Im working a security shift at the mo so im using my phone to write this. Every step you have done correctly and exactly as it should be. The offsets have be measured correctly as have the leg measurements. 
feet pos:
with the body on the flat of the table bend the legs up so its appears to be crouching. This pos will be how it looks once you turn the power on before standing up. Measurements should be taken in the same way as the offsets except from the coxa servo to the tip of the foot. Once i finish work i can explain this better if need be. Also the beeping is because there is no ps2 connected. It might be worth getting one from lynxmotion at this point as it will make it easier to get to know the code and functions before autonomous behavior can be added.
just like this. 
Thanks for the picture, I understand what you mean now.
I took your advice and placed an order for the ps2 connector yesterday.
The Lynxmotion folks are pretty fast shippers and close enough that I should probably get it on the doorstep today!
Looking forward to adding the PS2 and learning some more on how the code works.
Thanks for all the help so far
Got my PS2 connector from UPS yesterday, hooked it up, and WOW!
Makes a whole lot more sense now.
I do see that I will need to experiment a bit with the “Feet Positions” as mentioned, but things are looking much better with each little tweak of the numbers.
Hope to have it walking soon.
great im quite excited to see it. as i mentioned we may need to add a body shift of some kind. let me know if you have any questions. im also working on a quad project too.
viewtopic.php?f=8&t=6521
any advances with your project?
Well, after my last post I began experimenting with the code in an effort to change what I thought were errors in my leg measurements. I did this because, when I ran the code with the ps2 controller connected, the quad made motions as if it were trying to swim. All four legs were perpendicular to the body, but the knees were not bent, so it was essentially laying on its ‘belly’ and cycling through the gait, but all legs were ‘flat’.
I then noticed that I had a TX line from the bot board to the ssc32 but no RX line… so a few days later after stopping by the local Hobby store I got a few servo extenders and made a single line.
Then something weird happened.
I don’t know what the heck I did, but I could build and program from P -> botboard, but it seemed my servos would not move. Even undoing everyhing I did in code, and starting from the beginning Phoenix.bas you shared did not resolve my problem.
I checked the power from batteries to board, and all was as I expected, power was available for the servos…
I uploaded an older program (not phoenix, just ssc32 commands which worked fine in earlier experiments) and the servos moved. so I knew the servos had power and the bot board was talking to the ssc32 correctly.
But something was still wrong and I could not figure it out.
When all else fails, as it did, I returned to the very begining.
Besides some of my servo brackets needed tightening, I wanted to clean up my wiring a bit, and I needed a non-masking tape solution to the PS2 controller and the 9volt battery mount. Also need to properly mount my servo battery switch which was also barely being held still by masking tape.
So long story short…
Done:
Quadruped’s SES legs are rebuilt, and much tighter now.
SES Leg wires are more cleanly finished.
To Do
Everything else
Need to run the radio shack for a switch for the 9 volt as well as a 9 volt mount, and then get it mounted
Mount the botboard and the ssc32
Wire it up again using the Phoenix instructions and the PS2 controller (get some velcro with adhesive to mount that)
Then try the Phoenix code again.
Once I can accomplish that, if its working I’ll post a video, If not, I’ll be asking Why why why?
I hope your Quad project is going well!
-Adam
the problem with the legs seems to be an assembly error. need to make sure all the servos are in, or as close to there center as pos before mounting them into the SES.
the other prob sounds like a power prob. and although you said you did run another program, i’d still say it is power issue. iv had this happen before. i power both boards from one 9v and its usually the SSC that looses power first, but i can continue to program the botboard. need to check if the SSC indicator light is flashing when powered up.?
my quad is walking now and using a X-Axis body shift code that allows it to shift its center of gravity while each step is initiated. its been posted in my project page but i will release the full code once iv completed it and made it function better.
look forward to seeing your project.
Hi Jonny,
Your Quad looks great! I am inspired to get mine up and running.
I found some time this weekend and finished putting my quad back together. The Ssc32 now has its own 9volt battery, case, and switch, as does the bot board II. 3 fresh batteries total each with switches seems to have solved my loose wire electrical problems I posted about earlier.
However, I have doubts about what I have entered for my feet/leg starting positions, when the robot is ‘started’ with the PS2 start button, all legs appear to go to almost an “All 1500” position.
I posted a link to a video at flicker, and the entire code being used.
Hoping, at you convienence, you might be able to take a look and let me know if you think the behavior is due to servos not properly centered, or if it is my starting feet positions causing the inneffective walking.
Appreciate your feed back on this project.
Regards,
Adam
flickr.com/photos/shortace/4849114611/
[code];Project Lynxmotion Phoenix
;Description: Phoenix, controlled by a PS2 remote
;Software version: V1.3
;Date: 20-10-2008
;Programmer: Jeroen Janssen (aka Xan)
;
;Hardware setup: ABB2 with ATOM 28 Pro, SSC32 V2, PS2 remote (See further for connections)
;
;NEW IN V1.3
; - Changed controls L1+ right stick
; - Balance calculations Thanks to Kåre Halvorsen (aka Zenta)
;
;PS2 CONTROLS:
; - Start Turn on/off the bot
; - select Switch gaits
; - Left Stick Walk/Strafe
; - Right Stick Rotate
; - D-Pad up Body up 10 mm
; - D-Pad down Body down 10 mm
; - Triangle Move body to 35 mm from the ground (walk pos)
; - Circle Move body to the ground
; - Square Switch Balance mode on or off
; - L1 & L. Stick Shift body X/Z
; - L1 & R. Stick Shift body Y and rotate body Y
; - L2 & Sticks Rotate body X/Y/Z
; - R2 & L. Stick Double gait travel length
;
;KNOWN BUGS:
; - None at the moment
;
;====================================================================
;[CONSTANDS]
TRUE con 1
FALSE con 0
BUTTON_DOWN con 0
BUTTON_UP con 1
;--------------------------------------------------------------------
;[SERIAL CONNECTIONS]
SSC_LM_SETUP con 1 ;Changes the SSC pins corresponding to the setup
;1 = Setup with connector to the front
;0 = Setup with connector to the back
SSC_OUT con P11 ;Output pin for (SSC32 RX) on BotBoard (Yellow)
SSC_IN con P10 ;Input pin for (SSC32 TX) on BotBoard (Blue)
SSC_BAUTE con i38400 ;SSC32 Baute rate
;--------------------------------------------------------------------
;[PS2 Controller]
PS2DAT con P12 ;PS2 Controller DAT (Brown)
PS2CMD con P13 ;PS2 controller CMD (Orange)
PS2SEL con P14 ;PS2 Controller SEL (Blue)
PS2CLK con P15 ;PS2 Controller CLK (White)
PadMode con $79
;--------------------------------------------------------------------
;[PIN NUMBERS]
#IF SSC_LM_SETUP ;Connector to the front
RRCoxaPin con P16 ;Rear Right leg Hip Horizontal
RRFemurPin con P17 ;Rear Right leg Hip Vertical
RRTibiaPin con P18 ;Rear Right leg Knee
RMCoxaPin con P7 ;Middle Right leg Hip Horizontal
RMFemurPin con P8 ;Middle Right leg Hip Vertical
RMTibiaPin con P9 ;Middle Right leg Knee
RFCoxaPin con P20 ;Front Right leg Hip Horizontal
RFFemurPin con P21 ;Front Right leg Hip Vertical
RFTibiaPin con P22 ;Front Right leg Knee
LRCoxaPin con P0 ;Rear Left leg Hip Horizontal
LRFemurPin con P1 ;Rear Left leg Hip Vertical
LRTibiaPin con P2 ;Rear Left leg Knee
LMCoxaPin con P10 ;Middle Left leg Hip Horizontal
LMFemurPin con P11 ;Middle Left leg Hip Vertical
LMTibiaPin con P12 ;Middle Left leg Knee
LFCoxaPin con P4 ;Front Left leg Hip Horizontal
LFFemurPin con P5 ;Front Left leg Hip Vertical
LFTibiaPin con P6 ;Front Left leg Knee
#ELSE ;Connector to the back
RRCoxaPin con P16 ;Rear Right leg Hip Horizontal
