Newbie biped help

paragontrell · June 21, 2010, 1:18pm

hello all lets start by saying i no good at typing or spelling so please be aware i may look like im typing jibberish.

and now to the problem i decided to get it to robotics and thought the Brat would be good starting point (wrong should of got a book 1st ) but i got it any way it is built and all servos have been sorted to there required position it walks fine and plays cool little r2d2 tunes but i set it up for the water bottle destroy program but when it pans and detects it turns oppsite way from bottle have i missed some thing im using the bbII and atom pro running evry thing from windows 7 iv tried to reset it a few times and even rebuilt it but still goin away from target when detected iv follewed the tutorial 4-5 times and am stumped please help me if you can
many thanks
PT

p.s sorry bout the bad grammer and stuffs

fish-5 · June 21, 2010, 2:44pm

We’re going to need some more information here. For instance, what code are you using? What version of Basic Micro Studio are you using?
Some images of your robot and your wiring would be helpful as well.

paragontrell · June 21, 2010, 3:41pm

Thanks for the reply as to the software im using ATOM-pro ide 08.0.1.7 and the code is the one you download from the tutorial lynxmotion.com/images/files/abrat5.bas and i will try get pics on in a little while as wife has filled the camera with pics of kids so gota sort them 1st

many thanks
PT

paragontrell · June 22, 2010, 7:13am

having trouble with my pc and camera at moment so unable to post pics at this time but i can say iv checked the wiring a good few times and its 100% the same as tutorial lynxmotion.com/images/html/build133.htm iv even laid it out to make sure every thing was good but it still locates bottle and turns away be great if i was doing an avoider maybe i got a Pacifist robot any help or tips would be great

many thanks
PT

sn96 · June 22, 2010, 1:02pm

Can you post the code that you have? What servos are you using? some brand of servos can run backwards vs. hitec servos. This is strange.

paragontrell · June 22, 2010, 2:05pm

im using the standard hitec hs-422 all way and the code is[code];Program written for Bot Board II, Basic Micro Studio Ver. 1.0.0.10
;Written by Nathan Scherdin, modified by Jim and James Frye
;System variables
righthip con p10
rightknee con p8
rightankle con p7
lefthip con p6
leftknee con p5
leftankle con p4
head con p11

NUMSERVOS con 7
aServoOffsets var sword(NUMSERVOS)
;ServoTable bytetable RightHip,rightknee, rightankle,lefthip, leftknee, leftankle, head

TRUE con 1
FALSE con 0

;calibrate steps per degree.
stepsperdegree fcon 166.6

;You must calibrate the servos to “zero”. Each robot will be different!
;When homed in and servos are at 0 degrees the robot should be standing
;straight with the AtomPro chip pointing backward. If you know the number
;of degrees the servo is off, you can calculate the value. 166.6 steps
;per degree. The values for our test robot were found by running the
;program bratosf.bas written by James Frye.

;Interrupt init
ENABLEHSERVO
;==============================================================================
; Complete initialization
;==============================================================================
aServoOffsets = rep 0\NUMSERVOS ; Use the rep so if size changes we should properly init

; try to retrieve the offsets from EEPROM:

; see how well my pointers work
gosub ReadServoOffsets

;Init positions
;Note, movement subroutine arguments are Rightankle,Rightknee,Righthip,Leftankle,Leftknee,Lefthip,speed

pause 1000
hservo[head\0\0,righthip\0\0,rightknee\0\0,rightankle\0\0,lefthip\0\0,leftknee\0\0,leftankle\0\0]
pause 50
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
;low 1
;low 2
pause 500

command var byte
pos var sbyte
scancount var nib
ir var word
bat var word
detpos var sbyte
xx var nib
shortenir var nib

side1 var sbyte
side2 var sbyte
stepvar var sbyte

far con 120
middle con 250
close con 400

filter var byte
irtemp var word(10)

;main
;---------------------------------------;
;--------Command Quick Reference--------;
;---------------------------------------;
;- Command 1 = Walk Forward -;
;- Command 2 = Walk Backward -;
;- Command 3 = Long Stride Forward -;
;- Command 4 = Long Stride Backward -;
;- Command 5 = Kick -;
;- Command 6 = Headbutt -;
;- Command 7 = Get up from Front -;
;- Command 8 = Get up from Back -;
;- Command 9 = Rest Position -;
;- Command 0 = Home Position -;
;- Command 10= Small Step -;
;- Command 11= Turn Left -;
;- Command 13= Coarse Correct Left -;
;- Command 14= Coarse Correct Right -;
;- Command 15= Fine Correct Left -;
;- Command 16= Fine Correct Right -;
;---------------------------------------;

     sound 9,[50\4400] 
     pause 50 
     sound 9,[50\3960] 
     pause 50 
     sound 9,[50\3400]

