Newbie biped help

Lynxmotion Legged Robots
21

no all servo horns are facing outwards apart from the pan servo of course which is upwards

22

Yeah, sorry dude, we’re gunna need some pictures and maybe a video. We WILL solve it though. I’m sure of that.

23

:blush: :blush: arghhh think i might have just figured it out the pan servo does it have to face a certain way ?

24

If it’s installed upside down it will effectively reverse the direction of rotation. But it shouldn’t matter if it’s installed to the right or left of center.

25

i thought maybe the sensor used the direction of the servo to determin the way to go but if it dont matter im back to being stumped lol il try get pics or vid in morning sorry for being a pain in the ass

26

It does. That’s why the directions are reversed when the servo is upside down.

27

its not upside down but looking at bot head on servo horn is to left so if it was on the right the direction would be reversed?

28

No.

29

Where did I mention BB2? regardless of what board is used, they both can be mounted one of two ways: pins facing in or out. Depending on how the board is mounted (ssc-32 or the BB2), it will change the side the servo banks are located. Yes? No? Mabe? Muhahahahahaaaa! :laughing:
frustration.jpg

30

Think of it like this. With the servo installed in the normal way, round horn on top, looking down from the top. Clock wise rotation is still clockwise rotation no matter if the servo is moved to one side of the bot or the other. But turn it over and suddenly clock wise rotation is now CCW. This holds true for each servo.

Without images it’s all speculation, but I can definitely imagine a scenario that would duplicate your description. Like if the ankle servos are installed backwards, and the left and right servos channels are swapped. This would make everything work except the pan servo would be reversed.

31

You didn’t. He was keying on where you said “the servo banks will vary from left or right depending on the board’s orientation.” which sort of leans toward describing an SSC-32 board. Not the Bot Board II he’s using. But it’s no big deal.

32

So what’s the status on this problem? Was it servo wires crossed?

33

no it wasnt servo wires crossed and its still acting the same so befor i do any more with it im going to learn as much as i can about robotics at least then i may be able to better understand it rather than feeling my way round in the dark.

thanks
PT

34

If you could post an image or two, maybe a video I’m quite confident we can quickly determine what the problem is.

35

If it were me, I would try a couple of things to help eliminate issues.

For example if you edit the code, right by the “main” label and add something like:

main
    command=16
    gosub move
    goto main

The code should be hard coded to go right… Which way is it going. Of course there is always a question of what is right? I would try it out but my brat that has an IR on it, currently has a different processor on it.

“Fish” Also a side note: It would good to see if your code matches the code that is up on the net as some of the IR code appears like some of it will never be executed. Although it probably is fine:

That is in the function readir. You first test for shortener = 0, but I don’t see anywhere in the code that ever changes this from 0…
Also a real side note: you could simplify the earlier code to one for loop since you only use the irtemp to compute the average. ie the code could simply be:

readdir:
    ir = 0
    for filter = 0 to 9
        adin 19, irtemp    ' does not need to be an array
        ir = ir + irtemp 
    next
    ir = ir /10
...

Kurt

36

He actually stated this on page one.

37

Thats a great suggestion Kurt.

38

 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]

What does the above patch of program do? Can anyone explain me step by step?
How does the program work? In which sequence does it work first ankle or hip or knee motor? What do these values signify?

How can I change this set of program according to my preferrence?
I’ve bought a BRAT autonomous. But I don’t how the program works.

39

Note: This was also asked on a new thread, which I responded to. Please don’t double or tripple post questions as many of us read most if not all of the posts.

Kurt

40

Sorry Kurt I’m new to forums…!