RRFemurPin con P17 ;Rear Right leg Hip Vertical
RRTibiaPin con P18 ;Rear Right leg Knee
RMCoxaPin con P7 ;Middle Right leg Hip Horizontal
RMFemurPin con P8 ;Middle Right leg Hip Vertical
RMTibiaPin con P9 ;Middle Right leg Knee
RFCoxaPin con P20 ;Front Right leg Hip Horizontal
RFFemurPin con P21 ;Front Right leg Hip Vertical
RFTibiaPin con P22 ;Front Right leg Knee
LRCoxaPin con P0 ;Rear Left leg Hip Horizontal
LRFemurPin con P1 ;Rear Left leg Hip Vertical
LRTibiaPin con P2 ;Rear Left leg Knee
LMCoxaPin con P10 ;Middle Left leg Hip Horizontal
LMFemurPin con P11 ;Middle Left leg Hip Vertical
LMTibiaPin con P12 ;Middle Left leg Knee
LFCoxaPin con P4 ;Front Left leg Hip Horizontal
LFFemurPin con P5 ;Front Left leg Hip Vertical
LFTibiaPin con P6 ;Front Left leg Knee
#ENDIF
;--------------------------------------------------------------------
;[MIN/MAX ANGLES]
RRCoxa_MIN con -26 ;Mechanical limits of the Right Rear Leg
RRCoxa_MAX con 74
RRFemur_MIN con -101
RRFemur_MAX con 95
RRTibia_MIN con -106
RRTibia_MAX con 77
RMCoxa_MIN con -53 ;Mechanical limits of the Right Middle Leg
RMCoxa_MAX con 53
RMFemur_MIN con -101
RMFemur_MAX con 95
RMTibia_MIN con -106
RMTibia_MAX con 77
RFCoxa_MIN con -58 ;Mechanical limits of the Right Front Leg
RFCoxa_MAX con 74
RFFemur_MIN con -101
RFFemur_MAX con 95
RFTibia_MIN con -106
RFTibia_MAX con 77
LRCoxa_MIN con -74 ;Mechanical limits of the Left Rear Leg
LRCoxa_MAX con 26
LRFemur_MIN con -95
LRFemur_MAX con 101
LRTibia_MIN con -77
LRTibia_MAX con 106
LMCoxa_MIN con -53 ;Mechanical limits of the Left Middle Leg
LMCoxa_MAX con 53
LMFemur_MIN con -95
LMFemur_MAX con 101
LMTibia_MIN con -77
LMTibia_MAX con 106
LFCoxa_MIN con -74 ;Mechanical limits of the Left Front Leg
LFCoxa_MAX con 58
LFFemur_MIN con -95
LFFemur_MAX con 101
LFTibia_MIN con -77
LFTibia_MAX con 106
;--------------------------------------------------------------------
;[BODY DIMENSIONS]
CoxaLength con 29 ;Length of the Coxa [mm]
FemurLength con 76 ;Length of the Femur [mm]
TibiaLength con 106 ;Lenght of the Tibia [mm]
; orig CoxaLength con 29 ;Length of the Coxa [mm]
; orig FemurLength con 58 ;Length of the Femur [mm]
; orig TibiaLength con 125 ;Lenght of the Tibia [mm]
CoxaAngle con 60 ;Default Coxa setup angle
;orig RFOffsetX con -43 ;Distance X from center of the body to the Right Front coxa
;orig RFOffsetZ con -82 ;Distance Z from center of the body to the Right Front coxa
;orig RMOffsetX con -63 ;Distance X from center of the body to the Right Middle coxa
;orig RMOffsetZ con 0 ;Distance Z from center of the body to the Right Middle coxa
;orig RROffsetX con -43 ;Distance X from center of the body to the Right Rear coxa
;orig RROffsetZ con 82 ;Distance Z from center of the body to the Right Rear coxa
;orig LFOffsetX con 43 ;Distance X from center of the body to the Left Front coxa
;orig LFOffsetZ con -82 ;Distance Z from center of the body to the Left Front coxa
;orig LMOffsetX con 63 ;Distance X from center of the body to the Left Middle coxa
;orig LMOffsetZ con 0 ;Distance Z from center of the body to the Left Middle coxa
;orig LROffsetX con 43 ;Distance X from center of the body to the Left Rear coxa
;orig LROffsetZ con 82 ;Distance Z from center of the body to the Left Rear coxa
RFOffsetX con -55 ;Distance X from center of the body to the Right Front coxa Adam Updated
RFOffsetZ con -90 ;Distance Z from center of the body to the Right Front coxa Adam Updated
RMOffsetX con -63 ;Distance X from center of the body to the Right Middle coxa No Change
RMOffsetZ con 0 ;Distance Z from center of the body to the Right Middle coxa No Change
RROffsetX con -55 ;Distance X from center of the body to the Right Rear coxa Adam Updated
RROffsetZ con 90 ;Distance Z from center of the body to the Right Rear coxa Adam Updated
LFOffsetX con 55 ;Distance X from center of the body to the Left Front coxa Adam Updated
LFOffsetZ con -90 ;Distance Z from center of the body to the Left Front coxa Adam Updated
LMOffsetX con 63 ;Distance X from center of the body to the Left Middle coxa No Change
LMOffsetZ con 0 ;Distance Z from center of the body to the Left Middle coxa No Change
LROffsetX con 55 ;Distance X from center of the body to the Left Rear coxa Adam Updated
LROffsetZ con 90 ;Distance Z from center of the body to the Left Rear coxa Adam Updated
;--------------------------------------------------------------------
;[REMOTE]
TravelDeadZone con 4 ;The deadzone for the analog input from the remote
;====================================================================
;[ANGLES]
RFCoxaAngle var sword ;Actual Angle of the Right Front Leg
RFFemurAngle var sword
RFTibiaAngle var sword
RMCoxaAngle var sword ;Actual Angle of the Right Middle Leg
RMFemurAngle var sword
RMTibiaAngle var sword
RRCoxaAngle var sword ;Actual Angle of the Right Rear Leg
RRFemurAngle var sword
RRTibiaAngle var sword
LFCoxaAngle var sword ;Actual Angle of the Left Front Leg
LFFemurAngle var sword
LFTibiaAngle var sword
LMCoxaAngle var sword ;Actual Angle of the Left Middle Leg
LMFemurAngle var sword
LMTibiaAngle var sword
LRCoxaAngle var sword ;Actual Angle of the Left Rear Leg
LRFemurAngle var sword
LRTibiaAngle var sword
;--------------------------------------------------------------------
;[POSITIONS]
RFPosX var sword ;Actual Position of the Right Front Leg
RFPosY var sword
RFPosZ var sword
RMPosX var sword ;Actual Position of the Right Middle Leg
RMPosY var sword
RMPosZ var sword
RRPosX var sword ;Actual Position of the Right Rear Leg
RRPosY var sword
RRPosZ var sword
LFPosX var sword ;Actual Position of the Left Front Leg
LFPosY var sword
LFPosZ var sword
LMPosX var sword ;Actual Position of the Left Middle Leg
LMPosY var sword
LMPosZ var sword
LRPosX var sword ;Actual Position of the Left Rear Leg
LRPosY var sword
LRPosZ var sword
;--------------------------------------------------------------------
;[INPUTS]
butA var bit
butB var bit
butC var bit
prev_butA var bit
prev_butB var bit
prev_butC var bit
;--------------------------------------------------------------------
;[OUTPUTS]
LedA var bit ;Red
LedB var bit ;Green
LedC var bit ;Orange
;--------------------------------------------------------------------
;[VARIABLES]
Index var byte ;Index used for freeing the servos
SSCDone var byte ;Char to check if SSC is done
;GetSinCos
AngleDeg var float ;Input Angle in degrees
ABSAngleDeg var float ;Absolute value of the Angle in Degrees
AngleRad var float ;Angle in Radian
sinA var float ;Output Sinus of the given Angle
cosA var float ;Output Cosinus of the given Angle
;GetBoogTan
BoogTanX var sword ;Input X
BoogTanY var sword ;Input Y
BoogTan var float ;Output BOOGTAN2(X/Y)
;Body position
BodyPosX var sbyte ;Global Input for the position of the body
BodyPosY var sword
BodyPosZ var sbyte
;Body Inverse Kinematics
BodyRotX var sbyte ;Global Input pitch of the body
BodyRotY var sbyte ;Global Input rotation of the body
BodyRotZ var sbyte ;Global Input roll of the body
PosX var sword ;Input position of the feet X
PosZ var sword ;Input position of the feet Z
PosY var sword ;Input position of the feet Y
RotationY var sbyte ;Input for rotation of a single feet for the gait
BodyOffsetX var sbyte ;Input Offset betweeen the body and Coxa X
BodyOffsetZ var sbyte ;Input Offset betweeen the body and Coxa Z
sinB var float ;Sin buffer for BodyRotX calculations
cosB var float ;Cos buffer for BodyRotX calculations
sinG var float ;Sin buffer for BodyRotZ calculations
cosG var float ;Cos buffer for BodyRotZ calculations
TotalX var sword ;Total X distance between the center of the body and the feet
TotalZ var sword ;Total Z distance between the center of the body and the feet
DistCenterBodyFeet var float ;Total distance between the center of the body and the feet
AngleCenterBodyFeetX var float ;Angle between the center of the body and the feet
BodyIKPosX var sword ;Output Position X of feet with Rotation
BodyIKPosY var sword ;Output Position Y of feet with Rotation
BodyIKPosZ var sword ;Output Position Z of feet with Rotation
;Leg Inverse Kinematics
IKFeetPosX var sword ;Input position of the Feet X
IKFeetPosY var sword ;Input position of the Feet Y
IKFeetPosZ var sword ;Input Position of the Feet Z
IKFeetPosXZ var sword ;Length between the coxa and feet
IKSW var float ;Length between shoulder and wrist
IKA1 var float ;Angle between SW line and the ground in rad
IKA2 var float ;?