;command = 8
;gosub move
;pause 2500

;side1 = -110
;side2 = 110
stepvar = 1
scandir var bit
pos = 0
scandir = 1 ;1 = cw 0 = ccw
scancount = 0
shortenir = 0

main

;adin 16, bat

;if (bat < 270) then;the battery is getting low
; sound 9,[50\5000,25\4400,50\5000]
;endif

if(pos = 110) then
scandir = 0
scancount = scancount + 1
elseif(pos = -110)
scandir = 1
scancount = scancount + 1
endif

if (scandir = 1) then
pos = pos + 1 max 110
elseif(scandir = 0)
pos = pos - 1 min -110
endif

if(scancount > 5) then
scancount = 0
gosub nothinghere
endif

hservo[head\ (pos * 100) \ 255]

gosub readir

if(detpos > 0) then
scandir = 0
elseif(detpos < 0)
scandir = 1
endif

if (ir < middle) and (ir > far) then
if(detpos < 20) and (detpos > -20) then
command = 1
gosub move
command = 0
gosub move
elseif(detpos > 20)
command = 16
gosub move
elseif(detpos < -20)
command = 15
gosub move
endif
endif

if (ir < close) and (ir > middle) then
if(detpos < 20) and (detpos > -20) then
command = 10
gosub move
command = 0
gosub move
elseif(detpos > 20)
command = 16
gosub move
elseif(detpos < -20)
command = 15
gosub move
endif
endif

if (ir > close) then
sound 9,[100\3750, 50\3950, 100\3800]
gosub somethinghere
endif

;sound 9,[10(ir * 10)]

pause 10

detpos = 0

goto main

move:
if(command = 1) then ; Walk Forward
gosub movement 7.0,-20.0,-20.0, -7.0, 20.0, 20.0, 500.0]
gosub movement -7.0,-20.0,-20.0, 7.0, 20.0, 20.0, 500.0]
gosub movement -7.0, 20.0, 20.0, 7.0,-20.0,-20.0, 500.0]
gosub movement 7.0, 20.0, 20.0, -7.0,-20.0,-20.0, 500.0]
elseif(command = 2) ; Walk Backwards
gosub movement -7.0,-20.0,-20.0, 7.0, 20.0, 20.0, 500.0]
gosub movement 7.0,-20.0,-20.0, -7.0, 20.0, 20.0, 500.0]
gosub movement 7.0, 20.0, 20.0, -7.0,-20.0,-20.0, 500.0]
gosub movement -7.0, 20.0, 20.0, 7.0,-20.0,-20.0, 500.0]
elseif(command = 3) ; Long Stride Forward
gosub movement 12.0,-45.0,-45.0,-12.0, 45.0, 45.0, 750.0]
gosub movement -12.0,-45.0,-45.0, 12.0, 45.0, 45.0, 750.0]
gosub movement -12.0, 45.0, 45.0, 12.0,-45.0,-45.0, 750.0]
gosub movement 12.0, 45.0, 45.0,-12.0,-45.0,-45.0, 750.0]
elseif(command = 4) ; Long Stride Backward
gosub movement -12.0,-45.0,-45.0, 12.0, 45.0, 45.0, 750.0]
gosub movement 12.0,-45.0,-45.0,-12.0, 45.0, 45.0, 750.0]
gosub movement 12.0, 45.0, 45.0,-12.0,-45.0,-45.0, 750.0]
gosub movement -12.0, 45.0, 45.0, 12.0,-45.0,-45.0, 750.0]
elseif(command = 5) ; Kick
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
gosub movement 42.0, 0.0, 0.0,-14.0, 0.0, 0.0, 500.0]
gosub movement 0.0,-32.0, 41.0,-23.0, 0.0, 0.0, 500.0]
gosub movement 0.0, 24.0,-20.0,-23.0, 0.0, 0.0, 250.0]
gosub movement 0.0, 0.0, 0.0,-18.0, 0.0, 0.0, 500.0]
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
sound 9,[50\3960]
pause 50
sound 9,[50\4400]
pause 50
sound 9,[50\3960]
elseif(command = 7) ; Get up from front
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
gosub movement 0.0, 90.0, 45.0, 0.0, 90.0, 45.0, 500.0]
gosub movement 40.0, 90.0,-37.0, 0.0, 90.0, 45.0, 500.0]
gosub movement 0.0, 90.0,-65.0, 0.0, 90.0,-65.0, 500.0]
pause 500
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 750.0]
sound 9,[50\4400]
pause 50
sound 9,[50\4400]
pause 50
sound 9,[50\3960]
elseif(command = 8) ; Get up from back
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,1000.0]
gosub movement 0.0,-90.0, 5.0, 0.0,-90.0, 5.0,1000.0]
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,1000.0]
pause 1000
;gosub movement 0.0, 22.0,-80.0, 0.0, 22.0,-80.0,1000.0]
;gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,1000.0]
sound 9,[50\3960]
pause 50
sound 9,[50\3960]
pause 50
sound 9,[50\4400]

