IK results are the same as ik sheet in PEP.
Quadrant is not the same as Excell!
New zip soon…
Hello,
I’m writing an extended version of Puppy Seq.
First, I wrote a simplified remote control for the robot.
Each robot is loaded as a module: remote control + robot algorithm.
I’ve no BBII in fact to do my Doggy. Delay 1-2 week(s).
It’s to simulte Phoenix Code (not Basic Atom) and made some test with my new dog.
Possibility to send servos positions by comport to SSC(binary mode)
Debug also!
Because, it’s impossible for me debugging the code with basic micro studio ide! file not found after compiling or something like that when it is in debug mode…
Here is a preview of the result after 7 hours of work 
…
a lot of bug are fix. Need to fix delay with timegettime or settimer api for more accuracy. Binary mode doesn’t work! 
I’ve tested “phoenix code” with one leg and “Iron Wolf code” with 2 legs. The both works.
Between the 2 languages, the syntax is the same at 99% for pheonix code
Binary mode OK!
send data sample with mscomm: setup rtsenable=true, inputmode=1, dtrenable=true
[code]
Private Type tByte
hiByte As Byte
loByte As Byte
End Type
Public Sub ServoDriverStart()
Dim wCoxaSSCV As Integer ’ Coxa value in SSC units
Dim wFemurSSCV As Integer ’ Coxa value in SSC units
Dim wTibiaSSCV As Integer ’ Coxa value in SSC units
Dim ncoxaSSCV As tByte
Dim nTibiaSSCV As tByte
Dim nFemurSSCV As tByte
…
…
…
mscomm1.output= Chr(cCoxaPin(LegIndex)+ &H80) & Chr(ncoxaSSCV.hiByte) & Chr(ncoxaSSCV.loByte)
…
mscomm1.output = Chr(&HA1) & Chr(sssctime.hiByte) & Chr(sssctime.loByte) & Chr(13)
Sleep PrevSSCTime
end sub
Private Sub SplitByte(ByVal iValue As Integer, ByRef tbConvert As tByte)
tbConvert.HiByte = ((iValue) \ 256)
tbConvert.loByte = ((iValue) Mod 256)
End Sub
[/code]
API Sleep is a dirty function but to make a test it good. In progress…
a demo preview