IKSolution var bit ;Output true if the solution is possible
IKSolutionWarning var bit ;Output true if the solution is NEARLY possible
IKSolutionError var bit ;Output true if the solution is NOT possible
IKFemurAngle var sword ;Output Angle of Femur in degrees
IKTibiaAngle var sword ;Output Angle of Tibia in degrees
IKCoxaAngle var sword ;Output Angle of Coxa in degrees
;--------------------------------------------------------------------
;[Ps2 Controller]
DualShock var Byte(7)
LastButton var Byte(2)
DS2Mode var Byte
PS2Index var byte
BodyYShift var sbyte
;--------------------------------------------------------------------
;[TIMING]
lTimerWOverflowCnt var long ;used in WTimer overflow. Will keep a 16 bit overflow so we have a 32 bit timer
lCurrentTime var long
lTimerStart var long ;Start time of the calculation cycles
lTimerEnd var long ;End time of the calculation cycles
CycleTime var byte ;Total Cycle time
SSCTime var word ;Time for servo updates
PrevSSCTime var word ;Previous time for the servo updates
InputTimeDelay var byte ;Delay that depends on the input to get the “sneaking” effect
;--------------------------------------------------------------------
;[GLOABAL]
HexOn var bit ;Switch to turn on Phoenix
;--------------------------------------------------------------------
;[Balance]
BalanceMode var bit
TravelHeightY var sword
TotalTransX var sword
TotalTransZ var sword
TotalTransY var sword
TotalYbal var sword
TotalXBal var sword
TotalZBal var sword
TotalY var sword ;Total Y distance between the center of the body and the feet
;[gait]
GaitType var byte ;Gait type
NomGaitSpeed var byte ;Nominal speed of the gait
LegLiftHeight var byte ;Current Travel height
TravelLengthX var sword ;Current Travel length X
TravelLengthZ var sword ;Current Travel length Z
TravelRotationY var sword ;Current Travel Rotation Y
TLDivFactor var byte ;Number of steps that a leg is on the floor while walking
NrLiftedPos var nib ;Number of positions that a single leg is lifted (1-3)
HalfLiftHeigth var bit ;If TRUE the outer positions of the ligted legs will be half height
GaitInMotion var bit ;Temp to check if the gait is in motion
StepsInGait var byte ;Number of steps in gait
LastLeg var bit ;TRUE when the current leg is the last leg of the sequence
GaitStep var byte ;Actual Gait step
RFGaitLegNr var byte ;Init position of the leg
RMGaitLegNr var byte ;Init position of the leg
RRGaitLegNr var byte ;Init position of the leg
LFGaitLegNr var byte ;Init position of the leg
LMGaitLegNr var byte ;Init position of the leg
LRGaitLegNr var byte ;Init position of the leg
GaitLegNr var byte ;Input Number of the leg
TravelMulti var sbyte ;Multiplier for the length of the step
RFGaitPosX var sbyte ;Relative position corresponding to the Gait
RFGaitPosY var sbyte
RFGaitPosZ var sbyte
RFGaitRotY var sbyte ;Relative rotation corresponding to the Gait
RMGaitPosX var sbyte
RMGaitPosY var sbyte
RMGaitPosZ var sbyte
RMGaitRotY var sbyte
RRGaitPosX var sbyte
RRGaitPosY var sbyte
RRGaitPosZ var sbyte
RRGaitRotY var sbyte
LFGaitPosX var sbyte
LFGaitPosY var sbyte
LFGaitPosZ var sbyte
LFGaitRotY var sbyte
LMGaitPosX var sbyte
LMGaitPosY var sbyte
LMGaitPosZ var sbyte
LMGaitRotY var sbyte
LRGaitPosX var sbyte
LRGaitPosY var sbyte
LRGaitPosZ var sbyte
LRGaitRotY var sbyte
GaitPosX var sbyte ;In-/Output Pos X of feet
GaitPosY var sword ;In-/Output Pos Y of feet
GaitPosZ var sbyte ;In-/Output Pos Z of feet
GaitRotY var sbyte ;In-/Output Rotation Y of feet
;====================================================================
;[TIMER INTERRUPT INIT]
ONASMINTERRUPT TIMERWINT, Handle_TIMERW
;====================================================================
;[INIT]
;Turning off all the leds
LedA = 0
LedB = 0
LedC = 0
'Feet Positions
RFPosX = 53 ;Start positions of the Right Front leg
RFPosY = 25
RFPosZ = -91
RMPosX = 105 ;Start positions of the Right Middle leg
RMPosY = 25
RMPosZ = 0
RRPosX = 53 ;Start positions of the Right Rear leg
RRPosY = 25
RRPosZ = 91
LFPosX = 53 ;Start positions of the Left Front leg
LFPosY = 25
LFPosZ = -91
LMPosX = 105 ;Start positions of the Left Middle leg
LMPosY = 25
LMPosZ = 0
LRPosX = 53 ;Start positions of the Left Rear leg
LRPosY = 25
LRPosZ = 91
;Body Positions
BodyPosX = 0
BodyPosY = 0
BodyPosZ = 0
;Body Rotations
BodyRotX = 0
BodyRotY = 0
BodyRotZ = 0
;Gait
GaitType = 0
BalanceMode = 0
LegLiftHeight = 50
GaitStep = 1
GOSUB GaitSelect
;Timer
WTIMERTICSPERMS con 2000; we have 16 clocks per ms and we are incrementing every 8 so divide again by 2
TCRW = 0x30 ;clears TCNT and sets the timer to inc clock cycle / 8
TMRW = 0x80 ;starts the timer counting
lTimerWOverflowCnt = 0
enable TIMERWINT_OVF
;PS2 controller
high PS2CLK
LastButton(0) = 255
LastButton(1) = 255
BodyYShift = 0
;SSC
SSCTime = 150
HexOn = False
;====================================================================
;[MAIN]
main:
'Start time
GOSUB GetCurrentTime], lTimerStart
'Reset IKsolution indicators
IKSolution = False
IKSolutionWarning = False