   elseif(command = 0)							; Home Position 
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0, 500.0] 
     ;sound 9,[50\4400] 
     ;pause 50 
     ;sound 9,[50\4400] 
     ;pause 50 
     ;sound 9,[50\4400] 
  elseif(command = 6)							; Headbutt 
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0, 500.0] 
     gosub movement   0.0,-50.0,-90.0,  0.0,-50.0,-90.0, 500.0] 
     gosub movement   0.0, 32.0,-58.0,  0.0, 32.0,-58.0, 400.0] 
     pause 200 
     ;gosub movement   0.0,-11.0,  7.0,  0.0,-11.0,  7.0, 500.0] 
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0, 500.0] 
     sound 9,[50\4400]
     pause 50 
     sound 9,[50\3960]
     pause 50 
     sound 9,[50\3960]
  elseif(command = 11)							; Turn 
     gosub movement   0.0,-35.0,-40.0,  0.0, 35.0, 37.0,500.0] 
     gosub movement   0.0, 35.0, 37.0,  0.0,-35.0,-40.0,500.0] 
     gosub movement -14.0, 35.0, 37.0, 20.0,-35.0,-40.0,500.0] 
     gosub movement -14.0, 35.0, 37.0, 20.0, 35.0, 37.0,500.0] 
     gosub movement  20.0, 35.0, 37.0,-14.0, 35.0, 37.0,500.0] 
     gosub movement  20.0,-35.0,-40.0,-14.0, 35.0, 37.0,500.0] 

     ;gosub movement   0.0,-35.0,-70.0,  0.0, 35.0,  7.0,500.0] 
     ;gosub movement   0.0, 35.0,  7.0,  0.0,-35.0,-70.0,500.0] 
     ;gosub movement -14.0, 35.0,  7.0, 20.0,-35.0,-70.0,500.0] 
     ;gosub movement -14.0, 35.0,  7.0, 20.0, 35.0,  7.0,500.0] 
     ;gosub movement  20.0, 35.0,  7.0,-14.0, 35.0,  7.0,500.0] 
     ;gosub movement  20.0,-35.0,-70.0,-14.0, 35.0,  7.0,500.0] 
     
  elseif(command = 13)							;coarse correct left
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0,500.0]
     gosub movement  35.0,  0.0,  0.0,-18.0,  0.0,  0.0,500.0]
     pause 100
     gosub movement   2.0,-20.0,-20.0,-18.0, 20.0, 20.0,500.0]
     gosub movement   0.0,-20.0,-20.0,  0.0, 20.0, 20.0,500.0]
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0,500.0]

  elseif(command = 14)							;coarse correct right
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0,500.0]
     gosub movement -18.0,  0.0,  0.0, 35.0,  0.0,  0.0,500.0]
     pause 100
     gosub movement -18.0, 20.0, 20.0,  2.0,-20.0,-20.0,500.0]
     gosub movement   0.0, 20.0, 20.0,  0.0,-20.0,-20.0,500.0]
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0,500.0]

  elseif(command = 15)							;fine correct left
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0,500.0]
     gosub movement -15.0,  0.0,  0.0, 35.0,  0.0,  0.0,500.0]
     gosub movement -15.0,  0.0,  0.0, 26.0, 25.0, 25.0,500.0]
     gosub movement   0.0,  0.0,  0.0,  0.0, 25.0, 25.0,500.0]
     gosub movement  40.0,  0.0,  0.0,-15.0, 25.0, 25.0,500.0]
     pause 100
     gosub movement  26.0,-25.0,-25.0,-15.0, 25.0, 25.0,500.0]
     gosub movement   0.0,-25.0,-25.0,  0.0, 25.0, 25.0,500.0]
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0,500.0]

