Phoenix Robot Back Leg's Problem

Community General Discussions
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2013-09-17%2008.43.10.jpg

I have created a phoenix style robot and am having a small problem; below are the details of what I put together:

MCU: ATMEGA 2560
Servo Sequencer: SSC-32 (115200 baud / non-binary mode)
Control Method: PS2
Servos: 18 HS-422‘s (eventually 465’s)
Power: UBEC Turnigy 8-15AMP
Battery: 2S LIPO 7.4V 1650MaH
Software: Phoenix code (ported to Arduino by “kurte”)
Code download link: viewtopic.php?f=20&t=6730

Almost everything is working exactly the way I would expect it to; the only issue I am having it the back two femurs move down instead of up while walking. This is also true when I am in single leg mode, on the front and middle legs; if I push the right joystick up the femur moves vertically. Although when I toggle the back two legs the femurs move toward the ground.

So If I try to walk it will drag its back legs; it is very sad looking :frowning: I also tried the other gaits but the same end result occurs. Does anyone have any idea what I screwed up?

Video of problem:


2013-09-17 08.43.10.jpg
2013-09-17 08.43.10.jpg2560×1920 1.51 MB

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Note: the more recent code base is up on github… github.com/KurtE/Arduino_Phoenix_Parts

It would help to have pictures. There is a difference in most of these for left versus right legs. So I would check that the legs were correct. Also would check that the servos are plugged into the right pins on the SSC32.

Note: if still having problems after double checking those things, there are easy ways to update the code to make it work… But first lets check out the obvious things.

Kurt

Edit: For some reason the picture you posted only showed up after my reply. So looks like build is correct…

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Kurt,

Thanks so much for your really quick response; It ended up that I had the servos plugged in wrong. I moved the connections and everything works beautifully.

Thanks for everything!

David

David