Setting up data transfer (SSC-32/Bot Board II)

innerbreed · January 14, 2010, 3:21pm

im using the following code from the biped tutorial for PS2 Control (Bot Board II and BA Pro)

i wish to use SSC as well connected with
Output pin 11 for (SSC32 RX) on BotBoardII and Input pin 10 for (SSC32 TX) on BotBoardII (same as usual set up for these boards)

this current code doesn’t include use of SSC, so how do i set it up so it send the commands to it.
im thinking i need to use the serout command in (Main)??

for Index = 0 to 31 serout SSC_OUT,SSC_BAUTE,"#",DEC Index,] next
maybe adding a servo driver and call it up in (Main)?

[code]
ServoDriver:

;Right leg
serout SSC_OUT,SSC_BAUTE,"#",dec RHipRotatePin,“P”]
serout SSC_OUT,SSC_BAUTE,"#",dec RHipZPin,“P”]
serout SSC_OUT,SSC_BAUTE,"#",dec RKneeZPin,“P”]

;Left leg
serout SSC_OUT,SSC_BAUTE,"#",dec LHipRotatePin,“P”]
serout SSC_OUT,SSC_BAUTE,"#",dec LHipZPin,“P”]
serout SSC_OUT,SSC_BAUTE,"#",dec LKneeZPin,“P”]

return[/code]

would i be right in thinking i need to change the hservo command for serout?

Tutorial:
lynxmotion.com/images/html/build155.htm

original code:
lynxmotion.com/images/files/pbrat1-2.bas

i hope you can help.
thanks again.

robotdude · January 14, 2010, 3:54pm

Here is a simplified program for sending commands top the SSC-32 from an Atom.

lynxmotion.com/images/html/proj53a.htm

There is a ton of code overhead in the Atom Pro BRAT code you are looking at that emulates the SSC-32’s group move. It might be better to just use the code above.

innerbreed · January 14, 2010, 5:09pm

so are you saying there is no simple way of converting these ABB data commands to the SSC without completely re-writing the commands.

kurte · January 14, 2010, 5:43pm

Actually I think it would be pretty easy. You could gut the Movement function get rid of longest…

Then convert the HSERVO command into the same SSC-32 command. Would need to convert coordinate systems.

For example in this part of the command:lefthip\TOINT (-lefthipposstepsperdegree) + aServoOffsets(3)\TOINT lhspeed,
You could probably convert this to the serout to SSC with the conversion:
(TOINT (-lefthipposstepsperdegree) + aServoOffsets(3) +24000)/16

You would need to do this for all 18 servos, would need to see if you would need to change the passed in time value into a different value or not. You may also need to decide what to do with the HSERVOWAIT. Could query SSC to see if it is done, or you can do like phoenix and guess and pause the appropriate time. Personally I would prefer to get rid of the floating point, but…

Kurt

robotdude · January 14, 2010, 5:52pm

Not really. I’m saying in order to make the BRAT with Atom Pro and SSC-32 move with the same sequences the easy way would be to start from scratch. After looking over the thread more closely I see that you are wanting to use the PS2 controller as well. If you don’t want to take on incorporating the PS2 code into your home brew program it’s possible to use the program you have. You must strip out all of the code that deals with hservo and the way Nathan made it work like the SSC-32 group move. It’s not an insignificant piece of code.

The hservo command only moves servos to a given position and at a given speed, but Nathan wrote the supporting program to coordinate the servos to all begin and end at the same time for each step. This is not needed when you are using the SSC-32 nor should it be implements because it is a serious waste of resources. Dozens of lines of code to do the the same thing as simply adding a T value and sending the destinations to the SSC-32.

The step positions need to be converted from hservo values to discrete positions the SSC-32 can use. There is a thread here somewhere on that exact subject.