  elseif(command = 16)							;fine correct right 
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0,500.0]
     gosub movement  35.0,  0.0,  0.0,-15.0,  0.0,  0.0,500.0]
     gosub movement  26.0, 25.0, 25.0,-15.0,  0.0,  0.0,500.0]
     gosub movement   0.0, 25.0, 25.0,  0.0,  0.0,  0.0,500.0]
     gosub movement -15.0, 25.0, 25.0, 40.0,  0.0,  0.0,500.0]
     pause 100
     gosub movement -15.0, 25.0, 25.0, 26.0,-25.0,-25.0,500.0]
     gosub movement   0.0, 25.0, 25.0,  0.0,-25.0,-25.0,500.0]
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0,500.0]       

  elseif(command = 9)							; Rest Position 
    gosub movement   0.0, 45.0, 45.0,  0.0, 45.0, 45.0, 500.0] 

  elseif(command = 10)							; Walk Forward
    gosub movement   7.0,-10.0,-10.0, -7.0, 10.0, 10.0, 500.0] 
    gosub movement  -7.0,-10.0,-10.0,  7.0, 10.0, 10.0, 500.0]
    gosub movement  -7.0, 10.0, 10.0,  7.0,-10.0,-10.0, 500.0] 
    gosub movement   7.0, 10.0, 10.0, -7.0,-10.0,-10.0, 500.0] 

  endif

return

;Should never need to edit anything below this line. Add user subroutines above this and below main.
lefthippos var float
leftkneepos var float
leftanklepos var float
righthippos var float
rightkneepos var float
rightanklepos var float
last_lefthippos var float
last_leftkneepos var float
last_leftanklepos var float
last_righthippos var float
last_rightkneepos var float
last_rightanklepos var float
lhspeed var float
lkspeed var float
laspeed var float
rhspeed var float
rkspeed var float
raspeed var float
speed var float
longestmove var float
;movement [lefthippos,leftkneepos,leftanklepos,righthippos,rightkneepos,rightanklepos,speed]
movement [rightanklepos,rightkneepos,righthippos,leftanklepos,leftkneepos,lefthippos,speed]
if(speed<>0.0)then
gosub getlongest[lefthippos-last_lefthippos, |
leftkneepos-last_leftkneepos, |
leftanklepos-last_leftanklepos, |
righthippos-last_righthippos, |
rightkneepos-last_rightkneepos, |
rightanklepos-last_rightanklepos],longestmove
speed = ((longestmovestepsperdegree)/(speed/20.0))
gosub getspeed[lefthippos,last_lefthippos,longestmove,speed],lhspeed
gosub getspeed[leftkneepos,last_leftkneepos,longestmove,speed],lkspeed
gosub getspeed[leftanklepos,last_leftanklepos,longestmove,speed],laspeed
gosub getspeed[righthippos,last_righthippos,longestmove,speed],rhspeed
gosub getspeed[rightkneepos,last_rightkneepos,longestmove,speed],rkspeed
gosub getspeed[rightanklepos,last_rightanklepos,longestmove,speed],raspeed
else
lhspeed=0.0;
lkspeed=0.0;
laspeed=0.0;
rhspeed=0.0;
rkspeed=0.0;
raspeed=0.0;
endif
hservo [lefthip\TOINT (-lefthipposstepsperdegree) + aServoOffsets(3)\TOINT lhspeed, |
righthip\TOINT (righthipposstepsperdegree) + aServoOffsets(0)\TOINT rhspeed, |
leftknee\TOINT (-leftkneeposstepsperdegree) + aServoOffsets(4)\TOINT lkspeed, |
rightknee\TOINT (rightkneeposstepsperdegree) + aServoOffsets(1)\TOINT rkspeed, |
leftankle\TOINT (-leftankleposstepsperdegree) + aServoOffsets(5)\TOINT laspeed, |
rightankle\TOINT (rightanklepos*stepsperdegree) + aServoOffsets(2)\TOINT raspeed]
;hservowait [lefthip,righthip,leftknee,rightknee,leftankle,rightankle]

idle var byte
finished var byte
junk var word
sensorloop
finished = true
gethservo lefthip,junk,idle
if(NOT idle)then
finished=false
endif
gethservo righthip,junk,idle
if(NOT idle)then
finished=false
endif
gethservo leftknee,junk,idle
if(NOT idle)then
finished=false
endif
gethservo rightknee,junk,idle
if(NOT idle)then
finished=false
endif
gethservo leftankle,junk,idle
if(NOT idle)then
finished=false
endif
gethservo rightankle,junk,idle
if(NOT idle)then
finished=false
endif
;add sensor handling code here

