Ok, and how about my main code? I’ve got a lot (really a lot) of tracing added now i’m debugging. Should I add enable/disable in the update servo positions sub? Or is it better to use the WaitDebugHSeroutComplete function?
Xan
Edit: Wait, the WaitDebugHSeroutComplete is already in the UpdateServoPosition, and the query subs. Still the data is corrupt in the main program…
I have to go now. More testing for me tomorrow.
In case you wanted to test I added my test program to this post.
WARNING!!!
The program overrules the remote! The bot starts walking by itself! This to have a fixed speed and height.
To test you need to attach the terminal You’ll see a lot of number drop by Those are angles and PWM’s of leg 3 (RightRear). Once the are no more new lines comming you need to push the TA switch of leg RR. This will print the last send PWM’s for reference and then print the queried PWM’s. They should be the same since the leg had time enough to go down all the way.
Feel free to give it a try if you want.
WARNING 2 , the code is a mess at the moment 
Xan
Working version.zip (54.2 KB)
Kurt,
Quick question. What is the reason that you changed the debug serouts to hserouts? Should it be a problem if i change it back to serouts so it won’t interrupt the program?
Xan
When working on the Arc32 with HServo, serout more or less does not work very well at anything above maybe 2400 baud… So … With this using SSC-32 you can probably use normal Serouts… Too bad this is not like Arduino or the like, you would simply need to change the define for the object…
Kurt
Hi Xan,
Something to look at…
This guy uses the SSC-32 also, but another controller though (ARM7).
To bad he didn’t demonstrate real terrain walking though. With some better servos I’m sure his hex would look really interesting.
Hi Kåre,
Nice found. I’ve played the video’s a couple of times but doubt his software does anything more then my first TA video:
Logic: If a feet is off the ground, bring it down, if all are on the ground, lower the body to the normal hight.
A lot more logic is involved when combining it with a gait. I kinda doubt it will actually walk over an object.
The shaking could be caused by bad/cheap servos. But it could also be a result of using the “steps” logic like I did in the video. If I increased the speed of the bot I had the same result. That’s why mine is so slow.
But still, I think I’m gonna keep an eye on this fella 
Thanks! Xan
Yeah, I thought it was worth to mention since he uses the SSC-32. To bad he didn’t share the code though, you’ll find a little more about it on Matt’s forum. At some point it looks like the steps are relative big (or just servo jitter), hard to say because when you see him lifting the RM leg the other legs seem to follow pretty well.
Anyway, always cool to see projects like this.
Hi guys,
Any more progress since the Dec 30th drop? Would be fun to get ours up and running or at least walking over some simple objects… Thought about trying some optimizations, but probably not worth it if you have lots of progress. Also thought it would be interesting to get it up and running on my THR-4 with Bap28, but don’t have working contact switches. Also on this one would need to add in 4th DOF to the query servo positions function. Also it looks like in the current version (on the THex), the QueryServoPositions function simply does a query of the positions, into local variables, that I don’t see used anywhere else…
Kurt
Hi Kurt,
When do you think you can get your switches to work? I’m a bit short on time this week but hope to get some time for robotics next week. Would be fun
Xan
My T-Hex should be working… I have not tested it in awhile to make sure all of the switches are working. It is the THR-4 that I was also thinking of make work with switches so I could try to keep a different configuration limping along and see how far off we are with Bap28. Have not done anything along this end as would need some new leg parts…
Kurt
Let me know what you need.
