Phoenix final step missing

Lynxmotion Legged Robots
21

Hi XT500,

Those angles and dimensions are related to the Phoenix frame but if you use your own you will have to add your own dimensions in the “Hex_Cfg.h” file of the Arduino project.
The easiest is to start with a round frame with equal distances and angles like on the CH3 frame.

:slight_smile:

22

Many thanks,

I read many posts in this Forum for the areas which need to be adjusted and I recognised so far:

In Hex_Cfg.H I entered:

  • the leg length see below
  • the body dimensions see blow

Questions

  • Is the block with “c…CoxaAngle1” the area to insert the angels ?
  • Does 600 mean 60 degrees ? Since the RM and the LM Coxa have 0 (I gues this is zero degrees)
  • Do I have to change anything in the folowing block? for example //[START POSITIONS FEET]
    Some post say yes, others say no… #define cHexInitXZ 80
    #define CHexInitXZCos60 40 // COS(60) = .5
    #define CHexInitXZSin60 69 // sin(60) = .866
    #define CHexInitY 80 //30

I know that the leg dimensions are a bit to big, which can cause probs with the torgue, the reason was a calculation mistake in my CAD Design :frowning:

My Hardware is: SSC32U, the Boatboarduino and HS 645 Servos

[size=2]CODE from Hex_Cfg.H

[/size][code]//[LEG DIMENSIONS]
…
//in this block I inserted the leg dimensions of my custom Hexapod
#define cXXCoxaLength 35 // This is for CH3-R with Type 3 legs
#define cXXFemurLength 98 // This is for Phoenix legs
#define cXXTibiaLength 147 // This is for Phoenix legs

// Do I have to insert here the Angles or shall I take 60 degree for the calibration of the hexapod ???
#define cRRCoxaAngle1 -600 //Default Coxa setup angle, decimals = 1
#define cRMCoxaAngle1 0 //Default Coxa setup angle, decimals = 1
#define cRFCoxaAngle1 600 //Default Coxa setup angle, decimals = 1
#define cLRCoxaAngle1 -600 //Default Coxa setup angle, decimals = 1
#define cLMCoxaAngle1 0 //Default Coxa setup angle, decimals = 1
#define cLFCoxaAngle1 600 //Default Coxa setup angle, decimals = 1

//[BODY DIMENSIONS]
//in this block I inserted the body dimensions of my custom Hexapod

#define cRROffsetX -51 //Distance X from center of the body to the Right Rear coxa
#define cRROffsetZ 87 //Distance Z from center of the body to the Right Rear coxa
#define cRMOffsetX -70 //Distance X from center of the body to the Right Middle coxa
#define cRMOffsetZ 0 //Distance Z from center of the body to the Right Middle coxa
#define cRFOffsetX -51 //Distance X from center of the body to the Right Front coxa
#define cRFOffsetZ -87 //Distance Z from center of the body to the Right Front coxa

#define cLROffsetX 51 //Distance X from center of the body to the Left Rear coxa
#define cLROffsetZ 87 //Distance Z from center of the body to the Left Rear coxa
#define cLMOffsetX 70 //Distance X from center of the body to the Left Middle coxa
#define cLMOffsetZ 0 //Distance Z from center of the body to the Left Middle coxa
#define cLFOffsetX 51 //Distance X from center of the body to the Left Front coxa
#define cLFOffsetZ -87 //Distance Z from center of the body to the Left Front coxa[/code]

23

The “#define cRRCoxaAngle1” is where to change the angle of the legs. It is a value in PWM signal something like an offset.
For the start position, it’s up to you as it’s really the start position.

24

Hi all,

finaly I have put everything together ( SSC32U, Botboarduino, 18xHS645, Phoenix 2.0 Code with values of body and legs, battery, 3d printed body and legs) but it doesn not walk.

I added a pic of the calibtarted legs ( according to the assembly guide on lynxmotion) and to videos: one “walking” on the floor, and the other “walking” on air :slight_smile:
and the two videos.

youtube.com/watch?v=fqZNG1AYcf0
youtube.com/watch?v=y30gtrb4-fA

Does anyone have a hint where the problem could be ? (I m afraid that the legs are two long and the torgue of the hs645 is not enough, btw. the weight is 2.5 Kilo)

Many thanks in advance !

IMG_20160713_1527423[1].jpg
IMG_20160713_1527423[1].jpg3672×4896 3.02 MB

25

I believe we both started form the same model.
That model has been modified by me.
check the videos below and if you have any questions plese feel free to ask.

youtube.com/watch?v=HbwcGp-aqeI
youtube.com/watch?v=u613TPWb2Q8