Hello,
this is my last robotic project after 8 years on this forum and my first 3d printed project.
There is not much dog on the net. So, I decided to try to make one.
I liked the size of I-SoDog and G-Dog
Hello @robotical ,
I’m glad to see you in the forum after a long time. What a creative project, I like it a lot. Do you have a video where you can see how it works? 
Is that a Lynxmotion bracket I see in the neck? Would be great to see you use some smart servos for some added intelligence. What CAD program are you using?
thanks a lot. The only video I have at this time is a ik video test with cardboard. I’ll order hitec-85bb next week. 3 leg are printed at this time, the head, body and tail 
I plead guilty. 35mm long. Fusion 360(after 15 days I design it as you can see. For the head, it’s not perfect at this time but I discover the program)
I don’t know how smart servo works…I had planned to had a PIR sensor but problem with design.
I have KurtE’s phoenix code and Ironwolf from Innerbreed. I hope a mix between both for the code and maybe a SD Card for sound like aibo and read much step in sequence
Sorry for my mistakes, I hope you can understand what I try to tell
some progress
nose has a PIR sensor. I had to redesign the head.
Puppy do a headstand
I plan to add a DFPlayer mini mp3 or TmrPCM library to play some sound and 2 led
sit up and beg
TODO:
I trim the remote Kurte code for xbee to arduino nano with hc05 and hc06 but I’ve a problem to decode the transmit data.Test with another code, Remote great+receiver, works.
In serial, when I add bDataOffset = 5 on the receiver, I receive data. not in bluetooth…
I tested the keypad and two Joystick. The receiver has a problem too. First row of the keypad don’t work…
remove “.pde”
Remote.ino.pde (20.5 KB)
rcv.ino.pde (15.4 KB)
I tested the serial on the remote :
Also, I use a bin file to maintain all sequence. I need an additional EEPROM
BIN.ino.pde (2.4 KB)
I find the error in Kurte code(remote part). abPH[3]=0x1 must be 0x81
void SendXBeePacket(byte bPHType, byte cbExtra, byte *pbExtra)
{
// We need to setup the xbee Packet
abPH[3]=0x1;
…
Works on nano
a new trick. I simulate Balance mode in Kurt E. code.
I don’t understand how to set up servos and adapt the code to my dog. A tutorial on X , Y Z plane will be great and some trigonometric relation to the code
I remove coxa and some other things to work on nano and with my dog. I was in trouble with class in c code. The reason why one file. The leg don’t want to put itself as I want
A-Pod.pde (74.9 KB)
Original xbee arduino hexapod code is here
Hehe @0:20… well done!
Honestly not sure if the Phoenix code can be adapted easily since the leg design is different, therefore the walking gait is different.
I use Ironwolf gait from Innerbreed.
some progress: https://youtu.be/e8532R9r0js
need to adjust right leg
void Gait (byte GaitCurrentLegNr)
{
…
//Optional half heigth front
if ( (NrLiftedPos >= 2) && (
(GaitStep == (GaitLegNr[GaitCurrentLegNr] + 1) || (GaitStep == (GaitLegNr[GaitCurrentLegNr] - (StepsInGait - 1))) )) &&
GaitInMotion) {
GaitPosX[GaitCurrentLegNr] = TravelLengthX / 2;
GaitPosY[GaitCurrentLegNr] = -LegLiftHeight / (HalfLiftHeigth + 1);
//GaitPosZ[GaitCurrentLegNr] = TravelLengthZ / 2;
if ( (TravelLengthZ<-cTravelDeadZone) && (TravelLengthX >= -cTravelDeadZone && TravelLengthX <= cTravelDeadZone) ){
if (GaitCurrentLegNr==0 || GaitCurrentLegNr==2)
GaitPosZ[GaitCurrentLegNr] = TravelLengthZ*12 ;
else
GaitPosZ[GaitCurrentLegNr] = -TravelLengthZ*8;
}else
GaitPosZ[GaitCurrentLegNr] = TravelLengthZ / 2;
…
}
That help coxa to move a bit. Next video
hi,
it’s not an update .
I have just modified introudction text.
Cool, thanks 
Hello @robotical !
We noticed the videos above weren’t available anymore - and were looking to know if it would be possible to put them up again?
Thank you so much!