I’m pretty surprised there aren’t any examples of the Bot Board II with Atom Pro and SSC-32 with the PS2 around here. It’s not terribly difficult to do. When we have time we will add one.

kurte · January 14, 2010, 6:23pm

I did a quick conversion as I mentioned and it does compile. Have not hooked up hardware to try it however…

[code];Program written for Bot Board II, Basic Atom Pro 28, Basic Micro Studio v1.0.0.4
;Written by Nathan Scherdin, modified by Jim and James Frye

cSSC_OUT con P11 ;Output pin for (SSC32 RX) on BotBoard (Yellow)
cSSC_IN con P10 ;Input pin for (SSC32 TX) on BotBoard (Blue)
cSSC_BAUD con i38400 ;SSC32 BAUD rate

;System variables
righthip con 10
rightknee con 8
rightankle con 7
lefthip con 6
leftknee con 5
leftankle con 4

NUMSERVOS con 6
aServoOffsets var sword(NUMSERVOS)
ServoTable bytetable RightHip,rightknee, rightankle,lefthip, leftknee, leftankle

;[PS2 Controller]
PS2DAT con P12 ;PS2 Controller DAT (Brown)
PS2CMD con P13 ;PS2 controller CMD (Orange)
PS2SEL con P14 ;PS2 Controller SEL (Blue)
PS2CLK con P15 ;PS2 Controller CLK (White)
PadMode con $79

TRUE con 1
FALSE con 0

BUTTON_DOWN con 0
BUTTON_UP con 1

TravelDeadZone con 4 ;The deadzone for the analog input from the remote

;calibrate steps per degree.
stepsperdegree fcon 166.6

;You must calibrate the servos to “zero”. Each robot will be different!
;When homed in and servos are at 0 degrees the robot should be standing
;straight with the AtomPro chip pointing backward. If you know the number
;of degrees the servo is off, you can calculate the value. 166.6 steps
;per degree. The values for our test robot were found by running the
;program bratosf.bas written by James Frye.

;Interrupt init
ENABLEHSERVO

command var byte
bat var word

IdleBot var word
WalkSpeed var float
WalkAngle var float

TravLength var byte
TravLength = 6
LastStep var byte
LastStep = 0
AnkleAdj var byte
AnkleAdj = 0

BotActive var bit
BotActive = FALSE

;[Ps2 Controller]
DualShock var Byte(7)
LastButton var Byte(2)
DS2Mode var Byte
PS2Index var byte
BodyYShift var sbyte
PS2IN var float

;PS2 controller
high PS2CLK
LastButton(0) = 255
LastButton(1) = 255

;==============================================================================
; Complete initialization
;==============================================================================
aServoOffsets = rep 0\NUMSERVOS ; Use the rep so if size changes we should properly init

; try to retrieve the offsets from EEPROM:

; see how well my pointers work
gosub ReadServoOffsets

;Init positions
;Note, movement subroutine arguments are Rightankle,Rightknee,Righthip,Leftankle,Leftknee,Lefthip,speed
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

;low 1
;low 2
pause 1000

;---------------------------------------;
;--------Command Quick Reference--------;
;---------------------------------------;
;- Command 0 = Home Position -;
;- Command 1 = Walk Forward -;
;- Command 2 = Walk Backward -;
;- Command 4 = Kick (Left) -;
;- Command 5 = Kick (Right) -;
;- Command 6 = Headbutt -;
;- Command 7 = Get up from Front -;
;- Command 8 = Get up from Back -;
;- Command 9 = Rest Position -;
;- Command 11= Turn Left -;
;- Command 12= Turn Right -;
;- Command 13= Slight Turn Left -;
;- Command 14= Slight Turn Right -;
;---------------------------------------;

     sound 9,[50\4000,40\3500,40\3200,50\3900]

main

gosub PS2INPUT

if(IdleBot = 1000)then
command = 9
gosub move
elseif(IdleBot = 50)
AnkleAdj = 0
else
IdleBot = IdleBot + 1
pause 15
endif

adin 16, bat

if (bat < 270) then ;the battery is getting low
sound 9,[50\5000,25\4400,50\5000]
else
pause 50
endif

