Phoenix help

Lynxmotion Legged Robots
1

Ok guys,

Well I have built my Pheonix, and am using the SSC32 and BOtboard 2 and wireless PS2 controller.

I have zeroed all of my servos and SSC32 is working perfectly, driving the servos as it should.

I have downloaded the phoenix2 code into the bot board, set for PS2, and it all compiled OK etc. And I have also wired my PS2 wireless in as per the guide on the lynx motion pages.

The BB2 is set to the correct baud rate, but no serial data seems to reach the SSC32, it is wired as per tutorial…

No robot control beyond the robot standing based on the registers in the SCC32 on power up centering the servos.

On powerup the Botboard does a beep beep beep bip sequence. Is this right? What does this indicate?

My PS2 controller was an ebay one, and it does the following: the receiver has no button to sync them up, and the power and RX lights are permanently on.

The controller (transmitter) has 2 leds, that flash Mode led and RX led. I hve put new batteries in, but I do not have a PS2 on which to test it out.

Am I missing something obvious… I have never used a PS2 controller ever, is there a sync up sequence? There is no manual with my controller.

Thanks in advance :slight_smile:

2

Please post link to the code and tutorial you used. Check serial pin connection in code as well as tutorial to make sure they are the same.

Is it a lynxmotion ps2?

Is it a continuous beep or just 3 or so.

3

Tutorial was here (build, calibration, wiring):
lynxmotion.com/images/html/build159.htm

All of this is confirmed as working, the Bot repsonds to SCC commands from the PC, and also centres up on power up based on SCC register values.
Also, using the VB control program I can have the robot walk etc. Problem lies in BB2 -> PS2 control

PS2 wiring tutorial here:
lynxmotion.com/images/html/build162.htm

I have also loaded this program, and am just recieving 255’s on the comms terminal, no data from the PS2 controller
lynxmotion.com/images/html/build034.htm

Which confirms the BB2 is alive and programming OK, but that the data from the PS2 is not making it, I believe it may be the controller, which is not a lynx motion one, but an ebay/chinese one.

I did notice however that I was only building the and not prgoamming the phonenix code, which I will try and do now, as my beep indications may not be relevant. Will post finisgind in 2 minutes. Cheers, Matt

4

Ok, have now programmed the phoenix 2 code, setup for PS2, and made the assembly mod to make it compile on latest IDE.

t programs, and I get three high pitched acceding beeps repeating quickly over and over again. It also is now clearing the SCC green LED, which is assume is from the version request code.

I will mod the code to go active (HexOn, and some body changes and skip inti and control request, to see what happens, though I exoect it will react, just without any control avaibale.

Hope that clarifies, I may get my hands on a wired PS2 controller (genuine) later today, would that need any additonal wiring to work in palce of the wireless controller?

Thanks for the help in advance :slight_smile:
Matt

5

To confirm, if I remove controller checks and function calls, and add hexOn and some tBodyX etc positions, the robot moves into that position, definitely a PS2 problem, grrr!

I’ll try with a wired PS2 controller today and see what results I get, I expect its this cheap chinese rubbish that is causing the issue though!!

6

Yes, there can be issues with some of the different PS2 controllers… Some for example only work with 3.3 volts more or less. So you may have to do something to convert down from 5volts…

I would start off with the PS2 tests, to see what you are getting… (lynxmotion.com/images/html/build034.htm)

Kurt

7

Yes many PS2 controllers will not work at 5vdc. We are making a level shifter board for these controllers.

8

Would an offical PS2 controller (wired) work at 5v, as I can get one tonight for testing?
Cheers

9

Yes it should work. I base this on the fact that they have always worked for me.

10

Ok, I have just installed a wired in controller

Using this guide exact, lynxmotion.com/images/html/build162.htm

I still am stuck at the triple beep stage, which appears to be in the InitController routine of the phoneix code. I have checked all jumpers & wiring several times etc.

The PS2 remote is powering, and analogue is fixed on, ie pressing the button wont turn it off, so it appears something is happening…

Any ideas??

Cheers,
Matt

11

Looking at the init controller code:

[code];[InitController] Initialize the PS2 controller
InitController:
high PS2CLK
LastButton(0) = 255
LastButton(1) = 255
BodyYOffset = 0
BodyYShift = 0

low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$1\8]
shiftin PS2DAT,PS2CLK,FASTLSBPOST,[DS2Mode\8]
high PS2SEL
pause 1

if DS2Mode <> PadMode THEN
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$1\8,$43\8,$0\8,$1\8,$0\8] ;CONFIG_MODE_ENTER
high PS2SEL
pause 1

low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$44\8,$00\8,$01\8,$03\8,$00\8,$00\8,$00\8,$00\8] ;SET_MODE_AND_LOCK
high PS2SEL
pause 1

low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$4F\8,$00\8,$FF\8,$FF\8,$03\8,$00\8,$00\8,$00\8] ;SET_DS2_NATIVE_MODE
high PS2SEL
pause 1

low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$5A\8,$5A\8,$5A\8,$5A\8,$5A\8] ;CONFIG_MODE_EXIT_DS2_NATIVE
high PS2SEL
pause 1

low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8] ;CONFIG_MODE_EXIT
high PS2SEL
pause 100
	
sound P9,[100\4000, 100\4500, 100\5000]

goto InitController ;Check if the remote is initialized correctly

ENDIF
return[/code]

I see the goto initcontroller at the bottom, in effect sitting it in a loop, I will try removing this… and report 2 minutes…

:slight_smile:

12

A note, whilst programming the Analogue on/off button on the PS2 controller is working, so it would seem that the comms to the controller to lock it into analogue mode are making their ay through ok,

Ok, with that line ‘goto init’ tagged out, the robot springs to life when i press start, and starts walking… it is reposnfing at leats now to the PS2 controller… how strange…

Seems to be stuck on a fast walk though so I will look though this…

13

We are splitting this off Xans thread. You should always start a new thread for troubleshooting.

We normally don’t jump right into the code before checking the wiring first. Can you post images of your wiring here?

14

Hi, ok not a problem :slight_smile:

Well the robot seems to now work, after commenting out the goto init line in the initcontroller routine. Its a bit jittery but I think it is because I am sharing logic with servo power and its resetting the SSC, which I am about to correct as we speak.

I will report my findings in a few moments after I have done this.
Cheers
Matt