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

km6vv · April 18, 2011, 6:26pm

Hi Kurt,

No problem!

“contributed libraries of their HTML documents”?

I just googled them. Haven’t had time to see what they are doing.

I tried to use the Metro library in my MicroMoose, but couldn’t get it working. I ended up simply implementing my non-blocking “wait” delays from my other C projects.

Alan KM6VV

khalid · May 15, 2011, 3:41pm

hello kurt

I tried to compile on arduino 0022 and I got error
imageshack.us/photo/my-images/199/errorzoc.jpg/
whats wrong

thanks

kurte · May 15, 2011, 4:20pm

What Arduino are you configured for?

Kurt

khalid · May 15, 2011, 5:33pm

I use arduino uno,
just like you I want to make hexapod use ssc-32 with arduino uno

thanks

kurte · May 15, 2011, 9:55pm

Looks like you are trying to compile the code version before I added support for non-megas. Try downloading the version I uploaded on April 16th (page 4). It has code in there to handle only one uart.

Kurt

khalid · May 17, 2011, 12:16pm

kurte:

While Xan is having fun merging the code bases for T-Hex, I thought I would play a little more with the Arduino code. Up till now I have only tried to make the code work with an Arduino Mega as it has lots of IO pins and lots of Uarts and the like. But I wondered, could this work with a normal Arduino? I quickly decided to only try to make it work with the newer Arduinos that are Atmega328 based Arduinos. The 328 gives me 32K code space and 2K data. The 32K for program space appeared to be enough so I started and I ordered an Arduino UNO.

On the Mega I relied on the multiple UARTS (1 for USB, 2nd for SSC32, 3rd XBee if I built for XBee). With the UNO I had 1 (USB). So I first looked at using SoftSerial library for SSC-32, but it’s documentation said good up to 9600 baud (ick). But I found a contributed Library NewSoftSerial, which appears to work at much higher speeds. In addition it use the hardware Pin Change interrupt to start inputs and it caches the characters received ( ) So I went with that.

Very quickly I was able to get the code to compile and link, but when I tried to run it, it died very quickly and randomly. using avr-objdump to dump the executable, I found I was exceeding the 2K data. With the AVR GCC compiler it turns out that defining data tables as const static did not put the table into code space like it did for H8 compiler… So I converted to using the PROGMEM keyword and updated each of the usages for these tables to get it from the program space. I actually updated them twice as the first way made it look less readable. Example: change
cCoxaMin1[LegIndex] to pgm_read_word(cCoxaMin1 + LegIndex) [This is the way the documents for PROGMEM showed how to do this…]
Which to some could be confusing as the compiler knew that cCaxMin1 was an array of words so when it added LegIndex to it, it actually added 2*LegIndex… , but it turns out, you can also do it like: pgm_read_word(&cCoxaMin1[LegIndex])
Which I like better… This cut down the memory back to something that works!

The Mega has 8K of data, so I could be sloppy and when doing SSC or Debug output I would call a function with an 80 byte buffer which did sprintf and then output to the device. I wanted to get away from this, so I also included the Streaming utility library, which allowed you to not have to type as much:
That is if before in C you were to do something like:
printf(“XBee DL: %x\n\r”, wDL);

In Arduino you might do:
DBGSerial.write("XBee DL: ");
DBGSerial.println(wDL, HEX);

With Streaming you can do:
DBGSerial << "XBee DL: " << _HEX(wDL) << endl;

So today I connected up the Ardino UNO up to my CHR-3 with a PS2 and the SSC-32 at 115200 and it appears to work. I have not tried it yet with XBee and I have not tried this updated code back on MEGA yet. Lots more testing needs to be done, like running a sequence appears to run the sequence and either resets or turns hex off… Will debug…

But in case anyone wants to play along, I have uploaded the archived version (build 22 of Arduino).

Warning: This is a work in progress…

hello my bro…
I’ve followed your advice to download the file above, and verify…
I have new error report

Arduino_Hex.cpp:24:23: error: Streaming.h: No such file or directory Arduino_Hex.cpp:26:27: error: NewSoftSerial.h: No such file or directory In file included from Arduino_Hex.cpp:27: /Hex_globals.h:108: error: 'NewSoftSerial' does not name a type Arduino_Hex:269: error: 'NewSoftSerial' does not name a type Arduino_Hex.cpp: In function 'void setup()': Arduino_Hex:278: error: 'SSCSerial' was not declared in this scope Arduino_Hex.cpp: In function 'boolean FIsSSCGPEnabled()': Arduino_Hex:601: error: 'SSCSerial' was not declared in this scope Arduino_Hex.cpp: In function 'void GPPlayer()': Arduino_Hex:637: error: 'SSCSerial' was not declared in this scope Arduino_Hex:637: error: '_DEC' was not declared in this scope Arduino_Hex:645: error: no match for 'operator<<' in 'Serial << "GP: "' Arduino_Hex.cpp: In function 'void FreeServos()': Arduino_Hex:1443: error: 'SSCSerial' was not declared in this scope Arduino_Hex:1443: error: '_DEC' was not declared in this scope Arduino_Hex:1445: error: 'SSCSerial' was not declared in this scope Arduino_Hex.cpp: In function 'void SSCWrite(byte*, int)': Arduino_Hex:1514: error: 'SSCSerial' was not declared in this scope Arduino_Hex.cpp: In function 'int SSCRead(byte*, int, word, word)': Arduino_Hex:1528: error: 'SSCSerial' was not declared in this scope Arduino_Hex:1535: error: 'SSCSerial' was not declared in this scope Arduino_Hex.cpp: In function 'void SSCForwarder()': Arduino_Hex:1758: error: 'SSCSerial' was not declared in this scope Arduino_Hex:1765: error: 'SSCSerial' was not declared in this scope

where I can download the file Streaming.h and NewSoftSerial.h
sorry troublesome

many thank

kurte · May 17, 2011, 1:36pm

No Problem, If you are in the Arduino environment you should go to the help menu and select reference. From the web page that comes up, you can select libraries. You will find these two libraries listed here or may be on user contributed page. These pages have links to where you can download these libraries.

