sCC32u won't hold calibration

Help & Support Robot Parts
1

Hi Guys,

I have a very basic hexapod that looks like the phoenix.

I have bought the SCC-32u and verified that it works and is calibrated.

I bought the bot-boarduino… USB version - and downloaded the application code found on the git hub site (see header below)

I see the Green LED blinking on the SCC32u indicating good comms between the boards… i believe my cable and the connection and the baud rate are all good between the boards.

I even bought the PS2 controller and board - wired it in. (all from robot shop so i am hoping it should all just work… SCC-32u <–> botboarduino V1.0 <–> PS2 controller with assorted connectors)

When the PS2 controller is not connected the controller “head” - part connected to the botboarduino - the controller blink and head LEDs blink.
When it gets connected i see both come on steady - which i believe indicates it is connected…

I press start on the controller and NADA…

I connected the linxterm up to the botboarduino and turned on debug by pressing D - all good at 57600 baud - but i seen nothing out of the display…

I feel like this is simple operator error…

Is there a way to debug this?

  1. how do i tell that the firmware is correct on the botboarduino?
  2. how can i tell that keys are getting to the botboarduino from the PS2.

When the two boards are connected i can see what appears to be a heartbeat between the board and the SCC32u has a green flashing LED - maybe 500ms?

The Botboarduino has 4 yellow LEDs on… the two closest to the edge are on solid - or at least flashing faster than i can see., the inner two are blinking maybe 10hz.

thanks for any help you can give me!

//Project Lynxmotion Phoenix
//Description: Phoenix software
//Software version: V2.0
//Date: 29-10-2009
//Programmer: Jeroen Janssen [aka Xan]
// Kurt Eckhardt(KurtE) converted to C and Arduino
//
// This version of the Phoenix code was ported over to the Arduino Environement
// and is specifically configured for the Lynxmotion BotBoarduino
//
//NEW IN V2.1 (2013-05-17)
// - setup() made more generic by replacing exact pin-n° by PS2_CMD
//NEW IN V2.X
//=============================================================================
//
//KNOWN BUGS:
// - Lots :wink:
//

2

Hi,

First things first, all of your information seems to indicate a good setup. One thing that may be happening is the inversion of DAT & ATT (pins 8/6). Try to reverse those, restart the devices (full power cycle of everything) and try again pressing start and see if a beep happens.

If not, then we’ll need some pictures of your full setup. Make sure to show clearly all connections, jumpers, wires, power connections, etc. You can also annotate your images if useful.

You can attach pictures to your reply in Full editor mode. See the attached image for details.

Sincerely,

Forums - Attachments.png
Forums - Attachments.png941×757 35 KB

3

ATT and DAT were swapped… i followed the diagram exactly… is this a know documentation issue?

So when i use the PS2 controller and press start it does beep now.

What buttons do i use to make it walk?

Thanks again for your help!

4

It seems to be … well … more or less… walking. not a wave, but a tripod … I think i have it calibrated properly, but not so sure right now. I got it into a mode where i could adjust various pitch and yaw… but the walk is pretty rough. I will review the blog as i am sure all my answers are there. Thanks again!

5

Some of the older code had DAT=6, ATT=8, other examples had DAT=8, ATT=6.
It was chosen to make all the samples use DAT=8, ATT=6 (CMD=7, CLK=9).

Therefore, some of the images might be wrong. Would you mind linking to the ones you used so we can update them? We might’ve missed a few… :slight_smile:

Sincerely,

6

I downloaded it from the git hub address… I can’t seem to find it here…

The diagram seemed to be backward… page 23 in the SCC32u manual.

It looks right here in the code…(following the conditional for _BOTBOARDUINO.

//[Botboarduino Pin Numbers] #ifdef __BOTBOARDUINO__ #define SOUND_PIN 5 // Botboarduino JR pin number #define PS2_DAT 8 #define PS2_CMD 7 #define PS2_SEL 6 // On the PS2 receiver this pin may be called ATT (attention) #define PS2_CLK 9 // If we are using a SSC-32 then: // If were are running on an Arduino Mega we will use one of the hardware serial port, default to Serial1 above. // If on Non mega, if the IO pins are set to 0, we will overload the hardware Serial port // Else we will user SoftwareSerial to talk to the SSC-32 #define cSSC_OUT 12 //Output pin for Botboard - Input of SSC32 (Yellow) #define cSSC_IN 13 //Input pin for Botboard - Output of SSC32 (Blue) #endif
I couldn’t get my connector etc to run so i bought one from RobotShop…

I’ll try running the calibration firmware again etc…

Is there a youtube video on running the robot. i don’t know what the keys are on a PS2 controller… never did good with video games…

L1Toggle?
L2Toggle?
D-Pad?

Stickshift are the analog controls that have the knobs?

Thanks!

7

Hey,

Thanks for letting us know. We have updated the manual (page 23) as you can see here. This image already existed, but it was simply forgotten in the SSC-32U manual since its main focus is the SSC-32U, not the BotBoarduino.

Well, not that’s good. If you see any others, feel free to let us know so we can remove any confusion for our customers!

As for the controls, we decided to update the README of the repository so it is easier to find the information. You can check the new readme here.

Here is a copy of the information concerning the controls:[code]Walk method 1:

  • Left StickWalk/Strafe
  • Right StickRotate

Walk method 2:

  • Left StickDisable
  • Right StickWalk/Rotate

PS2 CONTROLS:
[Common Controls]

  • StartTurn on/off the bot
  • L1Toggle Shift mode
  • L2Toggle Rotate mode
  • CircleToggle Single leg mode
  • Square Toggle Balance mode
  • TriangleMove body to 35 mm from the ground (walk pos)
    and back to the ground
  • D-Pad upBody up 10 mm
  • D-Pad downBody down 10 mm
  • D-Pad leftdecrease speed with 50mS
  • D-Pad rightincrease speed with 50mS

[Walk Controls]

  • selectSwitch gaits
  • Left Stick(Walk mode 1) Walk/Strafe
    (Walk mode 2) Disable
  • Right Stick(Walk mode 1) Rotate,
    (Walk mode 2) Walk/Rotate
  • R1Toggle Double gait travel speed
  • R2Toggle Double gait travel length

[Shift Controls]

  • Left StickShift body X/Z
  • Right StickShift body Y and rotate body Y

[Rotate Controls]

  • Left StickRotate body X/Z
  • Right StickRotate body Y

[Single leg Controls]

  • selectSwitch legs
  • Left StickMove Leg X/Z (relative)
  • Right StickMove Leg Y (absolute)
  • R2Hold/release leg position

[GP Player Controls]

  • selectSwitch Sequences
  • R2Start Sequence[/code]
    Sincerely,