Looking good and safe with all the fuses. 
Personally I use only one fuse, but as long as you got space for them this should be very safe.
I like the small USB cable. I keep meaning to find some micro-Usb extension cable that is maybe 6" long, such that you donāt have to reach inside to try to plug things in. I find it semi a pain on the my Arc32 phoenix to find that little connectorā¦
Kurt
http://rsb.se/arena/images/smilies/sign0006.gif
oooooouch ā¦ i just saw a really bad robot-movie ā¦ āRunawayā with Tom Selleck from 1984
MANY hexapods in that movieā¦ and one pair o knockers 
ā¦ but it CERTAINLY dont help the movie
Was that the one with the needles on the bots?
Yes 
First steps:
That overflows with awesome! Good job!
That is a realy calm catā¦!
Nice to see it walk.
Looking good! 
Have you considered adjusting the init-positions a little? Moving the tars a little further away from the body.
Great Job!! It is so coool to see your bot making his/her first steps! 
Keep up the good work!
Xan
i sort of missunderstood the init, i thought it was the āparkingpossitionsā when the legs are lifted ā¦ but it obviously wasānt ā¦ ill reconfigure and be back ā¦ but as i typed, this was tha absolutly first installed compliation of the program and thats why i took the video even if i directly notised the errorā¦
robotics is FUN !!
i feel very humble to, as a noob, be able to experiment whith such a proffesional code
if i hadnt have it it had been taking at least another year before the first working gait
bowing and taking of my hat
Hey, I agree 120% with PappaNiklas, those of you that write the core āmeatā of this for the Phoenix and T-Hex code deserve an award or something above and beyond the regular users. I can add to and pick apart the code to do what I want with it to manipulate my bot but without someone else initiating and starting the code I would be an intellectual idiot ( I think I still am anyways ).
I look at it like this in battery termsā¦some of you are Brilliant 200 watt programmers and the rest of us ( if weāre lucky ) are 25 watt users.
Kudooās and thanks immensity for sharing and writing fantastic and educational code for all of us to enjoy.
[size=150]YOU KNOW WHO YOU ARE.[/size]
Original Creator of the code we all affectionately refer to as the Phoenix Code.
[size=150]Jeroen Janssen (Xan)[/size]
Arguably the person most responsible for the evolution of the Phoenix Code.
[size=150]KĆ„re Halvorsen (Zenta)[/size]
The person responsible for countless tweaks, modifications and conversions.
[size=150]Kurt (Kurte)[/size]
I know there are others who deserve credit, but I only went three levels deep. 
Guys, you are making me blush
Thanks for the credit. Iām glad to hear you enjoy the code.
It is always good to see the code keeps evolving with all the great improvements and addons!
Xan
ā¦ this interupt-TA-programming is driving mee nuts ā¦
Ive got a very simple program moving one leg up and down
[code]ONINTERRUPT WKPINT_5,handle_WKP5
PMR5.bit5 = 1 ;enables pin as WKP interrupt instead of normal I/O
IEGR2.bit5 = 0 ;0 = Pin will interrupt on a falling edge, 1 to interrupt on a rising edge.
ENABLE WKPINT_5
ENABLE ;Enable all interupts
main:
hservo [cLFFemurPin\upperFemurPos\150,cLFTibiaPin\upperTibiaPos\150]
HSERVOWAIT [cLFFemurPin,cLFTibiaPin]
hservo [cLFFemurPin\lowerFemurPos\150,cLFTibiaPin\lowerTibiaPos\150]
HSERVOWAIT [cLFFemurPin,cLFTibiaPin]
goto Main
Handle_WKP5:
disable WKPINT_5 ; only interrupt once per legā¦
_bWhichWKP = 5
hservo [cLFFemurPin\hservopos(cLFFemurPin)]
hservo [cLFTibiaPin\hservopos(cLFTibiaPin)]
hserout HSP_DEBUG, "Foot down: ", sdec _bWhichWKP, " at Femur: ", sdec hservopos(cLFFemurPin), " Tibia: ", sdec hservopos(cLFTibiaPin) ,13 ]
Enable
resume[/code]
This happens:
when i put the foot down fireing the WKPINT_5 interupt
the code nicely prints the āFoot-Down-positionā, but then nothing happens, i cant even get the interupt to fire again by putting the foot down again, the code sort of āstopsā
If i change
Enable
resume
to
Enable WKPINT_5
resume
i can get the interupt to fire again, but the original code wont run
this rises two questions:
- dont the command Enable enable the WKPINT_5 ? (as i feel differance between the two examples)
- how can i get my program to start running again even if the HSERVOWAIT isnt fullfilled ?
No, Enable does not enable WKPINT_5. The first thing you did in your interrupt handler was to disable this interrupt.
Enable without specifying a specific interrupt is the global interrupt enable. (it sets the I bit of the Condition Code Register (CCR)). When an interrupt happens typically this will be turned off during the interrupt and the resume (RTS) from the interrupt will reenable it. You can update while running in your interrupt if it is OK for your interrupt handler to be interruptedā¦
So yes if you donāt do: enable WKPINT_5 it wonāt fire again.
Second answer is probably not to use HSERVOWAIT. instead do your own loop and wait for HSERVOIDLE to return a non zero valueā¦ In this loop you can check states, which may include something you set in your interrupt handler.
Kurt
Thanks Kurt, Ill do exactly as you say and rapport back