Once you download them you will need to move them into your Arduino Library folder and then in your sketch you need to go to the sketch menu and import those libraries into your sketch.

Kurt

khalid · May 19, 2011, 9:51am

waw many thank kurte
success verify

khalid · May 21, 2011, 10:14pm

hello again kurte,
Im forget to ask something =p
your hexapod can controling with PS2 wireless (I see the source)
right?

my dump question is, how to connect PS2 wireless to uno >,<

thanks kurte

kurte · May 21, 2011, 11:29pm

What I have done is either use the servo cable set: store.curiousinventor.com/guides/ps2 shows the which wire is which. What I do is to:
Cable 1: Black->DAT(1), RED->CMD(2), Yellow->SEL/ATTN(6)
Cable 2: Black->GND(4), RED->PWR(5), Yellow->Clock(7)

Then on the UNO, I use 1 of the Male/Male connectors that come servo extenders and plug it into digital pins 10-12 and I plug the other one into 13,GND,AREF… I plug cable 1 into digital pins 10-12 with black on 10. On cable 2, I removed the Red wire (power) as well as the black wire(GND) and then I put the black wire into the center of the connector. I then plug that cable into pins 13 and GND, with the blank pin over the AREF. I then needed to find +5v to plug the red wire into. I used the power pin on the ICSP connector (I believe this is pin 2), which if you have the board situated such that the digital pins are on top, then this is the upper right pin of the ICSP header. Other times I used the power/gnd pins on the lower power connector.

Kurt

khalid · May 23, 2011, 2:53pm

aw aw aw
very clear…
many thanks kurte
u’r really helped :mrgreen:

vintikas · June 1, 2011, 7:54am

Is there a possibility to connect the Wii Nunchuk for Balance mode for the Assessment of the ground?

jeeg-2 · June 1, 2011, 9:23am

Hi Kurte,

to move your hexapod with arduino you use a home made controller based on xbee?
You use xbee + arduino for you r controller?
Can you expalin me the wiring of your project? Have you the images?

Thank you!!!

kurte · June 1, 2011, 1:50pm

Simple answer is maybe. I may play with one of these soon for the heck of it…

Have 2 different Controller things I have tried out on Arduino Mega:

PS2 - More details a couple posts ago, showing how I hook up a PS2…
XBEE - I use a parallax XBEE adapter as I have had some issues with the Sparkfun one on other Atmega1280 controllers (Axon2), where the sparkfun one did not properly convert the signals. On the Mega I used one of the UARTS to connect the XBEE to the Arduino board. Simply connect the TX to the RX of the XBee adapter, RX to TX, plus find a power and ground pin…

My Arduino phoenix code did use the command formats of my DIY XBee remote control (or my VB app on the PC). So I could control it with my controller which is still BAP28 based. May soon build another controller which is Arduino based, but that is a different subject…

Hope I answered your question.

Kurt

On Arduino UNO I have only tested the PS2 (like above) so far. Keep meaning to try XBEE, but so many projects…

vintikas · June 1, 2011, 5:21pm

I mean to use the balance MCU and PCB from nunchack WII

km6vv · June 1, 2011, 7:03pm

What’s the interface to the MCU/PCB? Serial wouldn’t be hard, WiFi might be a little harder…

Actually, what’s the balance MCU?

Alan KM6VV

vintikas · June 1, 2011, 9:02pm

hacknmod.com/hack/how-to-cheap-a … -nunchuck/

kurte · June 1, 2011, 9:24pm

I actually have a couple of the adapters from Sparkfun (forums.basicmicro.net/general-el … t=nunchuck ).

Kurt

km6vv · June 1, 2011, 9:49pm

OK, so you’re interfacing via I2C. You could have said that.

You get X & Y joystick values, and X, Y, Z accelerations.

From XYZ accelerations, you should be able to compute any pitch or roll of the body, assuming bot motion is minimal.

Y and Y joystick should be good for making the 'bot move.

You’d perhaps be missing rotation and translation, as you wouldn’t have the 2nd joystick.

Alan KM6VV

jeeg-2 · June 2, 2011, 6:29pm

kurte:

Have 2 different Controller things I have tried out on Arduino Mega:

PS2 - More details a couple posts ago, showing how I hook up a PS2…

XBEE - I use a parallax XBEE adapter as I have had some issues with the Sparkfun one on other Atmega1280 controllers (Axon2), where the sparkfun one did not properly convert the signals. On the Mega I used one of the UARTS to connect the XBEE to the Arduino board. Simply connect the TX to the RX of the XBee adapter, RX to TX, plus find a power and ground pin…

My Arduino phoenix code did use the command formats of my DIY XBee remote control (or my VB app on the PC). So I could control it with my controller which is still BAP28 based. May soon build another controller which is Arduino based, but that is a different subject…

Hope I answered your question.

Kurt

On Arduino UNO I have only tested the PS2 (like above) so far. Keep meaning to try XBEE, but so many projects…

Thank you Kurte!
My goal is use xbee with Basic Atom to control my exapod!
I’ve created a controller with xbee and a home version of Arduino.