IKSolutionError = False
;Gait
GOSUB GaitSeq
;Balance calculations
TotalTransX = 0 'reset values used for calculation of balance
TotalTransZ = 0
TotalTransY = 0
TotalXBal = 0
TotalYBal = 0
TotalZBal = 0
IF (BalanceMode>0) THEN
gosub BalCalcOneLeg -RFPosX+BodyPosX+RFGaitPosX, RFPosZ+BodyPosZ+RFGaitPosZ,RFGaitPosY, RFOffsetX, RFOffsetZ]
gosub BalCalcOneLeg -RMPosX+BodyPosX+RMGaitPosX, RMPosZ+BodyPosZ+RMGaitPosZ,RMGaitPosY, RMOffsetX, RMOffsetZ]
gosub BalCalcOneLeg -RRPosX+BodyPosX+RRGaitPosX, RRPosZ+BodyPosZ+RRGaitPosZ,RRGaitPosY, RROffsetX, RROffsetZ]
gosub BalCalcOneLeg [LFPosX-BodyPosX+LFGaitPosX, LFPosZ+BodyPosZ+LFGaitPosZ,LFGaitPosY, LFOffsetX, LFOffsetZ]
gosub BalCalcOneLeg [LMPosX-BodyPosX+LMGaitPosX, LMPosZ+BodyPosZ+LMGaitPosZ,LMGaitPosY, LMOffsetX, LMOffsetZ]
gosub BalCalcOneLeg [LRPosX-BodyPosX+LRGaitPosX, LRPosZ+BodyPosZ+LRGaitPosZ,LRGaitPosY, LROffsetX, LROffsetZ]
gosub BalanceBody
ENDIF
'Reset IKsolution indicators
IKSolution = False
IKSolutionWarning = False
IKSolutionError = False
;Right Front leg
GOSUB BodyIK -RFPosX+BodyPosX+RFGaitPosX, RFPosZ+BodyPosZ+RFGaitPosZ,RFPosY+BodyPosY+BodyYShift+RFGaitPosY, RFOffsetX, RFOffsetZ, RFGaitRotY]
GOSUB LegIK [RFPosX-BodyPosX+BodyIKPosX-RFGaitPosX, RFPosY+BodyPosY+BodyYShift-BodyIKPosY+RFGaitPosY, RFPosZ+BodyPosZ-BodyIKPosZ+RFGaitPosZ]
RFCoxaAngle = IKCoxaAngle + CoxaAngle ;Angle for the basic setup for the front leg
RFFemurAngle = IKFemurAngle
RFTibiaAngle = IKTibiaAngle
;Right Middle leg
GOSUB BodyIK -RMPosX+BodyPosX+RMGaitPosX, RMPosZ+BodyPosZ+RMGaitPosZ,RMPosY+BodyPosY+BodyYShift+RMGaitPosY, RMOffsetX, RMOffsetZ, RMGaitRotY]
GOSUB LegIK [RMPosX-BodyPosX+BodyIKPosX-RMGaitPosX, RMPosY+BodyPosY+BodyYShift-BodyIKPosY+RMGaitPosY, RMPosZ+BodyPosZ-BodyIKPosZ+RMGaitPosZ]
RMCoxaAngle = IKCoxaAngle
RMFemurAngle = IKFemurAngle
RMTibiaAngle = IKTibiaAngle
;Right Rear leg
GOSUB BodyIK -RRPosX+BodyPosX+RRGaitPosX, RRPosZ+BodyPosZ+RRGaitPosZ,RRPosY+BodyPosY+BodyYShift+RRGaitPosY, RROffsetX, RROffsetZ, RRGaitRotY]
GOSUB LegIK [RRPosX-BodyPosX+BodyIKPosX-RRGaitPosX, RRPosY+BodyPosY+BodyYShift-BodyIKPosY+RRGaitPosY, RRPosZ+BodyPosZ-BodyIKPosZ+RRGaitPosZ]
RRCoxaAngle = IKCoxaAngle - CoxaAngle ;Angle for the basic setup for the front leg
RRFemurAngle = IKFemurAngle
RRTibiaAngle = IKTibiaAngle
;Left Front leg
GOSUB BodyIK [LFPosX-BodyPosX+LFGaitPosX, LFPosZ+BodyPosZ+LFGaitPosZ,LFPosY+BodyPosY+BodyYShift+LFGaitPosY, LFOffsetX, LFOffsetZ, LFGaitRotY]
GOSUB LegIK [LFPosX+BodyPosX-BodyIKPosX+LFGaitPosX, LFPosY+BodyPosY+BodyYShift-BodyIKPosY+LFGaitPosY, LFPosZ+BodyPosZ-BodyIKPosZ+LFGaitPosZ]
LFCoxaAngle = IKCoxaAngle + CoxaAngle ;Angle for the basic setup for the front leg
LFFemurAngle = IKFemurAngle
LFTibiaAngle = IKTibiaAngle
;Left Middle leg
GOSUB BodyIK [LMPosX-BodyPosX+LMGaitPosX, LMPosZ+BodyPosZ+LMGaitPosZ,LMPosY+BodyPosY+BodyYShift+LMGaitPosY, LMOffsetX, LMOffsetZ, LMGaitRotY]
GOSUB LegIK [LMPosX+BodyPosX-BodyIKPosX+LMGaitPosX, LMPosY+BodyPosY+BodyYShift-BodyIKPosY+LMGaitPosY, LMPosZ+BodyPosZ-BodyIKPosZ+LMGaitPosZ]
LMCoxaAngle = IKCoxaAngle
LMFemurAngle = IKFemurAngle
LMTibiaAngle = IKTibiaAngle
;Left Rear leg
GOSUB BodyIK [LRPosX-BodyPosX+LRGaitPosX, LRPosZ+BodyPosZ+LRGaitPosZ,LRPosY+BodyPosY+BodyYShift+LRGaitPosY, LROffsetX, LROffsetZ, LRGaitRotY]
GOSUB LegIK [LRPosX+BodyPosX-BodyIKPosX+LRGaitPosX, LRPosY+BodyPosY+BodyYShift-BodyIKPosY+LRGaitPosY, LRPosZ+BodyPosZ-BodyIKPosZ+LRGaitPosZ]
LRCoxaAngle = IKCoxaAngle - CoxaAngle ;Angle for the basic setup for the front leg
LRFemurAngle = IKFemurAngle
LRTibiaAngle = IKTibiaAngle
GOSUB CheckAngles
LedC = IKSolutionWarning
LedA = IKSolutionError
;Read input
GOSUB Ps2Input
;GOSUB ReadButtons ;I/O used by the PS2 remote
;GOSUB WriteLeds ;I/O used by the PS2 remote
;Get endtime and calculate wait time
GOSUB GetCurrentTime], lTimerEnd
CycleTime = (lTimerEnd-lTimerStart)/WTIMERTICSPERMS
IF(HexOn)THEN
;Wait for previous commands to be completed while walking
IF(ABS(TravelLengthX)>TravelDeadZone | ABS(TravelLengthZ)>TravelDeadZone | ABS(TravelRotationY*2)>TravelDeadZone) THEN
pause (PrevSSCTime - CycleTime -50) MIN 1 ; Min 1 ensures that there alway is a value in the pause command
IF(BalanceMode=0)THEN
SSCTime = NomGaitSpeed + (InputTimeDelay*2)
ELSE
SSCTime = NomGaitSpeed + (InputTimeDelay*2) + 100
ENDIF
ELSE
SSCTime = 200 ;NomGaitSpeed
ENDIF
GOSUB ServoDriver
ELSE
;Turn the bot off
GOSUB FreeServos
ENDIF
goto main
;====================================================================
;[ReadButtons] Reading input buttons from the ABB
ReadButtons:
input P4
input P5
input P6
prev_butA = butA
prev_butB = butB
prev_butC = butC
butA = IN4
butB = IN5
butC = IN6
return
;--------------------------------------------------------------------
;[WriteLEDs] Updates the state of the leds
WriteLEDs:
if ledA = 1 THEN
low p4
ENDIF
if ledB = 1 THEN
low p5
ENDIF
if ledC = 1 THEN
low p6
ENDIF
return
;--------------------------------------------------------------------
;[PS2Input] reads the input data from the Wiiremote and processes the
;data to the parameters.
