Not rotated but rather change swap the pins so the shoulder servo associated with the vertical motion of the leg actually plugs into where the knee, and vice-versa.
Do you mind elaborating a lil more on your last post. I dont understand.
Went through the code and switched the femur and tibia servos pins and uploaded it but that didnt work.
Heres a video of the bot in wave gait mode so you can see a better whats its doing. Leg comes down moves forward comes to level and reverses.
All problems solved!!!
Turns out my servos operate in reverse of the servos the code was written for so i just had to go into the phoenix_driver.h file to find the leg update function and changed the right leg to a positive value and then changed left to negative value. I started it up and it works perfectly now.
I tested the all the gaits and it moves great though i need to tweak the mechanical limits a lil. But i am very happy.
Thank you so much for all your help in getting my bot going. You giys got the best customer service in the business!!!
Sigh of relief! We are really happy you persisted and are happy to see the robot finally up and running!
Having the servos rotate in the opposite direction is not very common and was not high on our list of possible issues.
I started doing a rebuild today and im having trouble with my SSC-32u. Its got full power and set up as before but when i connect a servo they twitch but i can move the sliders on either lynxterm or the servo sequencer i get no movement. I checked the voltage and its putting out 5v and pulse changes from .75 to .63 if the slider is used.
Baud rate issue?
No i went ahead and made sure i was set at 38400.
I just checked the servo ports for the whole board and channels 0-7 arent working. They put out power and make the servo twitch and seem to be putting out signal but no movement.
Can you provide a few photos of the board which clearly show the connections?
Ok i think i blew those sets of pins somehow, but what i dont understand why its not actually working. Like i said the power is set on those pins and the signal voltage raises and lowers when i test the signal pins. Just like they all do.
Ok heres a pic…i1254.photobucket.com/albums/hh601/Duhjoker1/Quadruped/5FCF0F8F-A66C-4CA7-979B-27A8FDDC529C_zpsclltpshg.jpg
And here is a video using the sequencer with brand new servos on pins 0, 2, & 6
What do you have connected to VL and VS1? Note that you only really need VS1 (the SSC-32U logic voltage can operate at fairly low voltages)
Sorry been busy.
Im using a 7.4v lipo battery for the logic and an 11.1v lipo running through a 9A (said 6 earlier but meant 9) 5v power regulator.
Hi,
In your last video, you mention the channels 0-7 not responding to commands from the SSC-32 Servo Sequencer, but we noticed that the software is not connected to the board (see the attached image).
We also noticed the baud rate to be at 115200. You mentioned multiple times you set the board to 38400 baud rate, so this could also be an issue.
In this video that you have TX/RX/GND connected to the SSC-32U (we assume to the BotBoarduino). Please make sure to disconnect those.
Simply but, the XBee socket, the USB port and the exposed TX/RX pins are all connected together to the same hardware serial port of the microcontroller on the BotBoarduino. Of course, you can only use of those at a time and having two or more connections on any of those two pins may cause issues, even if the other device is off/not powered.
After removing those three connections (TX/RX/GND), please try to connect again but using the Lynxterm software. Once connected, go to the black text box and type in “VER” followed by return. The board should return its firmware version. If it those than it is working properly and you can try moving the servos using the slider on the right.
Let us know if this helps.
Sincerely,
All right i re-checked everything but the firmware again making sure that i had everything set to 38400. Still nothing through thise ports. To be honest before those pins quit working they were blowing servos about every third or fourth time i used it.
Its ok though i still have plenty of pins to connect to. My question is this… If i want to change the pins in the hex_config file, is that all there is to it or do i need to go deeper in to code.
In theory, you should only have to change the #defines for the pins in Hex_Cfg.h to change which servomotor channels are used.
Please note that you should check with Lynxterm that the channels you are trying to use do function properly, otherwise you may potentially spend a lot of time looking at the wrong cause for your issues.
Also, what do you mean by “blowing servos”? This does not sound very normal at all.
Sincerely,
Well i said in an earlier post i think i may have blown the board. I was trying to consolidate down to one battery and i might have hooked up the battery wrong.
As far as the servos blowing i just assumed it was normal servo wear. Especially since hobby grade servos arent meant to be used like this. But yea at first i will get a servo that twitches constantly then poof the servo quits working.
Ok i hooked up the servos to the banks that are working for sure then i removed the buzzer jumper from the botboarduino and moved it to the SSC-32 so i could run the logic and servo power through the same battery which is a 3s lipo 1500 connected to the 9a 5v power regulator.
I then went through the code and changed the defines to match my wiring changed the IK and pwm and reversed the servos and now when i turn the bot on the PS2 Rx has started doing the blinking thing again. I have it hooked up right. I double checked all the connections to the code and even tried using the level converter but no go.
The only thing i changed in the code different than normal was the servo pin defines.
Could it be the way the power is hooked up?
Hi,
Assuming the SSC-32U might be damaged from previous activity, then any behavior could be in an undefined state, which will make it very hard to determine what is the issue (if any) that could be fixed.
Using Lynxterm, we recommend that you connect only one servomotor at a time and try to move it. Try this on all the channels from 16-31 to check if they work well. If you get any more issues of “blowing” servomotors, that is not normal behavior. Even the hobby-grade servomotors usually last quite a bit (if not overheated too much/too often).
We recommend that you contact us here to open a ticket to further look into your possibly damaged SSC-32U.
Sincerely,
I would like to use a smaller arduino unit for my logic instead of the big botboarduino and i was wondering if i can get a reccomendation of which to use and please keep in mind im using the V1 PS2 wireless controller so the power will have to match.
Also how hard would it be to adapt the code to use just a small arduino with the ssc-32
Cant figure out whats going on with my current botboarduino. Its still wont pair to the ps2 controller. I definitely have the wires hooked up and referenced from the phoenix code config file. Or could it be my ps2 controller. Ive even tried using the level shifter though it never worked using it. Look back and youll see we had a hard time getting going to begin with.
Hi,
Have you considered the Arduino Pro Mini 328. We can’t confirm that it’ll work straightforward since we didn’t test it with our PS2 Contollers but it’s worth a try.
Also, maybe replace your controller with this one (in case you are sure that the issue comes from the PS2 controller).
Regards,