;adin 19,ir
;if (ir > 490) then
;endif

if(NOT finished)then sensorloop

last_lefthippos = lefthippos
last_leftkneepos = leftkneepos
last_leftanklepos = leftanklepos
last_righthippos = righthippos
last_rightkneepos = rightkneepos
last_rightanklepos = rightanklepos
return

one var float
two var float
three var float
four var float
five var float
six var float
getlongest[one,two,three,four,five,six]
if(one<0.0)then
one=-1.0one
endif
if(two<0.0)then
two=-1.0two
endif
if(three<0.0)then
three=-1.0three
endif
if(four<0.0)then
four=-1.0four
endif
if(five<0.0)then
five=-1.0five
endif
if(six<0.0)then
six=-1.0six
endif
if(one<two)then
one=two
endif
if(one<three)then
one=three
endif
if(one<four)then
one=four
endif
if(one<five)then
one=five
endif
if(one<six)then
one=six
endif
return one

newpos var float
oldpos var float
longest var float
maxval var float
getspeed[newpos,oldpos,longest,maxval]
if(newpos>oldpos)then
return ((newpos-oldpos)/longest)*maxval
endif
return ((oldpos-newpos)/longest)*maxval

readir

for filter = 0 to 9
adin 19, irtemp(filter)
next
ir = 0
for filter = 0 to 9
ir = ir + irtemp(filter)
next
ir = ir / 10
;sound 9,[10\4000]
;serout s_out,i38400,[dec ir ,13]
if (shortenir = 0) then
if (ir > far) then
detpos = pos
endif
elseif (shortenir = 1)
if (ir > 375) then
detpos = pos
endif
endif

return

nothinghere

command = 14
for xx = 1 to 3
gosub move
next
command = 0
gosub move

return

somethinghere

if(pos = 75) then
scandir = 0
scancount = scancount + 1
elseif(pos = -75)
scandir = 1
scancount = scancount + 1
endif

if (scandir = 1) then
pos = pos + 1 max 75
elseif(scandir = 0)
pos = pos - 1 min -75
endif

if(scancount > 6) then
scancount = 0
sound 9,[75\3750, 50\4100, 75\3500]
return
endif

hservo[head\ (pos * 100) \ 255]

gosub readir

if(detpos > 25) and (ir > 375) then ;25 instead of 0 to move the ‘center point’
scandir = 0
elseif(detpos < 25) and (ir > 375)
scandir = 1
endif

;serout s_out,i38400,"ir = ", dec ir, " pos = ", sdec pos, " scandir = ", dec scandir, " detpos = ", sdec detpos, 13]

if (detpos > 35) and (ir > 375) then
command = 16
gosub move
elseif (detpos < 15) and (ir > 375)
command = 15
gosub move
elseif (detpos >= 15) and (detpos <= 35) and (ir > 375) and (ir < 425)
command = 5
gosub move
elseif (detpos >= 15) and (detpos <= 35) and (ir > 425)
command = 10
gosub move
command = 5
gosub move
endif

detpos = 25

pause 10

goto somethinghere

;==============================================================================
; Subroutine: ReadServoOffsets
; Will read in the zero points that wer last saved for the different servos
; that are part of this robot.
;
;==============================================================================
pT var pointer ; try using a pointer variable
cSOffsets var byte ; number of
bCSIn var byte
bCSCalc var byte ; calculated checksum
b var byte ;
i var byte

ReadServoOffsets:
readdm 0, [cSOffsets, bCSIn]
;serout s_out, i9600, “RSO: cnt:”, dec cSOffsets, " CS in:", hex bcsIn];

if (cSOffsets > 0) and (cSOffsets <= NUMSERVOS) then 		; offset data is bad so go to error location

	; OK now lets read in the array of data
	readdm 2, [str aServoOffsets\csOffsets*2]
	