goto main

move:
if(command = 1) then ; Walk
if LastStep = 0 then
gosub movement WalkAngle, WalkSpeed, WalkSpeed, -WalkAngle,-WalkSpeed,-WalkSpeed,500.0]
gosub movement -WalkAngle, WalkSpeed, WalkSpeed, WalkAngle,-WalkSpeed,-WalkSpeed,500.0]
LastStep = 1
elseif LastStep = 1
gosub movement -WalkAngle,-WalkSpeed,-WalkSpeed, WalkAngle, WalkSpeed, WalkSpeed,500.0]
gosub movement WalkAngle,-WalkSpeed,-WalkSpeed, -WalkAngle, WalkSpeed, WalkSpeed,500.0]
LastStep = 0
endif
AnkleAdj = AnkleAdj + 1
if (AnkleAdj > 6) then
AnkleAdj = 6
endif
elseif(command = 4) ; Kick Left
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
gosub movement -14.0, 0.0, 0.0, 42.0, 0.0, 0.0, 500.0]
gosub movement -23.0, 0.0, 0.0, 0.0,-32.0, 41.0, 500.0]
gosub movement -23.0, 0.0, 0.0, 0.0, 24.0,-20.0, 250.0]
gosub movement -18.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
elseif(command = 5) ; Kick Right
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
gosub movement 42.0, 0.0, 0.0,-14.0, 0.0, 0.0, 500.0]
gosub movement 0.0,-32.0, 41.0,-23.0, 0.0, 0.0, 500.0]
gosub movement 0.0, 24.0,-20.0,-23.0, 0.0, 0.0, 250.0]
gosub movement 0.0, 0.0, 0.0,-18.0, 0.0, 0.0, 500.0]
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
elseif(command = 7) ; Get up from front
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
gosub movement 0.0, 90.0, 45.0, 0.0, 90.0, 45.0, 500.0]
gosub movement 40.0, 90.0,-37.0, 0.0, 90.0, 45.0, 500.0]
gosub movement 0.0, 90.0,-65.0, 0.0, 90.0,-65.0, 500.0]
pause 300
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,1000.0]
elseif(command = 8) ; Get up from back
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,1000.0]
gosub movement 0.0,-90.0, 5.0, 0.0,-90.0, 5.0,1000.0]
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,1000.0]
; pause 1000
; gosub movement 0.0, 22.0,-80.0, 0.0, 22.0,-80.0,1000.0]
; gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,1000.0]
elseif(command = 0) ; Home Position
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
; sound 9,[50\4400]
; pause 50
; sound 9,[50\4400]
; pause 50
; sound 9,[50\4400]
elseif(command = 6) ; Headbutt
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
gosub movement 0.0,-50.0,-90.0, 0.0,-50.0,-90.0, 500.0]
gosub movement 0.0, 32.0,-58.0, 0.0, 32.0,-58.0, 400.0]
pause 200
gosub movement 0.0,-11.0, 7.0, 0.0,-11.0, 7.0, 500.0]
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 500.0]
; sound 9,[50\4400]
; pause 50
; sound 9,[50\3960]
; pause 50
; sound 9,[50\3960]
elseif(command = 11) ; Turn left
gosub movement 20.0, 0.0, 0.0,-14.0, 0.0, 0.0,500.0]
gosub movement 20.0,-35.0,-35.0,-14.0, 35.0, 35.0,500.0]
gosub movement 0.0,-35.0,-35.0, 0.0, 35.0, 35.0,500.0]
gosub movement 0.0, 35.0, 35.0, 0.0,-35.0,-35.0,500.0]
gosub movement 20.0, 35.0, 35.0,-14.0,-35.0,-35.0,500.0]
gosub movement 20.0, 0.0, 0.0,-14.0,-35.0,-35.0,500.0]
gosub movement -14.0, 0.0, 0.0, 20.0,-35.0,-35.0,500.0]
gosub movement -14.0, 0.0, 0.0, 20.0, 0.0, 0.0,500.0]
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,500.0]
elseif(command = 12) ; Turn right
gosub movement -14.0, 0.0, 0.0, 20.0, 0.0, 0.0,500.0]
gosub movement -14.0, 35.0, 35.0, 20.0,-35.0,-35.0,500.0]
gosub movement 0.0, 35.0, 35.0, 0.0,-35.0,-35.0,500.0]
gosub movement 0.0,-35.0,-35.0, 0.0, 35.0, 35.0,500.0]
gosub movement -14.0,-35.0,-35.0, 20.0, 35.0, 35.0,500.0]
gosub movement -14.0,-35.0,-35.0, 20.0, 0.0, 0.0,500.0]
gosub movement 20.0,-35.0,-35.0,-14.0, 0.0, 0.0,500.0]
gosub movement 20.0, 0.0, 0.0,-14.0, 0.0, 0.0,500.0]
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,500.0]
elseif(command = 13) ;coarse correct left
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,500.0]
gosub movement 25.0, 0.0, 0.0,-18.0, 0.0, 0.0,500.0]
pause 100
gosub movement 2.0,-20.0,-20.0,-18.0, 20.0, 20.0,500.0]
gosub movement 0.0,-20.0,-20.0, 0.0, 20.0, 20.0,500.0]
gosub movement 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,500.0]

