(!SOLVED!) ssc-32 sequence problem

Lynxmotion Electronics & Software
1

i build a hexapod with using ssc -32. it works but i have a problem. my robot walk unstable. because my robot lift his tripod A before lowering tripod B. that s why he goes up - down -up -down… it is hard to explain, for example at first 6 leg of my robot are on the floor. he lift his 3 leg and go forvard. but then before lowering 3 leg,that in the air now, my robot lift the other 3 leg, that on the floor. because of the gravition :slight_smile: my robot falls .

here is the video of my robot

i m waiting your help. it is my thesis please help me

Osman Bahadır
Ä°stanbul Turkey
code.txt (3.86 KB)

2

yes the tripod gait. :unamused:

first off. is your code a custom code or have you generated it using the gait generator in powerpod etc?

iv not looked at the code but my guess is that you have entered the wrong leg dimensions??

…
looked at the code… i had to. well this has answered my first question.
second: the other option is that your timing is out? i dont understand your code but it would appear to be the timing?!

3

Here is the video of my hexapod.

youtube.com/watch?v=n0Ni9uEreRc

i think it s not related to my code. because i only use to step my hexapod with these codes

printf("LH1000 LM1400 LL1800 RH2000 RM1600 RL1200 VS3000 ");
gecikme_ayarla(10);
while(bekleme_suresi);

printf("LF1700 LR1300 RF1300 RR1700 HT1500 ");
gecikme_ayarla(10);
while(bekleme_suresi);

printf("XL100 XR100 XS100 ");
gecikme_ayarla(500);
while(bekleme_suresi);
break;

the other part related to other functions

4

Im not sure there would be any reason it would be a mechanical/assembly problem as it seem to be processing the “faulting step” on every step. and it would be very unlikely to mess up the assembly on all 6 legs, so…

It will be the code that will be making the hex walk like this. im not saying there is anything wrong with the code i just think it might need tweaking slightly. its much clearer to see the problem when the robot is in contact with the ground but from what i can make out it seems the two tripods are over lapping too much, and not allowing the first to complete its cycle before the second tripod gets pulled into action. im guessing you already know this.

so my only solution is to adjust the pulses you are sending to the hex. maybe by allowing the legs to complete each cycle first:

Tripod A up - Shift B back - Tripod A forward then down - Tripod B up - Shift A back - Tripod B forward then down…

At the moment it seems they are going:
A up - Shift B back and A down - B up - Shift A back and B Down.

Again i can only comment on what i see…

thanks for the video, helps alot when trying to work things out. :wink:

5

Sweet looking robot! 8)

6

at last i can solve my problem. my robot was shaking because of the misconnection between my servos and ssc-32. i disconnected all of my cables and re-connect them properly. then my robot walk clearly.

Thanks for your help my friends.

7

After looking at the video again I can see now that the robot would have walked great if you had placed it on it’s top. You had the left and right servos swapped.

8

it wasnt rigt left servos mistake. it was rear front servos mistake…