Ps2Input:
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$1\8]
shiftin PS2DAT,PS2CLK,FASTLSBPOST,[DS2Mode\8]
high PS2SEL
pause 1
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$1\8,$42\8]
shiftin PS2DAT,PS2CLK,FASTLSBPOST,[DualShock(0)\8, DualShock(1)\8, DualShock(2)\8, DualShock(3)\8, |
DualShock(4)\8, DualShock(5)\8, DualShock(6)\8]
high PS2SEL
pause 1
if DS2Mode <> PadMode THEN
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$1\8,$43\8,$0\8,$1\8,$0\8] ;CONFIG_MODE_ENTER
high PS2SEL
pause 1
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$44\8,$00\8,$01\8,$03\8,$00\8,$00\8,$00\8,$00\8] ;SET_MODE_AND_LOCK
high PS2SEL
pause 1
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$4F\8,$00\8,$FF\8,$FF\8,$03\8,$00\8,$00\8,$00\8] ;SET_DS2_NATIVE_MODE
high PS2SEL
pause 1
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$5A\8,$5A\8,$5A\8,$5A\8,$5A\8] ;CONFIG_MODE_EXIT_DS2_NATIVE
high PS2SEL
pause 1
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8] ;CONFIG_MODE_EXIT
high PS2SEL
pause 100
sound P9,[100\4000, 100\4500, 100\5000]
return
ENDIF
IF (DualShock(1).bit3 = 0) and LastButton(0).bit3 THEN ;Start Button test
IF(HexOn) THEN
'Turn off
Sound P9,[100\5000,80\4500,60\4000]
BodyPosX = 0
BodyPosY = 0
BodyPosZ = 0
BodyRotX = 0
BodyRotY = 0
BodyRotZ = 0
TravelLengthX = 0
TravelLengthZ = 0
TravelRotationY = 0
SSCTime = 600
GOSUB ServoDriver
HexOn = False
ELSE
'Turn on
Sound P9,[60\4000,80\4500,100\5000]
SSCTime = 200
HexOn = True
ENDIF
ENDIF
IF HexOn THEN
IF (DualShock(1).bit0 = 0) and LastButton(0).bit0 THEN ;Select Button test
IF TravelLengthX=0 & TravelLengthZ=0 & TravelRotationY=0 THEN
;Switch to next Gait type
IF GaitType<5 THEN
Sound P9,[50\4000]
GaitType = GaitType+1
ELSE
Sound P9,[50\4000, 50\4500]
GaitType = 0
ENDIF
GOSUB GaitSelect
ENDIF
ENDIF
IF (DualShock(1).bit4 = 0) and LastButton(0).bit4 THEN ;Up Button test
BodyPosY = BodyPosY+10
ENDIF
IF (DualShock(1).bit6 = 0) and LastButton(0).bit6 THEN ;Down Button test
BodyPosY = BodyPosY-10
ENDIF
IF (DualShock(2).bit4 = 0) and LastButton(1).bit4 THEN ;Triangle Button test
BodyPosY = 35
ENDIF
IF (DualShock(2).bit5 = 0) and LastButton(1).bit5 THEN ;Circle Button test
BodyPosY = 0
ENDIF
’ IF (DualShock(2).bit6 = 0) and LastButton(1).bit6 THEN ;Cross Button test
’ ENDIF
IF (DualShock(2).bit7 = 0) and LastButton(1).bit7 THEN ;Square Button test
IF BalanceMode = 0 THEN
BalanceMode = 1
sound P9,[100\4000, 50\8000]
ELSE
BalanceMode = 0
sound P9,[250\3000]
ENDIF
ENDIF
IF (DualShock(2).bit3 = 0) THEN ;R1 Button test
LegLiftHeight = 80
ELSE
LegLiftHeight = 50
ENDIF
BodyYShift = 0
IF (DualShock(2).bit2 = 0) THEN ;L1 Button test
BodyPosX = (Dualshock(5) - 128)/2
BodyPosZ = -(Dualshock(6) - 128)/3
BodyRotY = (Dualshock(3) - 128)/6
BodyYShift = (-(Dualshock(4) - 128)/2)MIN-(BodyPosY-10)
ELSEIF (DualShock(2).bit0 = 0) ;L2 Button test
BodyRotX = (Dualshock(6) - 128)/8
BodyRotY = (Dualshock(3) - 128)/6
BodyRotZ = (Dualshock(5) - 128)/8
BodyYShift = (-(Dualshock(4) - 128)/2)MIN-(BodyPosY-10)
ELSE ;Walk
'BodyPosX = 0
'BodyPosZ = 0
'BodyRotX = 0
'BodyRotY = 0
'BodyRotZ = 0
IF (DualShock(2).bit1 = 0) THEN ;R2 Button test
TravelLengthX = -(Dualshock(5) - 128)
TravelLengthZ = (Dualshock(6) - 128)
ELSE
TravelLengthX = -(Dualshock(5) - 128)/2
TravelLengthZ = (Dualshock(6) - 128)/2
ENDIF
TravelRotationY = -(Dualshock(3) - 128)/4
ENDIF
;Calculate walking time delay
InputTimeDelay = 128 - (ABS((Dualshock(5) - 128)) MIN ABS((Dualshock(6) - 128))) MIN ABS((Dualshock(3) - 128))
ENDIF
LastButton(0) = DualShock(1)
LastButton(1) = DualShock(2)
return
;--------------------------------------------------------------------
;[GAIT Select]
GaitSelect
;Gait selector
IF (GaitType = 0) THEN ;Ripple Gait 6 steps
LRGaitLegNr = 1
RFGaitLegNr = 2
LMGaitLegNr = 3
RRGaitLegNr = 4
LFGaitLegNr = 5
RMGaitLegNr = 6
NrLiftedPos = 1
TLDivFactor = 4
StepsInGait = 6
NomGaitSpeed = 150
ENDIF
IF (GaitType = 1) THEN ;Ripple Gait 12 steps
LRGaitLegNr = 1
RFGaitLegNr = 3
LMGaitLegNr = 5
RRGaitLegNr = 7
LFGaitLegNr = 9
RMGaitLegNr = 11
NrLiftedPos = 3
HalfLiftHeigth = TRUE
TLDivFactor = 8
StepsInGait = 12
NomGaitSpeed = 100
ENDIF
IF (GaitType = 2) THEN ;Quadripple 9 steps
LRGaitLegNr = 1
RFGaitLegNr = 2
LMGaitLegNr = 4
RRGaitLegNr = 5
LFGaitLegNr = 7
RMGaitLegNr = 8
NrLiftedPos = 2
HalfLiftHeigth = FALSE
TLDivFactor = 6
StepsInGait = 9
NomGaitSpeed = 150
ENDIF
IF (GaitType = 3) THEN ;Wave 12 steps
LRGaitLegNr = 7
RFGaitLegNr = 1
LMGaitLegNr = 9
RRGaitLegNr = 5
LFGaitLegNr = 11
RMGaitLegNr = 3
NrLiftedPos = 1
HalfLiftHeigth = FALSE
TLDivFactor = 10
StepsInGait = 12
NomGaitSpeed = 120
ENDIF
IF (GaitType = 4) THEN ;Wave 18 steps
LRGaitLegNr = 10
RFGaitLegNr = 1
LMGaitLegNr = 13
RRGaitLegNr = 7
LFGaitLegNr = 16
RMGaitLegNr = 4
NrLiftedPos = 2
HalfLiftHeigth = FALSE
TLDivFactor = 16
StepsInGait = 18
NomGaitSpeed = 100
ENDIF
IF (GaitType = 5) THEN ;Wave 24 steps
LRGaitLegNr = 1
RFGaitLegNr = 21
RRGaitLegNr = 13
LFGaitLegNr = 9
NrLiftedPos = 3
HalfLiftHeigth = 0
TLDivFactor = 20
StepsInGait = 24
NomGaitSpeed = 100