  elseif(command = 14)							;coarse correct right
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0,500.0]
     gosub movement -18.0,  0.0,  0.0, 25.0,  0.0,  0.0,500.0]
     pause 100
     gosub movement -18.0, 20.0, 20.0,  2.0,-20.0,-20.0,500.0]
     gosub movement   0.0, 20.0, 20.0,  0.0,-20.0,-20.0,500.0]
     gosub movement   0.0,  0.0,  0.0,  0.0,  0.0,  0.0,500.0]
  elseif(command = 9)							; Rest Position 
     gosub movement   0.0, 35.0, 40.0,  0.0, 35.0, 40.0,500.0] 
  endif

IdleBot = 0
return

;--------------------------------------------------------------------
;[PS2Input] reads the input data from the PS2 controller and processes the
;data to the parameters.
Ps2Input:

low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$1\8]
shiftin PS2DAT,PS2CLK,FASTLSBPOST,[DS2Mode\8]
high PS2SEL
pause 1

low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$1\8,$42\8]
shiftin PS2DAT,PS2CLK,FASTLSBPOST,[DualShock(0)\8, DualShock(1)\8, DualShock(2)\8, DualShock(3)\8, |
DualShock(4)\8, DualShock(5)\8, DualShock(6)\8]
high PS2SEL
pause 1

;serout s_out,i14400,[dec DS2Mode, 13]
DS2Mode = DS2Mode & 0x7F
if DS2Mode <> PadMode THEN
low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$1\8,$43\8,$0\8,$1\8,$0\8] ;CONFIG_MODE_ENTER
high PS2SEL
pause 1

low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$44\8,$00\8,$01\8,$03\8,$00\8,$00\8,$00\8,$00\8] ;SET_MODE_AND_LOCK
high PS2SEL
pause 1

low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$4F\8,$00\8,$FF\8,$FF\8,$03\8,$00\8,$00\8,$00\8] ;SET_DS2_NATIVE_MODE
high PS2SEL
pause 1

low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$5A\8,$5A\8,$5A\8,$5A\8,$5A\8] ;CONFIG_MODE_EXIT_DS2_NATIVE
high PS2SEL
pause 1

low PS2SEL
shiftout PS2CMD,PS2CLK,FASTLSBPRE,$01\8,$43\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8,$00\8] ;CONFIG_MODE_EXIT
high PS2SEL
pause 100
	
sound P9,[100\3000, 100\3500, 100\4000]
return

ENDIF

IF (DualShock(1).bit3 = 0) and LastButton(0).bit3 THEN ;Start Button test
IF(BotActive) THEN
'Turn off
Sound P9,[100\4400,80\3800,60\3200]
command = 9
gosub move
BotActive = False
ELSE
'Turn on
Sound P9,[60\3200,80\3800,100\4400]
command = 0
gosub move
BotActive = True
ENDIF
ENDIF

