Bots are shipping tomorrow barring all mishaps. 8)
Cool! I already cleaned my desk to make room for my new buddy. And when we are done with this; it will walk over my mess without any problem! 8)
Kurt: I will update you with my latest version of my TA software as soon as possible. This way we can discuss the flowchard I posted in the hybrid (TA) topic.
You lucky guys! 
Thinking about all the effort you both have done to the phoenix code, its well earned.
Sounds great. Will be lots of fun!!!
Kurt
I just talked to Zenta about this.
Maybe it’s a good idea to start the last released version. Add all the fancy addons you, Zenta made and turn it into a new release. This will be a new starting point. Then I add my TA stuff and give it to you guys. Is this an idea?
The fancy stuff which will be included is:
- binary SSC command set (KurtE)
- Fast 115200 baud rate (KurtE)
- New Gait Triple Tripod (Zenta)
- More accurate PWM constant (Zenta)
- Something about SSC/BAP sync timing. (KurtE / Zenta)
This way we all work with the same basic setup. (Excluding xbee because I don’t have that yet… :’()
Zenta, can you give me a link to the latest T-Hex code so I can do an compare?
I hope to get this finished before the T-Hex arrives.
Xan
Sounds great!
It might also be nice to include the stuff I played with, that allowed the same source code to work for the 3dof and the 4dof and potentially a mix, such that everything is in the same base and those who order either configuration simply need to change their CFG file… I think it is posted up at: viewtopic.php?t=5670&p=68105#p68105
Kurt
Kurt and Jeroen, Please let me know ASAP if there is anything else you need. We are closing up the boxes very soon. 
Thanks, I think I have everything for now. Later I after we make some progress on the TA stuff may get stuff to go to 4dof for some or all legs. But if you have an extra 10 channel RC setup… (Just kidding)
Kurt
Thanks, I’m perfect! Looking forward to receive the box!
xan
I will provide tracking numbers tomorrow.
Ok, I’ve updated my list. Did you make this with optional compiling the the BAP don’t get stuffed with code which isn’t used? I didn’t have a look at it yet, maybe I should do that first before asking 
New List:
- binary SSC command set (KurtE)
- Fast 115200 baud rate (KurtE)
- New Gait Triple Tripod (Zenta)
- More accurate PWM constant (Zenta)
- Something about SSC/BAP sync timing. (KurtE / Zenta)
- Optional 3DOF/4DOF using optional compiling
Hi Xan,
Also:
- UseCodeOffsets (select between PO or your own offsets)
- LiPo Safety, useful for all LiPo owners
Yes it has a couple of conditional compile defines it uses.
-
#ifdef cTarsLength - Zenta defined this in the CFG file for the 4th degree. If it is not defined it should compile away the added code for 4th degree. I verified the code ran on my CHR-3 without it defined… But config is a little off as it is not a T-Hex
-
#ifdef PERLEGCONFIG - I added, verified it compiled… But don’t have anything with 4th degree yet… Maybe I should order some…
Yep you have a good list, I might also suggest adding in Zentas stuff for changing how sequences run on the fly…
Kurt
tanks zenta…!
Hi Kurt, your beast will be delivered Wednesday. I’m PMing you and Jeroen the tracking numbers now.
It arrived
Now I need to start programming again!
Kurt
Hi Xan,
Over the next few days I would like to start playing around with the new T-Hex .
I thought I would try out Zenta’s 4DOF version that I modified to make the 4th degree optional, like I mentioned before. I believe it has some of the other features in it as well, like Lipo…
But I am trying to decide a few things about hardware and input methods… The T-Hex came equipped with a PS2, which is great and I will keep it working with it as that is what most everyone else will use. However I would like to make it work with XBee as well. I know that you may want it to work with RC as well, but I am wondering about that as for IO pins. That is we have:
P0-5 : Inputs from foot sensors
P9: Speaker
P10-11: SSC-32
P12-P15: PS2
Currently: 6-8, 16-19 are unused.
If needed I could build an RC version to use some of the 7 unused pins.
For XBee: I would like the hardware serial port of the BAP28, which implies I need P14 and P15. The only 4 pin connection that is available is P16-P19, so I was thinking of moving my PS2 to that port (conditional defines in the CFG file). Will first try the built in pull-up resistor on P16 (H8 P11). It has worked on about half of the PS2’s, others it is too weak, so may have to solder in PU…
Suggestions, thoughts?
Kurt
Hi Kurt,
It’s a good thing to use the same pin layout for testing. This makes swapping software easier. Thanks for bringing it up.
Well, as you might know I think I’ve got the only DIY without XBEE. :’( So I’m still using up a lot of pins for my remote.
On the hybrid I used the following pin layout:
;[RC Controller Constands]
RCCh0 con P0 ;RC Remote Left Stick Up/Down (THRO)
RCCh1 con P1 ;RC Remote Right Stick Up/Down (AILE)
RCCh2 con P2 ;RC Remote Right Stick Left/Right (ELEV)
RCCh3 con P3 ;RC Remote Left Stick Left/Right (RUDD)
RCCh4 con P4 ;RC Remote Left Slider (GEAR)
RCCh5 con P5 ;RC Remote Right Slider (AUX1)
RCCh6 con P6 ;RC Remote Buttons (AUX2)
cRRGCSPin con 15 ;Right Rear Ground Contact Switch
cRMGCSPin con 14 ;Right Middle Ground Contact Switch
cRFGCSPin con 13 ;Right Front Ground Contact Switch
cLRGCSPin con 12 ;Left Rear Ground Contact Switch
cLMGCSPin con 8 ;Left Middle Ground Contact Switch
cLFGCSPin con 7 ;Left Front Ground Contact Switch
cSSC_OUT con P11 ;Output pin for (SSC32 RX) on BotBoard (Yellow)
cSSC_IN con P10 ;Input pin for (SSC32 TX) on BotBoard (Red)For me this is the most convenient since I don’t have to adjust the controller file. Also I have 2 connectors with 4 pins in a row so I need a 2 full rows to get it connected without having to set new pins on them.
Any input is welcome!
Xan
The current configuration is to have the contact switches on 0-5 such that I could use WKP interrupts with them… So not sure what the best thing to do would be…
Kurt