	;... calculate checksum...
	bCSCalc = 0

	for i = 0 to NUMSERVOS-1
		bCSCalc = AServoOffsets(i).lowbyte + AServoOffsets(i).highbyte

; serout s_out, i9600, " “, sdec aServoOffsets(i),”:", hex aServoOffsets(i)]
next

; serout s_out, i9600, " CS Calc:", hex bCSCalc]

	if bCSCalc <> bCSIn then 
		aServoOffsets = rep 0\NUMSERVOS
	endif
endif

; serout s_out, i9600, [13]
return
[/code] sorry if its posted wrong
and thanks for reply im in middle of rebuilding it again to see if is me but this is like the 6th time and im begining to think im just to thick for this robotics stuff

robotdude · June 22, 2010, 2:43pm

We are going to try to replicate your problem on this end.

paragontrell · June 22, 2010, 2:53pm

Thanks guys look forward to seeing results
PT

robotdude · June 22, 2010, 3:09pm

Is your build the same as ours mechanically? The panning servo, are you mounting the sensor the same as we are?

paragontrell · June 22, 2010, 3:35pm

as far as build goes as i know nothing on the subject of robotics iv copied every thing you guys have put in the tutorial as mentioned befor iv also reasembled it loads and each time iv done the same build just to make sure i even tried to reposition the ir sensor ie long ways and the other way up but it reacts the same no mater what it walks a bit pans finds the bottle in veiw the ir stops in direction of bottle the robot turns away and pans again then turns pans again until its gone 360 and locked bottle again then it repeats locks turns away …but build is the same do you think its possible that the chip or bb2 are faulty ?

thanks again

fish-5 · June 22, 2010, 3:46pm

Holy run-on sentence, Batman!

I would say that it’s safe to assume that it’s not an assembly error at this point and rebuilding won’t really do anything. I’m going to test the code in the next 10 minutes or so, and I’ll let you know what I come up with.

As for the chip being faulty, I highly doubt it. If something was wrong with it or the BBII, you’d have many more problems than just this.

fish-5 · June 22, 2010, 4:17pm

Ok… I’ve tested our code off the website, and the code that you posted. Everything works as it should. Which is good in that we didn’t have a problem in our code, but bad in that you still have a problem.

I think we’re going to need some pictures or a video of your robot in order to make any further progress on this.

robotdude · June 22, 2010, 4:36pm

The light just came on. You simply have the right servos plugged into where the left servo go, and the left servos plugged in where the right servos go. This would make the robot turn the opposite direction but still walk forward and reverse properly.

sn96 · June 22, 2010, 5:35pm

I posted this as a possible problem but I wasn’t 100% sure so I deleted the post to avoid any confusion. It makes sense since it doesn’t matter what foot you start off walking on, you end up moving forwards.

Depending how the board is mounted, pins facing inward or pins facing outward, the servo banks will vary from left or right depending on the board’s orientation. You really have to connect the servos taking care of the actual pin numbers instead of looking at what side of the board it’s on.

fish-5 · June 22, 2010, 5:41pm

[insert obnoxious buzzer noise here]
Wrong! No SSC-32 here, he’s using a Bot Board II.

You’re right about the looking at the actual pin numbers bit though.

paragontrell · June 22, 2010, 6:16pm

sorry bout sentance fish im bad with writing and stuff
is it worth me changing the servos round then or set them up as the tutorial states i will try get a video up but having trouble with connection to my camera think my son has been trying to plug hes wall-e toy in to it . well thanks for trying guys il keep at it see if i can fumble my way out of the problem but if any one has any other sugestion il try em

thanks again much appricated
PT

fish-5 · June 22, 2010, 6:20pm

@Paragon Trell:

This.

paragontrell · June 22, 2010, 6:25pm

right im on it il let u know out come in a lil while

paragontrell · June 22, 2010, 7:47pm

no luck on that as it seems to treat the ankle in reverse so if your looking at the robot from behind wen it lifts the right leg the foot tilts inwards rather than out when taking a step so it cant even walk. well i dont think any more can be done at moment il put it in box until i get my camera sorted thanks again for the help guys

robotdude · June 22, 2010, 7:56pm

If it’s not the channels the servos are plugging into, then I believe you have assembled something incorrectly. Do the round servo outputs face the outside of the robot? If not that’s a problem. If you built it with the servos facing the inside of the legs their motion will be reversed from what our robot does.