Ok go ahead and power your
Ok go ahead and power your hexapod and connect your USB cable to the Botboatduino and the computer.
Move the code files to your Arduino library and open up the Arduino IDE program.
Click file then choose examples and look for Botboarduino_CH3R_PS2. Go ahead and maximize the screen then click on the file called Hex_cfg.h.
From we will start from the top and work our way down.
{Botboarduino pin numbers}
Check that these connections are correct to your PS2 RX head.
{SSC pin numbers}
Here you need to comment out "//" all the Tar pins. This is for 4DOF and since we are building a 3DOF these arent needed. Remember to double check your servo connections to the SSC-32u at this point as well.
{Min/Max Angles}
Find the leg angles degrees you wrote down earlier and use them here. Just add a zero and thats your number -is the legs reverse angle while the other is the positive angle. You can experiment with these angles later and tweak your movements but for now lets go with what we have.
For the tibias and femurs angles start out small like 35 and up it to your discretion.
Dont forget to comment out any 4DOF parts here as well
{Leg Dimensions}
Enter your leg IK measurements here. Coxa length is center of the servos pivot to the center of the vertical coxa servos center pivot. Next the femur, measure from center coxa vertical servo to center servo tibia and enter this numbers. Now measure from the tibias center servo pivot to ground level. Thats it now go down the rest of the list commenting out // the 4DOF.
{Body Dimensions}
Leave the default coxa set up amgles as they are and look down. You will now see two sets of six banks asking for the body dimensions. Just remember X is left -X is right, -Z is reverse while Z is forward.
{Start Positions Feet}
You will need to change these values. Add the total length of coxa and femur. To get Cos60 multiply .5 by the number we just made. To do sin60 multiply .866 by the first number again. Start out with an inity at 30 amd move up.
Next go to the bottom and comment out // the TARS parts.
We are now done with the hex_cfig.h file.
Now choose the file called phoenix_driver _ssc32.cpp. Scroll down til you see a header marked [outputservoinfofor legs.
Some servos have different PWM which can alter movement if the pwm in the code does not match your servos. Change these two numbers only of nothing else works.
Scroll down a lil further and youl see a comment labled //update right leg with 4lines of code then another 4 lines of code. Some times some servos operate reverse from other servos. If that is the case with your bot and your servos are reversed you can change that here. Just negate the positive lines and remove the - from the negative lines.
Now click tools/board and pic arduino duemilanove or diecimila.
Next check that the port is proper. If the words are gray its not connected. Now choose the right arrow key next to the checkmark button on the top left hand corner of the IDE.
When its done uoloading remove the USB first then disconnect the power. Wait a min them power it up. From here it should walk just fine. Use the intstructions with the build manual for the functions. Or check the code in arduino under PS2_controller.cpp
And thats it. Hopefully your hexaod is now walking. But please rember there is no guatantee that the code will work for your project but it should.
If further help is needed feel free to post or send a PM.
Thanks everybody that helped me. I hope this helps some one too.