Serial port and also the pins that can be setup for XBee.
Again if anyone wishes to play with the same boards, I believe there are zip files up in this project like:
And the Diptrace design files are up there are well.
Which I sent of to fabrication. I believe for these I use PCBWay.com to produce them, but same zip would probably work at other places like OSHPark.com or SeedStudio.com
Awhile ago I had a version of the Phoenix c++ version compiled for the robot. And I believe I had it standing up. Note: the version I was using was still using fixed point math. Would be better to convert to using floating point. Especially since the Teensy 4 and 4.1 have floating point (including double) built in to the processor. But my math has become very rusty ad would be great if someone fresh could go through and make a version that is nice and clean.
Zenta - how is your version doing these days?
Side note: recently I was contacted again by Trossen Robotics, about their desire to a version of the Phoenix code base to run on the Dynamixels using an OpenCM 9.04. Which I informed that I had a version that I had the basics working up on github in the project:
https://github.com/KurtE/Open_CM_CR_Arduino_Sketches
It is interesting in that they are now looking into two different sets of electronics and software depending on which type of user.
Again for Hobbyist they are looking at OpenCM 9.04 and for Input they are looking at using a PS4 controller, which they are going to use an RPI0W to talk to the controller and hook it up to Serial port of OpenCM board. I made a few suggestions about wondering if using RPI0W was the best choice…
But interestingly they are also working on a ROS setup. Some of this is currently up on github in the project:
https://github.com/Interbotix/interbotix_ros_crawlers
I have not tried installing this yet on anything, although maybe interesting to try it out on my older Trossen Hexapods to see how this ROS version compares to the version done earlier by Kevin Ochs, which several years ago was participating with a few others to adapt the code to work on the standard PhantomX Hexpod instead of his larger 4DOF version with more powerful (and expensive) servos.
Again lots of options on possible directions to take.
Again hope everyone is doing well!
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Sorry for my late reply. I think I’ve overlooked the notifications.
I’m using a Teensy 4.0 in combination with my custom DIY remote V2.0. The remote is using XBEE. I’ve placed the controls in a separate ‘transceiver’ class. When the software is finished, it will be easy replace the xbee-transceiver class for a ps2-receiver class. For now the xbee control gives me more flexibility/options during testing.
The Teensy, voltage level shifter and xbee module are currently placed on a breadboard. I need to start looking into a good way to mount them soon since the breadboard is restricting the range of the legs. I want to check if I can use the XBEE mount on the LSS-AB and get the signals to the teensy instead of the LSS-AB. This way I only need to find a way to mount the teensy and voltage level shifter.
I’ll keep you posted.
Xan
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The PS2 remote controls are ageing and availability is becoming limited, so Lynxmotion will be moving to a different remote. If you or anyone here wants to be part of that project, send me a PM.
We’re prepared to create some samples of KurtE’s Teensy breakout board (in this thread) if others here would make use of it. Interested?
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Hi @Xan and @cbenson (and all)
Note: My first adapter that I was playing with, was setup to be able to use your LSS Servo shield including both the connections for servos as well as for XBee… Still sort of a kitchen sink!
I made it to work with either T4 or T4 with a castellated adapter to make to same size as T4.1/T3.6…
Or for the newer T4.1 which was not out then…
Would also probably work with T3.6 as well,
Note: if ones were also interested in this type of design, I can simplify if I remove USB support for T4. That is there are two POGO pins near the USB connector plus the IC near it and some other misc support parts that make up the connection for USB on T4. T4 parts could be simpler without needing the IC, but allows for USB power management.
There are 4 BSS138 like TTL level converts like the Sparkfun/Adafruit boards. The XBee ones are sort of screwy as I take the 3.3v signals on Teensy, convert to 5v, which then the adapter board converts back down to 3.3v. Circuit also has a simple transistor, cap… for simple sounds and then then still tries to break out all of the main pins, plus easy connection for Adafruit/Sparkfun I2C devices.
Again nice things about doing these boards… Is I believe most of them with PCBWay cost about $4 for 10 of them plus about $18 DHL shipping and usually receive them back within a week.
So again I could simplify this one some if desired. And ordering both just costs about $4 more maybe a little more on the DHL.
Personally I have no desire to hook up a PS2 controller to these. I have not used one for a long time.
