In 3a Tutorial The Complete H3/H3-R Tutorial (Bot Board II) Current
when using up/down buttons for instant to lower and raise the body (other buttons included) the legs perform an alternating tripod.
how can i stop this from Repositioning the legs.? except from using the J/Sticks. i know flipflap is making the tripods alternate but is there a section were i can stop it from effecting the other buttons.
i.e. i wish to use the controls without this function. what part of the code is responsible for this?
ok here is another one. after: YSpeed = DualShock(3) - 128 ; Right Stick Horizontal
XSpeed = DualShock(4) - 128 ; Right Stick Vertical
(WALKING)
the tripod stance pauses with three legs up and three legs down for about 3 seconds. then returns to normal (all legs down).
i wish to remove this pause so that once the J/Sticks have been released the legs return to normal (all down) straight away.
i cannot find any reference to a pause of 3 seconds. maybe a series of shorter pauses??
Try downloading powerpod and creating some sample programs varying the “Auto Legs Down” amount. Then you should be able to compare the two programs to see the actual difference.
Also in powerpod you can set the tibia at in incline of +/- 20 'internal or external… Can this mumber be increased? Is 20 the mechanical limit of the leg or would raising the number mess with the code in anyway?
Probably can’t fold the leg in much further, due to mechanical interference. As for angling outwards; you’d end up with a more sprawled 'bot, and possibly the added angle would then not be available for translations…
You should be able to just “try out” the outwards angle, but mind the cautions on the inward movement (test it on a test stand).
i mean i was working a 12 hour shift and had 3 hours left.
its the internal angle i wish to explore. im not using a hexapod or the conventional leg. so saying this it would make my question obsolete i guess. i had time to explore this more when i got home and all works ok.
OK, then I’d just explore the range of the joints with SEQ or whatever, and set the limits in the program. You should then be able to derive a useful value for the internal angle.
Just for the record,
Is there a quick way to switch between using ABB and SSC so that you dont have to pull out the jumpers to prep the SSC each time?
there must be a way to add a switch so you can just plug either board in, and throw the switch for that board, and away you go??
i did see the thread on switching from the Bot Board (TTL) or the PC (DB9 RS232) for communicating with the SSC-32. would that be what im talking about?
interesting.
anyway just to clarifly the leg idea im using its here: http://i531.photobucket.com/albums/dd355/innerbreed/legcompare.jpg
i have colored the servos to show how they correspond to the conventional leg.
the idea is that iv taken the rear leg from the hexapod and tilted it at 45º … ish… to work as a biped leg. iv been working with the code and after working out the difference i believe i have got it working correctly.
the two green servos indicate that the servos are link though the code using this:
Ankle_Angle = Knee_Angle
so that the ankle can carry the movements from the knee. i was going trying to get it to do “tars to ground” kinda thing but i couldnt implement it correctly.
Anyway converting this code is much easier than converting the phoenix code. as you mentioned.
