My son and I have been building a 4 DOF T-Hex and are down to the final step - connecting the SSC-32 to the Botboard and the PS2 controller. The instructions and schematics online detail connecting the Botboard II but our kit shipped with the Botboard V1.0. Is it possible to use the V1.0 botboard and if so could you help me with a schematic or rough description? Thank you very much…looking forward to getting this finished!
Rob
Absolutely. There really are no major differences between the two boards and they are functionally identical.
FYI you don’t need to update the SSC-32 (nor the BotBoarduino) firmware.
If you have a USB to serial cable, you can center the servos without using the BotBoarduino as intermediary.
Keep in mind that the sample code requires that the terrain be level and the servos be individually calibrated (the gait is not “intelligent”).
It’s been a while since the code was updated, but connecting the PS2 receiver to the BotBoarduino pins are where most customers experience issues.
Be sure to look up which pins are used for which functions within the sample code and also check to see if your PS2 needs a level shifter or breakout board.
Aside, how old is your son? That’s quite a complex robot to start with. Looking forward to seeing you post your robot’s “first steps”.
Thank you Coleman.
We have the communication all set up via USB and all of the servos centered. We can control them all via the registry tab so I think we’re good there. We’re just confused on the very last step of the instructions to connect to the botboard. See attached (very busy) image of what I’m talking about.
My son is 13 and is all about this robot stuff. This has been perfect as he’s seeing that there is a whole world beyond the Lego Mindstorm stuff he’s been playing with for years.
Thank you for all your help!
Robd:
We do apologize for the inconvenience.
Use the wiring guide for the Phoenix to connect the Tx, Rx and GND pins from the SSC-32 to the BotBoarduino.
lynxmotion.com/images/html/build99f.htm
lynxmotion.com/images/assemb … uhex01.png
As defined in the sample code, software serial is used:
#define cSSC_OUT 12 //Output pin for Botboard to Input pin Rx of SSC32
#define cSSC_IN 13 //Input pin for Botboard to Output pin Tx of SSC32
The pinout for connecting the PS2 would be (aside from GND and 5V):
#define PS2_DAT 8
#define PS2_CMD 7
#define PS2_SEL 6 // On the PS2 receiver this pin may be called ATT (attention)
#define PS2_CLK 9
The pinout for each leg / joint would be:
[code]
//[SSC PIN NUMBERS]
#define cRRCoxaPin 0 //Rear Right leg Hip Horizontal
#define cRRFemurPin 1 //Rear Right leg Hip Vertical
#define cRRTibiaPin 2 //Rear Right leg Knee
#define cRRTarsPin 3 // Tar
#define cRMCoxaPin 4 //Middle Right leg Hip Horizontal
#define cRMFemurPin 5 //Middle Right leg Hip Vertical
#define cRMTibiaPin 6 //Middle Right leg Knee
#define cRMTarsPin 7 // Tar
#define cRFCoxaPin 8 //Front Right leg Hip Horizontal
#define cRFFemurPin 9 //Front Right leg Hip Vertical
#define cRFTibiaPin 10 //Front Right leg Knee
#define cRFTarsPin 11 // Tar
#define cLRCoxaPin 16 //Rear Left leg Hip Horizontal
#define cLRFemurPin 17 //Rear Left leg Hip Vertical
#define cLRTibiaPin 18 //Rear Left leg Knee
#define cLRTarsPin 19 // Tar
#define cLMCoxaPin 20 //Middle Left leg Hip Horizontal
#define cLMFemurPin 21 //Middle Left leg Hip Vertical
#define cLMTibiaPin 22 //Middle Left leg Knee
#define cLMTarsPin 23 // Tar
#define cLFCoxaPin 24 //Front Left leg Hip Horizontal
#define cLFFemurPin 25 //Front Left leg Hip Vertical
#define cLFTibiaPin 26 //Front Left leg Knee
#define cLFTarsPin 27 // Tar[/code]
