Hi Zenta,
I tried out a ripple 6 gait (using the LM version of PEP) last night - following the manual example carefully, but the hex’ tied itself up in knots. Just wondered whether there was any know issues with this function - or whether i’m missing something.
my other thought is that the settings taken from my SEQ config file might be off.
when doing the configuration of the servos i set the ‘0’ / centre point then the max and min points - i simply copied the figures shown in the box to the left (in the SEQ config window) into the PEP set-up worksheet.
any thoughts?
ps: glad you like the colour scheme - got more in mind.
I was going to put all the painted parts in a bag fill of nuts and bolt and give it a really good shake to get a fully distressed look… maybe later.
With hindsight i would probably have gone for unfinished silver parts - the yellow/black chevrons on silver would look really industrial.
Does your problem occur only for the ripple gait and ok for simple body movement? Does the sequences look ok in the PEP sheet, when you run it (read sequences)?
Problem solved!
LOL When I added the coxa offset function i forgot to add/subtract (+/- CoxaOffset) to the rear and front coxa’s for the gait and transition part.
I’m very sorry, to be honest I didn’t test that part.
I’ll send Jim an update soon and I’ll later today also post it in the TRC upload section. I’ll make a post when I have done it.
Hi zenta,
on a related subject here’s a diagram showing how i’ve configured my servos.
‘0’ represents the servo at it’s mid point/home position
85º is the maximum - value from SEQ configuration screen
-48 is the minimum - value from SEQ configuration screen
Is this the correct way to interpret these figures for PEP?
Yes, the blue is the phoenix chassis, the grey is the servo - top down view.
the only reason i brought this up was that i couldn’t quite understand some of the default values in PEP1.08LM set-up.
ie: left front, coxa min -141º max 39º
They kinda make sense when trying to relate them to ‘something’ while looking at a protractor, but the ‘0’ point throws the thinking a bit or i might be having another innumerate moment.
I just had my LM Phoenix up and walking with PEP sequences.
One fact I discovered was that the 6 steps ripple gait wasn’t that smooth with for the LM Phoenix. The reason are the rubber feets. The have a rather high level of friction to the floor.
But then I tested the 12 steps ripple gait. And then she got a very smooth walking! 8).
So I would highly recommend using 12 step ripple gait for the LM Phoenix.
Another advantage of using the 12 steps ripple is that it works very fine reversed too (thinking of using it with GP sequencers player).
I still have some calibration on the LM Phoenix left.
Sorry, no videos yet. (Have to make some cool sequences first )
Congratz to you too! Great to hear that the PEP LM worked also.
I didn’t rebuild my LM Phoenix with the SSC32 card the other way (like the LM setup). Instead I’m gonna add an export function to make it possible to export/import sequences between PEP(original) and PEP LM. A useful feature if someone want’s to share projects/sequences.
Have to try out Xan’s work soon.
The 12 steps ripple gait are similar to create as for the 6 steps. The difference is that the 12 steps has two swing positions (leg lifted/leg up at start and end position).
The transition gait is a useful feature when you want to switch from one pose (previous pose) to another pose (next pose). Ex. if all legs are positioned with all coxa = 0 deg (the standard pose) and you want to start a gait sequence, then you’ll see that the first gait step are very different from the standard pose. Using the transition gait at this case would be useful.
i’m only getting about 50% import success with seq at the moment.
short 2 sequence expeorts (ie stand up and a 6 ripple gait) seem to work ok, but i created a 6 sequence project which tested the various pitch/roll/rotate moves and SEQ refued to import it.
In reality it imported a bit of it, but not all of it.
Any thoughts?
My workflow is:
create sequences in PEP
click export
export worksheet as CSV
close export worksheet
duplicate my ‘default’ shp file and give it the same name as my exported sequence
open SEQ and import this project.
I’m looking forward to trying xan’s ps2 project - but need to fire a few questions at him first.
hi all,
below is a link to a shortish vid of my phoenix in action.
for reasons i can’t explain SEQ was happy to import my PEP exports this evening.
she looks clunky because both power supplies are sitting on the top deck and the bluesmirf is floating about, but i just wanted to get her moving around. Beginning to get the hang of the ripple gait 6 and managed to create ‘walking in a circle’. Still not sure exactly how to implement ripple 12 or transition yet.
hi zenta, quick PEP request list
would be possible to have a version of PEP which had side-on views of all six legs at once?
just wondered whether the buttons were activex? if they are would it be possible to create a version which didn’t use activex - so i could open and use PEP on my mac?
So, do you think you are going to try to make it autonomous? Add sensors and make him (or her ) walk around the house? You could make the computer send the commands, then you would have very good stability.
Congratz plingboot! It seems like you got some of the sequences correct.
When I find time for it I’ll update my PEP manual for the 12s ripple and transition. What part of the 12s is it that your not sure about?
Sideview. It is not on my priority list, but I’ll see what I can do about it later.
Yes I think they are activeX. I’m not familiar with mac, what kind of buttons does mac (excel) support? I’m sorry but I don’t know how to fix it. I think would need some help for that part.
When I added the coxa offset function i forgot to add/subtract (+/- CoxaOffset) to the rear and front coxa’s for the gait and transition part.