IF BotActive THEN
IF (DualShock(1).bit0 = 0) and LastButton(0).bit0 THEN ;Select Button test
if (TravLength = 8) then
TravLength = 8
Sound P9,[80\3800,60\3200]
else
TravLength = 6
Sound P9,[80\3200,60\3800]
endif
ENDIF

IF (DualShock(1).bit4 = 0) and LastButton(0).bit4 THEN	;Up Button test
	command = 7
	gosub move
ENDIF
	
IF (DualShock(1).bit6 = 0) and LastButton(0).bit6 THEN	;Down Button test
	command = 8
	gosub move
ENDIF


IF (DualShock(2).bit4 = 0) and LastButton(1).bit4 THEN	;Triangle Button test
	command = 6
	gosub move
ENDIF

; IF (DualShock(2).bit5 = 0) and LastButton(1).bit5 THEN ;Circle Button test
; ENDIF

IF (DualShock(2).bit6 = 0) and LastButton(1).bit6 THEN	;Cross Button test
	command = 0
	gosub move
ENDIF

;IF (DualShock(2).bit7 = 0) and LastButton(1).bit7 THEN ;Square Button test
;ENDIF

IF (DualShock(2).bit3 = 0) AND (LastButton(1).bit3 = 1) THEN;R1 Button test
	command = 5
	gosub move
ENDIF

IF (DualShock(2).bit2 = 0) AND (LastButton(1).bit2 = 1) THEN;L1 Button test
	command = 4
	gosub move
ENDIF

; IF (DualShock(2).bit0 = 0) THEN;AND (LastButton(1).bit0 = 1) THEN ;L2 Button test
; ENDIF

; IF (DualShock(2).bit3 = 0) THEN;AND (LastButton(1).bit3 = 1) THEN ;R2 Button test
; ENDIF

IF (ABS(Dualshock(6)-128) > TravelDeadZone) AND (BotActive = TRUE) THEN
PS2IN = TOFLOAT (Dualshock(6) - 128)
if PS2IN > 0.0 then
WalkSpeed = (PS2IN/(TOFLOAT TravLength))
WalkAngle = (((PS2IN/10.0) + 4.0) - (TOFLOAT AnkleAdj))
else;if (Dualshock(6)-128) < 0
WalkSpeed = (PS2IN/(TOFLOAT TravLength))
WalkAngle = -(((PS2IN/10.0) - 4.0) + (TOFLOAT AnkleAdj))
endif
command = 1
gosub move

ELSEIF (ABS(Dualshock(5)-128) > (TravelDeadZone*4)) AND (BotActive = TRUE)
PS2IN = TOFLOAT (Dualshock(5) - 128)
if (PS2IN > (TOFLOAT TravelDeadZone)) AND (PS2IN < 70.0) then
command = 14
elseif (PS2IN >= 70.0)
command = 12
elseif (PS2IN < (TOFLOAT -TravelDeadZone)) AND (PS2IN > -70.0)
command = 13
else
command = 11
endif
gosub move
ENDIF

ENDIF

LastButton(0) = DualShock(1)
LastButton(1) = DualShock(2)
return
;--------------------------------------------------------------------

