My BotBoarduino JR (BBJR) board arrive today , so I decided to try some basic tests
Step 1 plug in board and see if USB installs. Yes, installed as comm25 with name of “Lynxmotion Botboarduino JR” . I configured IDE for this port and I choose Arduino demilove or Nano and was able to download test program. Note to self, did not see RX/TX pins blink at all, need to investigate.
So far the debug program is blinking the 3 LEDS installed on digital IOs 7, 8, 9 as well as the standard one on a 13.
Also displays a simple text menu on debug terminal and allows me to choose test. So far I tested I can make sound on speaker on pin 5.
Well that is as far as I have tested so far, Will continue some over the next couple of days.
I verified most of the jumpers and voltages… Works off USB or can choose to only run on external power.
Changed test program to talk to SSC-32 on digital pins 2,3 with new soft serial. Tried analog slider on one of the analog pins, tried I2C/SRF08 on analog pins 4,5 (SDA/SCL).
Next to try PS2… Then if all works try with ported phoenix code.
Looks like I need to do some more editing of the test program comments. Started off with code I was using to test mega shield, now testing Botboarduino JR, which is Atmega328 based… There is an image of the current prototype board in Jim’s post…
The board is standard BB2 sized and holes. It will have the standard Arduino shield connectors. Couple of placement issues in this version don’t allow me to test shields…
Quick update, I have no moved it to my CHR-3 and it appears to be working. Looks like one of my servos has problems, need to get some new ones…
Then do some more testing.
Kurt
Another quick update. After some diversion with Botboarduino Mega Shield and DIY remote code, today I started to play again with the Phoenix code running on Botboarduino JR. Still need to replace the one servo with bad gears, but first problem I ran into was that when I entered into balance mode the robot went nuts. This evening I finally tracked the issue down
The problem was in the lines like:
BalCalcOneLeg (-LegPosX[LegIndex]+GaitPosX[LegIndex],
LegPosZ[LegIndex]+GaitPosZ[LegIndex],
(LegPosY[LegIndex]-cInitPosY[LegIndex])+GaitPosY[LegIndex], LegIndex);
The problem is that the array cInitPosY is a static array that was moved out of the data space and into the program space. Needed to change the lines to look like:
BalCalcOneLeg (-LegPosX[LegIndex]+GaitPosX[LegIndex],
LegPosZ[LegIndex]+GaitPosZ[LegIndex],
(LegPosY[LegIndex]-(short)pgm_read_word(&cInitPosY[LegIndex]))+GaitPosY[LegIndex], LegIndex);
So far it appears to be happier… Need to test more. May next try to hook up XBEE. To do some will need to use 2 software serial objects. Should be fun to see how to properly handle the inputs…
, so I decided to try some basic tests
. I configured IDE for this port and I choose Arduino demilove or Nano and was able to download test program. Note to self, did not see RX/TX pins blink at all, need to investigate.