Instead the things I might try:
a) XBee - did this earlier with Arbotix Commander (Trossen) simple controller, which they are discontinuing, or could grab custom controller, but then as said custom…
b) USB/Bluetooth - My main starting point - Probably PS3 and probably PS4 as well. PS4 are nicer, but more expensive and at times I have had them be touchy, but there are some interesting things one can do with theim. PS3 there are lots of cheap clones. Some work better than others. Our USB Host library, that if you grab one of the BT adapters that work for us and plug it in, and then remove it and plug in PS3 to USB, and press a couple of buttons it will take care of the BT binding for you. Or if you use USB HUB you can plug both in to do the binding.
You can find out lots more information about what BT dongles and devices we have had luck with up on the thread:
One of these days I will get back to trying to get a few more controllers to work like the SWITCH.
c) RC remote: like one of the cheap FlySky remotes, the one I have is:
d) Which ever controller you suggest.
Now back to playing!
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@xan Happy to create a few prototypes of Kurt’s board above and open to ideas / suggestions / modifications. mechdickel might be curious to try it as well for the quadrapod.
@kurte Have not tried yet, nor done any research, but the communication protocol for the PS4 has been hacked and is useable by hobbyists? Have you seen anything regarding the PS5?
@zenta Been a while since you’ve posted here… hope all’s well?
I’m in. Never played with Teensy, but given some time I can try something with the quad.
Also interested in the Lynxmotion remote project.
I’m definitely interested in having an easy way to connect and mount all be boards. 
@kurte, from looking at the LSS-AB wiki-page it seems that it would be possible to use the XBEE socket on the LSS board and route the RX/TX pins to the (teensy) board.
@cbenson, I was curious about your PS4/5 question as well so I did a quick google search. I found an instructables.com page with instructions on how to get it to work with an arduino.
@kurte, when talking about the USB port, I assume this is the USB host that is included for the Teensy 4.1. Is this correct? If so, this might open up the PS4/5 option.
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Quietly watching with interest…!
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My Teensy 4.1 is on its way (with extra RAM, Ethernet module, etc.)… eagerly waiting its arrival…
Looking forward to trying it out… those specs are… just wow…
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Looking forward to running some RTOS on it… Any of you have recommendations? I mean, Free RTOS is of course super popular… and I was maybe considering Micrium OS also… Anything else I should consider to tame this powerful beast of a microcontroller board?
@kurte As always, well done. To confirm, the board in your last message:
- Same mounting / size as the LSS Adapter / Raspberry Pi?
- Teensy 4.0 / 4.1 compatible (adapt?)
- Barrel connector (adapt for XT60?)
- Standard shield compatible?
- Onboard voltage regulation
- USB type A (as 5V power out or general purpose?)
- 2x LSS connectors (any worries about power conflicts with 12V applied to the Vin pin with other power sources connected, for example barrel and Ext?)
- Breakout of all Teensy pins on “sides”
- Would JQW, JQW1 be used / useful?
- PGM = programming button?
- You mentioned XBee headers, but to confirm, not on this board?
- The ON/OFF looks like a button as opposed to a switch?
Anything else not mentioned? Suggest a slight name change to avoid confusion with the “LSS Adapter”
Regarding the controller,
a) Any insights into the Arbotix Commander?
b) There are generic / clone PS4 controllers out in the $30-$40 price range and it is certainly full of buttons and ergonomic. Not sure if robotics enthusiasts can / will make use of the vibration motors and touch pad. The PS4 release date was Nov 2013 (~ 8 years ago). I had purchased a second hand PS4 a few years ago at amazing discount but sold it a while back.
The PS5 is advertised as being used with Android / PC via Bluetooth, though it’s still in the $90 range.
c) RC / PWM transmitters are here to stay, and there are many options. Not too “robotic” though (but just an opinion) since they don’t allow for feedback.
d) To confirm, the consensus of this group is that using a smart phone & app is not the best approach because of communication issues (Bluetooth)?
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Morning @cbenson and all -
If you are talking about the last board I posted that allows you to plug in an Arduino shield, I was playing around some yesterday and removed the T4 USB pins and the like to simplify some. Here is a 3d rendering of the changed version:
The actual changes were not extensive:
Hopefully the 3d picture answers a few of the questions, but to follow on:
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Was setup to have same layout mounting holes.