;Should never need to edit anything below this line. Add user subroutines above this and below main.
lefthippos var float
leftkneepos var float
leftanklepos var float
righthippos var float
rightkneepos var float
rightanklepos var float
speed var float
movement [rightanklepos,rightkneepos,righthippos,leftanklepos,leftkneepos,lefthippos,speed]
serout cSSC_OUT, cSSC_BAUD, |
“#”,dec lefthip , “P”, dec (TOINT (-lefthipposstepsperdegree) + aServoOffsets(3) + 24000)/16,|
“#”,dec righthip, “P”, dec (TOINT (righthipposstepsperdegree) + aServoOffsets(0) + 24000)/16,|
“#”,dec leftknee, “P”, dec (TOINT (-leftkneeposstepsperdegree) + aServoOffsets(4) + 24000)/16,|
“#”,dec rightknee, “P”, dec (TOINT (rightkneeposstepsperdegree) + aServoOffsets(1) + 24000)/16,|
“#”,dec leftankle, “P”, dec (TOINT (-leftankleposstepsperdegree) + aServoOffsets(5) + 24000)/16,|
“#”,dec rightankle, “P”, dec (TOINT (rightankleposstepsperdegree) + aServoOffsets(2) + 24000)/16,|
“T”,dec TOINT(speed), 13]
pause TOINT(speed) ; could do something better…

return

;==============================================================================
; Subroutine: ReadServoOffsets
; Will read in the zero points that wer last saved for the different servos
; that are part of this robot.
;
;==============================================================================
pT var pointer ; try using a pointer variable
cSOffsets var byte ; number of
bCSIn var byte
bCSCalc var byte ; calculated checksum
b var byte ;
i var byte

ReadServoOffsets:
readdm 0, [cSOffsets, bCSIn]
;serout s_out, i9600, “RSO: cnt:”, dec cSOffsets, " CS in:", hex bcsIn];

if (cSOffsets > 0) and (cSOffsets <= NUMSERVOS) then 		; offset data is bad so go to error location

	; OK now lets read in the array of data
	readdm 2, [str aServoOffsets\csOffsets*2]
	
	;... calculate checksum...
	bCSCalc = 0

	for i = 0 to NUMSERVOS-1
		bCSCalc = AServoOffsets(i).lowbyte + AServoOffsets(i).highbyte

; serout s_out, i9600, " “, sdec aServoOffsets(i),”:", hex aServoOffsets(i)]
next

; serout s_out, i9600, " CS Calc:", hex bCSCalc]

	if bCSCalc <> bCSIn then 
		aServoOffsets = rep 0\NUMSERVOS
	endif
endif

; serout s_out, i9600, [13]
return
[/code]
Kurt

P.S. - Again I would change more like time of 500.0 makes no sense…

robotdude · January 14, 2010, 6:42pm

It’s all the stuff below this.

;Should never need to edit anything below this line.

that I’m talking about. It’s a total waste because all it’s doing is making hservo work like the SSC-32’s group move command (T). Essentially in your program it’s a very complicated way to parse out the commands, I think…

innerbreed · January 14, 2010, 8:24pm

thanks guys for replying. makes me feel better about the last few hours iv spent messing around with code.

wow kurt, thank you for taking your time to “convert the code. very much appreciated.”

i will try to see if it works abit later on.

i will try and look for that thread jim. sound interesting. thank you.

18 servos.?

12!
its a biped scout that im trying to program using brat code.
only using a few select joint at the moment but once i grow confident in programming ill add the other DOF.
im intending on using Bot Board II with Atom Pro and SSC-32 with the PS2 so thats way i chose to convert the** pbrat1-2.bas **code. it has most of what i need. i hope.

thanks again.

innerbreed · January 14, 2010, 10:00pm

ok well i have programmed the atom and once upload completed there was no confirmation beep, nor is the SSC lite or recieving data commands… the ssc light comes on for about 1/4 of a second when battery is connected then goes out. BB led stays lit, fresh battery too.

robotdude · January 14, 2010, 10:29pm

If you aren’t interested in using the sequences from the BRAT code, and I wouldn’t know how they could remotely be useful, then that thread isn’t going to be very useful. You simply want to send some commands to the SSC-32 depending on what buttons are pressed on the PS2 controller. You are going to need to make your own custom sequences. For now you can start making it walk with no PS2 at all. You simply need to write a program like the following.