ENDIF
return
;--------------------------------------------------------------------
;[GAIT Sequence]
GaitSeq
;Calculate Gait sequence
LastLeg = FALSE
GOSUB Gait [LRGaitLegNr, LRGaitPosX, LRGaitPosY, LRGaitPosZ, LRGaitRotY]
LRGaitPosX = GaitPosX
LRGaitPosY = GaitPosY
LRGaitPosZ = GaitPosZ
LRGaitRotY = GaitRotY
GOSUB Gait [RFGaitLegNr, RFGaitPosX, RFGaitPosY, RFGaitPosZ, RFGaitRotY]
RFGaitPosX = GaitPosX
RFGaitPosY = GaitPosY
RFGaitPosZ = GaitPosZ
RFGaitRotY = GaitRotY
GOSUB Gait [LMGaitLegNr, LMGaitPosX, LMGaitPosY, LMGaitPosZ, LMGaitRotY]
LMGaitPosX = GaitPosX
LMGaitPosY = GaitPosY
LMGaitPosZ = GaitPosZ
LMGaitRotY = GaitRotY
GOSUB Gait [RRGaitLegNr, RRGaitPosX, RRGaitPosY, RRGaitPosZ, RRGaitRotY]
RRGaitPosX = GaitPosX
RRGaitPosY = GaitPosY
RRGaitPosZ = GaitPosZ
RRGaitRotY = GaitRotY
GOSUB Gait [LFGaitLegNr, LFGaitPosX, LFGaitPosY, LFGaitPosZ, LFGaitRotY]
LFGaitPosX = GaitPosX
LFGaitPosY = GaitPosY
LFGaitPosZ = GaitPosZ
LFGaitRotY = GaitRotY
LastLeg = TRUE
GOSUB Gait [RMGaitLegNr, RMGaitPosX, RMGaitPosY, RMGaitPosZ, RMGaitRotY]
RMGaitPosX = GaitPosX
RMGaitPosY = GaitPosY
RMGaitPosZ = GaitPosZ
RMGaitRotY = GaitRotY
return
;--------------------------------------------------------------------
;[GAIT]
Gait [GaitLegNr, GaitPosX, GaitPosY, GaitPosZ, GaitRotY]
;Check IF the Gait is in motion
GaitInMotion = ((ABS(TravelLengthX)>TravelDeadZone) | (ABS(TravelLengthZ)>TravelDeadZone) | (ABS(TravelRotationY)>TravelDeadZone) )
;Leg middle up position
;Gait in motion Gait NOT in motion, return to home position
IF (GaitInMotion & (NrLiftedPos=1 | NrLiftedPos=3) & GaitStep=GaitLegNr) | (GaitInMotion=FALSE & GaitStep=GaitLegNr & ((ABS(GaitPosX)>2) | (ABS(GaitPosZ)>2) | (ABS(GaitRotY)>2))) THEN ;Up
GaitPosX = 0
GaitPosY = -LegLiftHeight
GaitPosZ = 0
GaitRotY = 0
ELSE
;Optional Half heigth Rear
IF ((NrLiftedPos=2 & GaitStep=GaitLegNr) | (NrLiftedPos=3 & (GaitStep=GaitLegNr-1 | GaitStep=GaitLegNr+(StepsInGait-1)))) & GaitInMotion THEN
GaitPosX = -TravelLengthX/2
GaitPosY = -LegLiftHeight/(HalfLiftHeigth+1)
GaitPosZ = -TravelLengthZ/2
GaitRotY = -TravelRotationY/2
ELSE
;Optional half heigth front
IF (NrLiftedPos>=2) & (GaitStep=GaitLegNr+1 | GaitStep=GaitLegNr-(StepsInGait-1)) & GaitInMotion THEN
GaitPosX = TravelLengthX/2
GaitPosY = -LegLiftHeight/(HalfLiftHeigth+1)
GaitPosZ = TravelLengthZ/2
GaitRotY = TravelRotationY/2
ELSE
;Leg front down position
IF (GaitStep=GaitLegNr+NrLiftedPos | GaitStep=GaitLegNr-(StepsInGait-NrLiftedPos)) & GaitPosY<0 THEN
GaitPosX = TravelLengthX/2
GaitPosY = 0
GaitPosZ = TravelLengthZ/2
GaitRotY = TravelRotationY/2
;Move body forward
ELSE
GaitPosX = GaitPosX - (TravelLengthX/TLDivFactor)
GaitPosY = 0
GaitPosZ = GaitPosZ - (TravelLengthZ/TLDivFactor)
GaitRotY = GaitRotY - (TravelRotationY/TLDivFactor)
ENDIF
ENDIF
ENDIF
ENDIF
;Advance to the next step
IF LastLeg THEN ;The last leg in this step
GaitStep = GaitStep+1
IF GaitStep>StepsInGait THEN
GaitStep = 1
ENDIF
ENDIF
return
;--------------------------------------------------------------------
;[BalCalcOneLeg]
BalCalcOneLeg [PosX, PosZ, PosY, BodyOffsetX, BodyOffsetZ]
;Calculating totals from center of the body to the feet
TotalZ = BodyOffsetZ+PosZ
TotalX = BodyOffsetX+PosX
TotalY = 150 + PosY’ using the value 150 to lower the centerpoint of rotation 'BodyPosY +
TotalTransY = TotalTransY + PosY
TotalTransZ = TotalTransZ + TotalZ
TotalTransX = TotalTransX + TotalX
gosub GetBoogTan [TotalX, TotalZ]
TotalYbal = TotalYbal + TOINT((BoogTan180.0) / 3.141592)
gosub GetBoogTan [TotalX, TotalY]
TotalZbal = TotalZbal + TOINT((BoogTan180.0) / 3.141592)
gosub GetBoogTan [TotalZ, TotalY]
TotalXbal = TotalXbal + TOINT((BoogTan*180.0) / 3.141592)
'serout S_OUT, i9600, “BalOneLeg PosX=”, sdec PosX," PosZ=", sdec PosZ," TotalXTransZ=", sdec TotalTransZ, 13]
return
;--------------------------------------------------------------------
;[BalanceBody]
BalanceBody:
TotalTransZ = TotalTransZ/6
TotalTransX = TotalTransX/6
TotalTransY = TotalTransY/6
if TotalYbal < -180 then 'Tangens fix caused by +/- 180 deg
TotalYbal = TotalYbal + 360
endif
if TotalZbal < -180 then 'Tangens fix caused by +/- 180 deg
TotalZbal = TotalZbal + 360
endif
if TotalXbal < -180 then 'Tangens fix caused by +/- 180 deg
TotalXbal = TotalXbal + 360
endif
;Balance rotation
TotalYBal = TotalYbal/6
TotalXBal = TotalXbal/6
TotalZBal = -TotalZbal/6
;Balance translation
LFGaitPosZ = LFGaitPosZ - TotalTransZ
LMGaitPosZ = LMGaitPosZ - TotalTransZ
LRGaitPosZ = LRGaitPosZ - TotalTransZ
RFGaitPosZ = RFGaitPosZ - TotalTransZ
RMGaitPosZ = RMGaitPosZ - TotalTransZ
RRGaitPosZ = RRGaitPosZ - TotalTransZ
LFGaitPosX = LFGaitPosX - TotalTransX
LMGaitPosX = LMGaitPosX - TotalTransX
LRGaitPosX = LRGaitPosX - TotalTransX
RFGaitPosX = RFGaitPosX - TotalTransX
RMGaitPosX = RMGaitPosX - TotalTransX
RRGaitPosX = RRGaitPosX - TotalTransX
LFGaitPosY = LFGaitPosY - TotalTransY
LMGaitPosY = LMGaitPosY - TotalTransY
LRGaitPosY = LRGaitPosY - TotalTransY
RFGaitPosY = RFGaitPosY - TotalTransY
RMGaitPosY = RMGaitPosY - TotalTransY