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Mainly right here setup for T4.1 if using USB (could probably also use T3.6). Without worrying about USB should work for T4 as well. But maybe would need to verify which pins beyond T4 have functionality on them
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Yes I currently have barrel connector obviously could change to something different if needed
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Yes and No. That is for the most part pins just go through as 3.3v and are not 5v tolerant. However I do have 4 TTL level shifters setup to convert to/from 5v on 4 of the shield pins. Those that your shield works with for LSS Servos and XBee. There is also a hack on the board that allows you to jumper what goes to D9 on the shield (either D9 or D7). Why? so that the XBee can be mapped to hardware Serial port
5)Voltage regulator - it is currently setup to use a Pololu DC to DC converter which is the green blob to the right of the USB Host. Could switch to something else, used to use Murata ones like that were on the Arbotix boards, switched to these as have larger voltage range, not that it maters here.
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USB Type A (Host) is setup to use whichever +5v is supplying power to Teensy. Have switch to either use USB in or External power through the DC/DC converter.
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The 12V for the servos is connected to the VIN. My assumption is they are one in the same, and for example you can plug in the 12v to your shield and use it to power everything.
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Yes I breakout all of the IO pins (or at least most). I don’t break out the SDCard pins as well they are only on the SDCard and I don’t break out the bottom pins that are used for memory chips. Although if you are not using other memory chips you can break those out as well.
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JQW/JQW1 are I2C connectors that are compatible with Sparkfun QWIIC devices as well as Adafruit Stemma QT devices so for example if you would like a simple display to plug display some info, you can just simply plug in something like:
https://www.sparkfun.com/products/15890 -
PGM - yes program - often not overly useful as you have one on the Teensy itself, but if you have a shield over the teensy than this makes it easier to simply reach in.
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XBee connection on your shield. Could of course create a version that has XBee connectors directly and avoid the need for additional Level shifters
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ON/OFF button - The T4.x has an on/off button which can sort of suspend the Teensy. More details are now on the Teensy 4.1 page:
https://www.pjrc.com/store/teensy41.html#power
If you have not looked at the processor pages in awhile, you might want to take a look as there is a lot more information on them now.
I will continue on controller to next message.
Again let me know if there are things you would like changed.
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@cbenson and all
Continue to controllers:
a) Arbotix Commander - It looks like they discontinued it. I know Matt was leaning that way. It was simple shield that plugged into an 3.3v Arduino Uno (Seeedstudio at one point). It was a nice simple XBee controller. They are likewise probably discontinuing their Arbotix controller board and going to an Robotis OpenCM9.04 board, which they looking to use an PS4 controller interfaced through an RPI Zero W…
b) PS4 controllers - As you said there are probably clones out there. I have one official one from Amazon… There are tons of PS3 clones out there and some are really cheap. Both should work with our USB support. Rumble and the like. We do have support for as well as LEDS. Not sure if we have support in yet for touchpad area of PS4 or not.
PS5 controller - I don’t have any yet, and not sure how well we might support them yet. That is most of our support has been done through reverse engineering of watching which USB messages are sent back and forth and emulating. And we do have some Bluetooth support which is what PS3 and PS4 are using.
But some of us were in the process of adding additional support to for example support the Nintendo Switch controller and better support for XBOX One… and with some of the newer ones they are using some higher level Bluetooth
More details in the thread: https://forum.pjrc.com/threads/49358-T3-6-USB-Host-Bluetooth?highlight=Nintendo
c) RC transmitters - I started playing some with the one I mentioned after a Trossen user jwatte mentioned that he was using or at least experimenting with them, especially with the Mech war stuff, as I believe that they have less interference and the like over things like BT. Could be wrong. As for feedback, the one I was playing with has some levels of feedback, that they can do. For example I believe they can be setup for the airplane or the like to be able to send some fixed things back like battery power to the remote, which can be displayed. Will look to see if I posted anything about this.
d) Smartphone and the like, don’t know, I really never experimented much with these. Especially with the programming for the phone itself.
Again I open to most anything. As for new support for different USB devices, can work on that. Maybe some of the other PJRC users may play along as well. If you look through the different USB Host threads up on their forum you will see there are just a handful of us who have done most of the playing
Now back to playing
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Hi @kurte,
Thanks for the clarification. The 3d render really helped.
One question regarding point 3:
Might it be possible to power the shield directly from the LSS adapter without the use of an additional power connector?
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