I’m glad you’ve found it!
Enjoy… 
Xan
Must have been the nap command bug we discussed earlier in the thread. 
I saw that and searched the v1.3 code for occurrences of NAP and did not find any. Might I suggest updating the project page to state that v1.3 requires the 8.0.1.8 IDE.
- Felix
Already on it…
Yess, my Phoenix works now perfectly! All is OK!!
Many many thanks for your help.
Great great work xan with your code v1.3.
All the features seem working fine: like GoFaster, I upgraded the IDE from 8.0.1.7 to 8.0.1.8, reprogrammed my Phoenix with Xan’s code v1.3 and heard the beep once the BA 82 Pro finished to be reprogrammed.
Like I said before: the Lynx tutorials, shemes and docs I needed are very clear. Tip top.
Next challenge for me: add two more legs … to get a Spider! But that’s another story…
Glad to hear your Phoenix walks! Adding two more legs should not be a big trouble. I’ve also been thinking of making a 8 legged version of Phoenix. My Oxyopus (8 legged creature) are literally dead by different reasons. I think the biggest challenge with the code is to make the gait method to work.
Good luck with your project!
Hi McSpider,
Gratz on getting your phoenix up and running! I’m glad you like the code program Enjoy!
If you study the code you’ll see that it’s build in small parts. This doesn’t make it to hard to include 2 extra legs. The hardest parts will be the body IK and finding a proper gait like Zenta said.
Good luck and keep us updated with your work!
Xan
Ow, Xan, the body IK will not be the same in your code for 2 more legs? In other words, The body IK depends with the number of legs? Oops, I’ve still to study a lot more about that! Hard to stay a beginner! It seems not so easy… but it’s my goal to reach. I’ll take the needed time for this.
Zenta, you said that Oxyopus was dead for some reasons… Please let me know what happened with your great Oxyopus project. You tried it with the real scorpion gait. It seems to be the easier arachnid gait. In fact I read about Tarantulas walking gaits: It seems to be a frequency ratio between the 2 front legs pairs and the 2 rear legs pairs for Tarantulas! Hard to code this!
The last post I read about it is probably your project conclusion: the “quite cheap” servos used and the LiPo’s moving to the rear. Is it anything else? Thanks.
Hi,
There are many reasons for why I’ve ended my Oxyopus project. But the main reason are the crappy servos, and there was part of the design I didn’t like and I’ve used some parts from Ox. to my next hexapod project, codename “A-pod”, an ant-inspired hexapod! 
. I’ll post some pictures in a new thread next year. But I’ll definitely make an octopod one time, maybe using my original Phoenix coxa parts.
The scorpion gait was rather easy to create. A real life spider tends to shift between several different sequences, not so easy to copy I think…
Hi McSpider,
I’m been giving myself a headache last few evenings by rewriting the BodyIK sub to fixed point calculations. And I reconsidered my opinion. I think it should work with 8 legs without changing it. I should give it a try some day but I think it isn’t to hard to add 2 extra legs. Just study my code carefully and see what’s going one in that part. You need to initialize the legs, add them to the IK and try if the body move and rotate parts works. If it does, your in the right way! The next and hardest thing to do is get the gait to work. But if you got the body rotate and move to work, your almost there! 8)
Good luck!
Xan
Thanks Xan.
Headache? Ow! Anything has still to be improved on your code? The v1.3 is so perfect now! 8)
The project starting will mean:
- New 2 legs variables declaration
- New 2 legs IK implementation (like the 6 others)
- All 8 legs initialization (start HipH angles settling -> +/-60° for F/R Phoenix legs)
- Try to move and rotate the body only
Seems it be right? Thanks.
Hi McSpider,
Oh yes there are always things that can be improved!
I think you’ve got it! Just one small suggestion at point 3. We’ve got 6 legs. 360/6 makes 60 deg. If you add 2 legs it will be something like 360/8 = 45 deg. But you could also go with some thing else like place the middle 2 legs on ±20 deg and the outer legs to ±60 deg to give the front and back more clearance. It’s just a matter of configuration. The IK will take care of all the rest! 8)
Xan
Good idea about the middle 2 legs Xan, I did something similar with my Oxyopus. Try out the octopod version of PEP to see what setup and init position that suit you best. It can be downloaded here. In the setup sheet you can define and experiment with different body and leg dimensions.
OK, a great thank to Xan and Zenta.
Go! I’ll begin a design for the SPIDER now. It’ll be similar to Zenta’s Oxyopus I think, with the body probably a bit smaller. Ach, the Phoenix is too cool: I’ll keep the HS-645MG on it, and buy 24 very very cheap servos set specially for the spider, before trying modify Xan’s code or Zenta’s PEP using.
In fact I’ll try to avoid the HS-645MG destruction!
The spider will be hanged for the walking gaits tests (very light spider weight on the floor).
I’ll keep you informed! 
How difficult would it be to create a version of PEP that takes all of the various walking configurations into consideration? The ones most used would be quadrapod, hexapod, and octapod. I’m working on a four jointed leg for a quadrapod now. The fifth “joint” is really just the rotator to flip the wheel between foot and wheel mode, so I don’t count it as a joint for purposes of the leg.
Four jointed legs for a quadrapod just seems right. 
8-Dale
Hi,
I did make a PEP version for my Felix (4x4 DOF). But it would be hard to combine them in one sheet. Since I’m working with a new hexapod project I’ve not made my Felix walk yet. So I don’t have a walking algorithm ready for a quad yet.
A four jointed quad would make it easier to shift body weight, but the IK are much harder (several solutions).