With some recent posts about talking to the SSC-32 from an Arduino, I thought I would share some of the stuff I did about a month or so ago… Note: I am using Arduino version 18 As some of you can probably tell from some of my previous posts, on the Running the Phoenix on C tha…

Hello i change this: if (LegIndex < 3) { wCoxaSSCV = ((long)(-sCoxaAngle1 +900))*1000/cPwmDiv+cPFConst; wFemurSSCV = ((long)(-sFemurAngle1+900))*1000/cPwmDiv+cPFConst; wTibiaSSCV = ((long)(-sTibiaAngle1+900))*1000/cPwmDiv+cPFConst; #ifdef c4DOF wTarsSSCV = ((l…

Sound potentially like your left legs act like right legs… Couple of options you could try. One swap all of the legs. 2nd - Probably a bit easier. Experiment. First understand in the code, I mentally translate : Coxa - Is Hip Horizontal, Femur is Hip Vertical, Tibia is Knee.…

Hello I change the wCoxasscV to - and now is perfect. But I find a bug. 5 legs to defaul body position Legs make FASTER motion and greater, we go higher, and 1 leg move normal. If I chan boby position one step up, all legs is ok. This problem had not before the change, Maybe the…

hello agean. i change the pin of ssc32 and code and now work perfect… the code is amazing !!!

Hello I have a question to make the servo that moves the body front back, to have less traffic which prices fall from here; //[MIN/MAX ANGLES] Original angle //#define cRRCoxaMin1 -650 //Mechanical limits of the Right Rear Leg //#define cRRCoxaMax1 650 //#define …

Sorry, I am not sure what you are asking here? Traffic? Prices? Sorry

sorry, I’m translating with Google…when the robot turns and I have the "Toggle double gait travel length " then walk brings you to one another. I want to have a lower servo motion, for example //#define cRRCoxaMin1 -650 //Mechanical limits of the Right Rear Leg //#define cRRCox…

You can always try that and see if it helps you. The other way is to go into the input code class and make mods, like if it only happens when you are rotating (right joystick horizontal moves), then change the code to not have it turn as much… This may be controlled by a line …

I’ll try it tomorrow :smiley:

Phoenix code running on an Arduino Mega with an SSC-32

Lynxmotion Legged Robots

o_lampe October 1, 2020, 8:38am 216

I started a thread about teachmode for the Lobot lsc32 controller in projects showcase. There is a download for a basic arduino code ( for ESP32, but you only have to change pin numbers)
You can extract the way, how to talk ‘Lobot’ from it.
Any further questions are welcome
o_lampe

PS: here is a manual for the LSC-serial protocol.LSC Series Servo Controller Communication Protocol V1.2.pdf (94.5 KB)