SSC-32 mix servos in sequence

Lynxmotion Electronics & Software
1

I been reading the SSC-32 and GP 2.01 manual and I have a question about altering a playing sequence in real time:

Is there any way to apply a “mix” to a (playing) servo sequence? I’d like to have my sensor data influence the position, min, max of some servos in a sequence.

For example: A tilt sensor measures hip tilt on a biped, the values are then compared to tilt as calculated by servo position query and/or current sequence index. If there is too much difference, hip servos should adjust accordingly. Kinda like a helicopter gyro mixes remote commands and gyro correction.

Any chance something like this will get implemented into the SSC-32?

storm

2

I think i get what you are wanting. But there may be a misunderstanding. Even with the GP version of the firmware you still need something to tell the SSC-32 which sequence to run and at what speed and direction. This is normally done with a microcontroller. So this microcontroller can certainly read sensors and send speed commands to the SSC-32 to do what you want. The SSC-32 firmware is probably not going to change much. The ARC-32 will be able to be reprogrammed by anyone to alter the existing SSC-32 emulation. Hope this helps.

3

I think you got me wrong :slight_smile:

I’m aware that I need either microcontroller or sequencer software on PC to tell the SSC-32 which sequence at which speed to run etc.

But once I started a sequence, I want to be able to “offset” / “mix” certain servos in the sequence. I’m not talking about speed, but position, max and min positions.

For example I start the walking sequence for a biped. Usually motion would end when the foot hits the ground (for even ground). Now lets assume there is a foot sensor which tells the microcontroller that foot hit the ground, before sequence is over. (uneven ground) So we want the leg to stop going down sooner, in other words min/max values changed for involved servos.

I know I could drive the servos directly, but I’d like to have the benefits of the sequencer with the ability to take influence on the motion programmatically.

Example:

This mixer would have 2 inputs, one from SSC-32 sequencer and one from my microcontroller. It’s output is one servo. Lets say the sequence tells the servo to move to position 2mS. Moving there, a sensor detects loss of balance, microproc calculates adjustment of 0.2mS and feeds this value into the mix. The result would be that the servo moves to 2.2mS instead of 2mS.

Microcontroller -> SSC-32 sequence -> SSC-32 "mixer" -> servo motion
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4

I got it. No there is no way to do this with the SSC-32. In my opinion you would be better off utilizing IK and just going real time with the gait control. Sorry I couldn’t help.

5

OK, thanks anyways, nice and fast support :slight_smile:

I might try this with external mixers, just to see how it behaves.

storm