RRGaitPosY = RRGaitPosY - TotalTransY
return
;--------------------------------------------------------------------
;[GETSINCOS] Get the sinus and cosinus from the angle +/- multiple circles
;AngleDeg - Input Angle in degrees
;SinA - Output Sinus of AngleDeg
;CosA - Output Cosinus of AngleDeg
GetSinCos [AngleDeg]
;Get the absolute value of AngleDeg
IF AngleDeg < 0.0 THEN
ABSAngleDeg = AngleDeg *-1.0
ELSE
ABSAngleDeg = AngleDeg
ENDIF
;Shift rotation to a full circle of 360 deg -> AngleDeg // 360
IF AngleDeg < 0.0 THEN ;Negative values
AngleDeg = 360.0-(ABSAngleDeg-TOFLOAT(360*(TOINT(ABSAngleDeg/360.0))))
ELSE ;Positive values
AngleDeg = ABSAngleDeg-TOFLOAT(360*(TOINT(ABSAngleDeg/360.0)))
ENDIF
IF AngleDeg < 180.0 THEN ;Angle between 0 and 180
;Subtract 90 to shift range
AngleDeg = AngleDeg -90.0
;Convert degree to radials
AngleRad = (AngleDeg*3.141592)/180.0
SinA = FCOS(AngleRad) ;Sin o to 180 deg = cos(Angle Rad - 90deg)
CosA = -FSIN(AngleRad) ;Cos 0 to 180 deg = -sin(Angle Rad - 90deg)
ELSE ;Angle between 180 and 360
;Subtract 270 to shift range
AngleDeg = AngleDeg -270.0
;Convert degree to radials
AngleRad = (AngleDeg*3.141592)/180.0
SinA = -FCOS(AngleRad) ;Sin 180 to 360 deg = -cos(Angle Rad - 270deg)
CosA = FSIN(AngleRad) ;Cos 180 to 360 deg = sin(Angle Rad - 270deg)
ENDIF
return
;--------------------------------------------------------------------
;[BOOGTAN2] Gets the Inverse Tangus from X/Y with the where Y can be zero or negative
;BoogTanX - Input X
;BoogTanY - Input Y
;BoogTan - Output BOOGTAN2(X/Y)
GetBoogTan [BoogTanX, BoogTanY]
IF(BoogTanX = 0) THEN ; X=0 -> 0 or PI
IF(BoogTanY >= 0) THEN
BoogTan = 0.0
ELSE
BoogTan = 3.141592
ENDIF
ELSE
IF(BoogTanY = 0) THEN ; Y=0 -> +/- Pi/2
IF(BoogTanX > 0) THEN
BoogTan = 3.141592 / 2.0
ELSE
BoogTan = -3.141592 / 2.0
ENDIF
ELSE
IF(BoogTanY > 0) THEN ;BOOGTAN(X/Y)
BoogTan = FATAN(TOFLOAT(BoogTanX) / TOFLOAT(BoogTanY))
ELSE
IF(BoogTanX > 0) THEN ;BOOGTAN(X/Y) + PI
BoogTan = FATAN(TOFLOAT(BoogTanX) / TOFLOAT(BoogTanY)) + 3.141592
ELSE ;BOOGTAN(X/Y) - PI
BoogTan = FATAN(TOFLOAT(BoogTanX) / TOFLOAT(BoogTanY)) - 3.141592
ENDIF
ENDIF
ENDIF
ENDIF
return
;--------------------------------------------------------------------
;[BODY INVERSE KINEMATICS]
;BodyRotX - Global Input pitch of the body
;BodyRotY - Global Input rotation of the body
;BodyRotZ - Global Input roll of the body
;RotationY - Input Rotation for the gait
;PosX - Input position of the feet X
;PosZ - Input position of the feet Z
;BodyOffsetX - Input Offset betweeen the body and Coxa X
;BodyOffsetZ - Input Offset betweeen the body and Coxa Z
;SinB - Sin buffer for BodyRotX
;CosB - Cos buffer for BodyRotX
;SinG - Sin buffer for BodyRotZ
;CosG - Cos buffer for BodyRotZ
;BodyIKPosX - Output Position X of feet with Rotation
;BodyIKPosY - Output Position Y of feet with Rotation
;BodyIKPosZ - Output Position Z of feet with Rotation
BodyIK [PosX, PosZ, PosY, BodyOffsetX, BodyOffsetZ, RotationY]
;Calculating totals from center of the body to the feet
TotalZ = BodyOffsetZ+PosZ
TotalX = BodyOffsetX+PosX
;PosY are equal to a “TotalY”
;Successive global rotation matrix:
;Math shorts for rotation: Alfa (A) = Xrotate, Beta (B) = Zrotate, Gamma (G) = Yrotate
;Sinus Alfa = sinA, cosinus Alfa = cosA. and so on…
;First calculate sinus and cosinus for each rotation:
GOSUB GetSinCos [TOFLOAT(BodyRotX+TotalXBal)]
SinG = SinA
CosG = CosA
GOSUB GetSinCos [TOFLOAT(BodyRotZ+TotalZBal)]
SinB = SinA
CosB = CosA
GOSUB GetSinCos [TOFLOAT(BodyRotY+RotationY+TotalYBal)]
;Calcualtion of rotation matrix:
BodyIKPosX = TotalX-TOINT(TOFLOAT(TotalX)CosACosB - TOFLOAT(TotalZ)CosBSinA + TOFLOAT(PosY)SinB)
BodyIKPosZ = TotalZ-TOINT(TOFLOAT(TotalX)CosGSinA + TOFLOAT(TotalX)CosASinBSinG +TOFLOAT(TotalZ)CosACosG-TOFLOAT(TotalZ)SinASinBSinG-TOFLOAT(PosY)CosBSinG)
BodyIKPosY = PosY - TOINT(TOFLOAT(TotalX)SinASinG - TOFLOAT(TotalX)CosACosGSinB + TOFLOAT(TotalZ)CosASinG + TOFLOAT(TotalZ)CosGSinA*SinB + TOFLOAT(PosY)CosBCosG)
return
;--------------------------------------------------------------------
;[LEG INVERSE KINEMATICS] Calculates the angles of the tibia and femur for the given position of the feet
;IKFeetPosX - Input position of the Feet X
;IKFeetPosY - Input position of the Feet Y
;IKFeetPosZ - Input Position of the Feet Z
;IKSolution - Output true IF the solution is possible
;IKSolutionWarning - Output true IF the solution is NEARLY possible
;IKSolutionError - Output true IF the solution is NOT possible
;IKFemurAngle - Output Angle of Femur in degrees
;IKTibiaAngle - Output Angle of Tibia in degrees
;IKCoxaAngle - Output Angle of Coxa in degrees
LegIK [IKFeetPosX, IKFeetPosY, IKFeetPosZ]
;Length between the Coxa and Feet
IKFeetPosXZ = TOINT(FSQRT(TOFLOAT((IKFeetPosX*IKFeetPosX)+(IKFeetPosZ*IKFeetPosZ))))
;IKSW - Length between shoulder and wrist
IKSW = FSQRT(TOFLOAT(((IKFeetPosXZ-CoxaLength)*(IKFeetPosXZ-CoxaLength))+(IKFeetPosY*IKFeetPosY)))
;IKA1 - Angle between SW line and the ground in rad
GOSUB GetBoogTan [IKFeetPosXZ-CoxaLength, IKFeetPosY]
IKA1 = BoogTan
;IKA2 - ?