[code]lhipr var word 'left hip rotation (pin 0)
lhips var word 'left hip sway (pin 1)
lhip var word 'left hip (pin 2)
lknee var word 'left knee (pin 3)
lankle var word 'left ankle (pin 4)
lankler var word 'left ankle rotate (pin 5
rhipr var word 'right hip rotation (pin 16)
rhips var word 'right hip sawy (pin 17)
rhip var word 'right hip (pin 18)
rknee var word 'right knee (pin 19)
rankle var word 'right ankle (pin 20)
rankler var word 'right ankle rotate (pin 21)
ttm var word 'Amount of time to take to move

serout p15,i38400,"#0 P1500 #1 P1500 #2 P1500 #3 P1500 #4 P1500 #5 P1500",13] 'set all to centered.
serout p15,i38400,"#16 P1500 #17 P1500 #18 P1500 #19 P1500 #20 P1500 #21 P1500",13]

start:
'first move…
lhipr=1400: lhips=1400: lhip=1400: lknee=1400: lankle=1400: lankler=1400:
rhipr=1400: rhips=1400: rhip=1400: rknee=1400: rankle=1400: rankler=1400:
ttm=2000
gosub send_data

'second move…
lhipr=1600: lhips=1600: lhip=1600: lknee=1600: lankle=1600: lankler=1600:
rhipr=1600: rhips=1600: rhip=1600: rknee=1600: rankle=1600: rankler=1600:
ttm=2000
gosub send_data

'add more moves here…
goto start

send_data:
serout p15,i38400,"#0P", DEC lhipr, “#1P”, DEC lhips, “#2P”, DEC lhip, “#3P”, DEC lknee, “#4P”, DEC lankle, “#5P”, DEC lankler,"#16P", DEC rhipr, “#17P”, DEC rhips, “#18P”, DEC rhip, “#19P”, DEC rknee, “#20P”, DEC rankle, “#21P”, DEC rankler, “T”, DEC ttm, 13]
pause ttm
return [/code]

It’s all manual entry for the positions though. After it’s walking you can add the PS2 stuff pretty easily. It’s an option at least… The video James made of his Scout had only 6 steps in the sequence.

innerbreed · January 14, 2010, 11:27pm

sound like another root to take. thanks. any help is always useful. i might just do that.
the only thing about using sequencer to make seq is that:
one, i still need to learn to use it. had it for a few years now but as hexapod development has grown so fast i just found it more attractive and of course… fun.

two, i thought i might be able to manually manipulate the already given sequences of the brat.

anyway forgetting that now,

all options are welcome. thank you.

innerbreed · January 15, 2010, 12:29am

I have implemented the PS2, all is good. we now have a standing scout on cammand.
Also I have moved the (swaying) routine to a button and now I just have a few adjustments to do for the servos.

thanks.

innerbreed · January 17, 2010, 2:57pm

Hi jim, thanks for pointing me in the right direction with this. i have started to make progress.
i will post my efforts soon.

robotdude · January 18, 2010, 2:54pm

Welcome! It’s simple code but it’s all you need to get it walking. Then the actual sequence positions can be incorporated into more clever code when you are ready. Make sure you use the SSC-32’s offsets and (in theory) anyone with a similar build could use your code. 8)

innerbreed · January 18, 2010, 4:20pm

thanks jim. yes thats the plan.

i do wish to release the code when happy. im working on just simple commands like you say, which will be the first release, and i hope to adapt this into more complex code for the second release so to speak.

doomdog · January 27, 2010, 10:15pm

Hi Kurt,

Thanks for the code you wrote, it is helping me with my project. I do have a question about using the pause command as you did in this code snippit:

pause TOINT(speed) ; could do something better…

For me, it doesn’t seem to work. The program hangs at this command, even though it compiles with no problems. This works:

pause 500

this works, too:

ispeed var word
ispeed=500
pause ispeed

this doesn’t work:

ispeed var word;
ispeed = TOINT (speed)
pause ispeed

It seems that if I try to “pass” a value and use it in pause, it doesn’t work. Do you, by chance, have any ideas of any workarounds or if I’m doing something wrong?

Thanks again!

DoomDog