My A-POD clone

Lynxmotion Legged Robots
1


Here is my a-pod clone pay no attention to the messy wires still a work in progress.
I need some help finding where in the code I limit the amount of rotation also
I am trying to set accurate leg lengths but when I put in the femur length (150mm) the initial leg position puts the femur pointing straight up. It appears that if I type a value under 125 mm for femur length it puts the legs in a normal position. The bot can walk around fine the legs do however scrape the ground or “shuffle” a little when it turns. I am shure it’s related to my config file not representing actual leg dimensions . Zenta your mandibles seem to move a lot faster how would I speed that up? Thanks to all of you for making this kit accessible great job.

2

I really like that, well done with your work. those Tibias look great. love the natural look of the tars.
thanks for sharing.
8)

3

Thanks for your nice comment.
ps I love your owl.

4

Hi,

Your beast looks great! Are you using all 5990 servos?

Your femur problem with 150mm length is probably caused by the limit of the sbytetable. In the main file change this line:

cFemurLength sbyteTable cRRFemurLength, cRMFemurLength, cRFFemurLength, cLRFemurLength, cLMFemurLength, cLFFemurLength

to swordtable.

I guess you are using the A-Pod PS2 control files? In the videos I’m using the DIY XBee remote and the mandibles are directly controlled using one of the potmeters.

In the PS2 control file look for this code:

[code]IF (DualShock(2).bit2 = 0)THEN; L1 Button , Mandible Open
RPOTCtrlPos = (RPOTCtrlPos + 5) MAX 255
ENDIF

IF (DualShock(2).bit0 = 0)THEN;L2 Button, Mandible Close
	IF NOT MandibleFSR_Activated THEN ; 
  		RPOTCtrlPos = (RPOTCtrlPos - 5) MIN 0; Don't decrease this value if FSR is activated
    ENDIF [/code]

The speed increases if the +/-5 are changed to a higher value, try 10 or 20.

EDIT:

I’m not sure why we are using a sbyteTable for the leg lengths? :confused: The problem would probably be solved by simply removing the “s” to byteTable. We don’t use negative lengths… :laughing:

5

:smiley: Thank you for your reply! I will give that a try this weekend.
All 5990TGs EXCEPT the mandibles are HS 985MGs
2 Turnigy 8-15 UBEC
7.4v Venom 8000 mAh LiPo
To be honest, I am kind of torn about the 5990s. Love the torque, but they are loud and hot power hogs. Still jitter a little even after updating to the “plus” settings and opening up the dead-band.

PS :confused: Would you know how I can lessen the amount of rotation? ( body roll ) I believe in the Z axis when turning in walk mode. Also head nod down, want to let my 11 year old son drive it but Short ps2 sticks + fast 5990s = scary. :laughing:

6

waw cool bro,

why u use 2 Turnigy 8-15 UBEC ?
1 ubec its enough?
you just use a single lipo battery right?

7

I melted the shrink tubing off of the regulator when I had just one my 4dof t-hex with 24 5990s last year.
Digital servos can draw a lot. I use 2 on all my bots with digital sevos and a fuse when i have a lipo.