Outside of testing do you guys use that SEQ software with the SSC-32? or you just write code to it?
Im thinking to do the later for some reason my SEQ acts weird “different” every time i open it.
So i went to All=1.5ms, then all my servos got centered, i unscrew the off ones and pretty much configured my biped at 1.5ms… Then i went to the SSC-32 tab… and i fine tuned neutral, max and min… Then i went to sequencer and loaded the humanoid project, i moved servos around to match my setup, and setup my initial sequence… where the biped would be standing still… then i created a seceond sequence where he would move both of his hands in random direction, tested and it worked fine… …Next day, turn on my computer, load the software again, did load my ssc-32 file, and went into SEQ… my project was still there… I hit go to the first sequence where the bot was standing and it is completely wrong… legs lay out wrong, knees out of place, etc…
Why would it do this?
Would writing my own code be better than using this software? And if i do for testing i can just connect to a console and feed in my code text file… and then eventually send this same code from like an arduino or basicboard
and my last question would be: which firmware should i be running on my SSC-32?
Others can probably answer using SEQ better than I can, I have used it some to develop sequences.
First the easy part, which version of firmware to use with the SSC-32. To use sequences you must have a version whose name ends with the letters GP (General Purpose), not the ones that end with XE. I use the versions that end with the 3 letters EGP (Extended…). The EGP versions support communicating in binary mode as well as ASCII command set… I have mine programmed with 2.07EGP…
Next: Usually when I hear about issues like you are having, the first three things I think about are:
a) Battery
b) Battery
c) Battery…
That is if it worked yesterday, but not today, the first thing I would do (assuming you changed over to using battery instead of 2amp wall wart) would be to charge my battery. The next thing I would do, would be to make sure that I am not having VS=VL. If I did, I would undo this and try connecting a 9v battery to VL. Why? Often what happens is all of the servos try to move at once which causes a surge to the main battery, where the voltage drops and for a moment gets too low, which causes the processor on the SSC-32 or likewise processor board connected to SSC-32 to reset…
As for what software to use on a humanoid robot. In the end you will probably need some main processor doing stuff. How you do it, well, there are lots of options:
a) Use SEQ to generate a set of sequences and have your main program decide which of these sequences to run… The closest I have come to this is to run some canned sequences on the hexapods…
b) Similar but on the Brat, we developed a set of canned sequences, where we had a function that said move the leg servos to this angle, and then when you told it to do something, it would run through a sequence. Most of the brat code version were real simple, they would get input from the PS2, decide on which command they wanted to run and then do the command, some of that code looked like:
The function movment was defined:
movement [rightanklepos,rightkneepos,righthippos,leftanklepos,leftkneepos,lefthippos,speed]
I have a slightly more complicated version that I ported to arduino, that was table driven instead and that could detect stuff while running a sequence, but the idea was same.
c) You can drive the whole thing using IK code, like we do with the Hexapods. For this I suggest you take a look at Zenta’s (Kåre) Archer project. viewtopic.php?f=7&t=6342
But: The math makes my head hurt
Thanks for the fast reply… ill try again today with that 6v 2800mah battery and separate VS from VL… Also i think i have the wrong firmware… I believe by default they come with the XE version… So i would need to get the GP firmware… may as well just get that EGP you are using… where are this firmware downloaded from??