IKA2 = FACOS((TOFLOAT((FemurLength*FemurLength) - (TibiaLength*TibiaLength)) + (IKSW*IKSW)) / (TOFLOAT(2*Femurlength) * IKSW))
;IKFemurAngle
IKFemurAngle = (TOINT(((IKA1 + IKA2) * 180.0) / 3.141592)*-1)+90
;IKTibiaAngle
IKTibiaAngle = (90-TOINT(((FACOS((TOFLOAT((FemurLength*FemurLength) + (TibiaLength*TibiaLength)) - (IKSW*IKSW)) / TOFLOAT(2*Femurlength*TibiaLength)))*180.0) / 3.141592)) * -1
;IKCoxaAngle
GOSUB GetBoogTan [IKFeetPosZ, IKFeetPosX]
IKCoxaAngle = TOINT((BoogTan*180.0) / 3.141592)
;Set the Solution quality
IF(IKSW < TOFLOAT(FemurLength+TibiaLength-30)) THEN
IKSolution = TRUE
ELSE
IF(IKSW < TOFLOAT(FemurLength+TibiaLength)) THEN
IKSolutionWarning = TRUE
ELSE
IKSolutionError = TRUE
ENDIF
ENDIF
return
;--------------------------------------------------------------------
;[CHECK ANGLES] Checks the mechanical limits of the servos
CheckAngles:
RFCoxaAngle = (RFCoxaAngle min RFCoxa_MIN) max RFCoxa_MAX
RFFemurAngle = (RFFemurAngle min RFFemur_MIN) max RFFemur_MAX
RFTibiaAngle = (RFTibiaAngle min RFTibia_MIN) max RFTibia_MAX
RMCoxaAngle = (RMCoxaAngle min RMCoxa_MIN) max RMCoxa_MAX
RMFemurAngle = (RMFemurAngle min RMFemur_MIN) max RMFemur_MAX
RMTibiaAngle = (RMTibiaAngle min RMTibia_MIN) max RMTibia_MAX
RRCoxaAngle = (RRCoxaAngle min RRCoxa_MIN) max RRCoxa_MAX
RRFemurAngle = (RRFemurAngle min RRFemur_MIN) max RRFemur_MAX
RRTibiaAngle = (RRTibiaAngle min RRTibia_MIN) max RRTibia_MAX
LFCoxaAngle = (LFCoxaAngle min LFCoxa_MIN) max LFCoxa_MAX
LFFemurAngle = (LFFemurAngle min LFFemur_MIN) max LFFemur_MAX
LFTibiaAngle = (LFTibiaAngle min LFTibia_MIN) max LFTibia_MAX
LMCoxaAngle = (LMCoxaAngle min LMCoxa_MIN) max LMCoxa_MAX
LMFemurAngle = (LMFemurAngle min LMFemur_MIN) max LMFemur_MAX
LMTibiaAngle = (LMTibiaAngle min LMTibia_MIN) max LMTibia_MAX
LRCoxaAngle = (LRCoxaAngle min LRCoxa_MIN) max LRCoxa_MAX
LRFemurAngle = (LRFemurAngle min LRFemur_MIN) max LRFemur_MAX
LRTibiaAngle = (LRTibiaAngle min LRTibia_MIN) max LRTibia_MAX
return
;--------------------------------------------------------------------
;[SERVO DRIVER] Updates the positions of the servos
ServoDriver:
;Front Right leg
serout SSC_OUT,SSC_BAUTE,"#",dec RFCoxaPin,“P”,dec TOINT(TOFLOAT(-RFCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RFFemurPin,“P”,dec TOINT(TOFLOAT(-RFFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RFTibiaPin,“P”,dec TOINT(TOFLOAT(-RFTibiaAngle+90)/0.10588238)+650]
;Middle Right leg
serout SSC_OUT,SSC_BAUTE,"#",dec RMCoxaPin,“P”,dec TOINT(TOFLOAT(-RMCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RMFemurPin,“P”,dec TOINT(TOFLOAT(-RMFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RMTibiaPin,“P”,dec TOINT(TOFLOAT(-RMTibiaAngle+90)/0.10588238)+650]
;Rear Right leg
serout SSC_OUT,SSC_BAUTE,"#",dec RRCoxaPin,“P”,dec TOINT(TOFLOAT(-RRCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RRFemurPin,“P”,dec TOINT(TOFLOAT(-RRFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec RRTibiaPin,“P”,dec TOINT(TOFLOAT(-RRTibiaAngle+90)/0.10588238)+650]
;Front Left leg
serout SSC_OUT,SSC_BAUTE,"#",dec LFCoxaPin,“P”,dec TOINT(TOFLOAT(LFCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LFFemurPin,“P”,dec TOINT(TOFLOAT(LFFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LFTibiaPin ,“P”,dec TOINT(TOFLOAT(LFTibiaAngle+90)/0.10588238)+650]
;Middle Left leg
serout SSC_OUT,SSC_BAUTE,"#",dec LMCoxaPin,“P”,dec TOINT(TOFLOAT(LMCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LMFemurPin,“P”,dec TOINT(TOFLOAT(LMFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LMTibiaPin,“P”,dec TOINT(TOFLOAT(LMTibiaAngle+90)/0.10588238)+650]
;Rear Left leg
serout SSC_OUT,SSC_BAUTE,"#",dec LRCoxaPin,“P”,dec TOINT(TOFLOAT(LRCoxaAngle +90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LRFemurPin,“P”,dec TOINT(TOFLOAT(LRFemurAngle+90)/0.10588238)+650]
serout SSC_OUT,SSC_BAUTE,"#",dec LRTibiaPin,“P”,dec TOINT(TOFLOAT(LRTibiaAngle+90)/0.10588238)+650]
;Send
serout SSC_OUT,SSC_BAUTE,“T”,dec SSCTime,13]
PrevSSCTime = SSCTime
return
;--------------------------------------------------------------------
;[FREE SERVOS] Frees all the servos
FreeServos
for Index = 0 to 31
serout SSC_OUT,SSC_BAUTE,"#",DEC Index,“P0”]
next
serout SSC_OUT,SSC_BAUTE,“T200”,13]
return
;-----------------------------------------------------------------------------------
;[Handle TimerW interrupt]
BEGINASMSUB
HANDLE_TIMERW
push.w r1 ; save away register we will use
bclr #7,@TSRW:8 ; clear the overflow bit in the Timer status word
mov.w @LTIMERWOVERFLOWCNT+1:16,r1 ; We will increment the word that is the highword for a clock timer
inc.w #1,r1
mov.w r1, @LTIMERWOVERFLOWCNT+1:16
pop.w r1 ; restore our registers
rte ; and return
return
;-------------------------------------------------------------------------------------
;[Simple function to get the current time and verify that no overflow happened]
GetCurrentTime
lCurrentTime = lTimerWoverflowCnt + TCNT ; calculate the timer
IF lCurrentTime.highword <> lTimerWOverflowcnt.highword THEN
lCurrentTime = lTimerWoverflowCnt + TCNT ; calculate the timer
ENDIF
return lCurrentTIme
;--------------------------------------------------------------------
[/code]
hello. always better to use Attachments when posting code, rather than pasting it.
i clicked on the link but… i dont have permission to view this video! 
i think your settings are set on Private account. ?
you could always take a picture of its 1500 pos.
also when the start button is pushed it only turns it on and the legs should be in there init pos. e.g
as shown before.
these may need to be changed for your legs.
[code]'Feet Positions
RFPosX = 53 ;Start positions of the Right Front leg
RFPosY = 25
RFPosZ = -91
RRPosX = 53 ;Start positions of the Right Rear leg
RRPosY = 25
RRPosZ = 91
LFPosX = 53 ;Start positions of the Left Front leg
LFPosY = 25
LFPosZ = -91
LRPosX = 53 ;Start positions of the Left Rear leg
LRPosY = 25
LRPosZ = 91[/code]
its only once you push triangle should the body move up to its walk pos.
IF (DualShock(2).bit4 = 0) and LastButton(1).bit4 THEN ;Triangle Button test
BodyPosY = 35
ENDIF
these numbers can be change to what ever height you want. at this point it should resemble the 1500 pos. (or neutral)
Yeah I had a bad feeling about posting that much code. I’ll have to figure out how to attach a file. The video should be publ;ic and viewable now.
I am currently adjusting the starting leg positions and trying to get a better walk going.
slowly but surely…
From what I saw in the video, all that is necessary for you to do is pull the center screw from the servo, pull the round “horn” off the servo. Rotate it 90° and reinstall it. With all = 1500 the femur should be horizontal and the tibia should be vertical. Do that and it should be walking…
yes, also i notice that your tibias are working in reverse. mainly noticeable when you were adjusting the ride height. you will also need to flip these over so that the servo horn faces the camera. your legs have been built backwards.
Or you can swap the left and right servo channels, turn it over, rotate the horizontal servos 180 degrees and… um… wait a minute… Better just do what Jonny said. 
umm… rebuild. your not far from getting it to walk. just a few teething probs to get out the way and your there. ill try working out your start position. zenta has a really good program (PEP) that will find these out for you.
Thank you Jonny and Jim, I’ll take your suggestions to the workbench, hopefully this weekend I’ll be walking.
you start pos should be something like this:
[code];[START POSITIONS FEET]
cRRInitPosX con 52 ;Start positions of the Right Rear leg
cRRInitPosY con 80
cRRInitPosZ con 91
cRFInitPosX con 52 ;Start positions of the Right Front leg
cRFInitPosY con 80
cRFInitPosZ con -91
cLRInitPosX con 52 ;Start positions of the Left Rear leg
cLRInitPosY con 80
cLRInitPosZ con 91
cLFInitPosX con 52 ;Start positions of the Left Front leg
cLFInitPosY con 80
cLFInitPosZ con -91[/code]