Ive seen these algorthyms
Ive seen these algorthyms before but i dont know how to read it properly. Or use it. Ive been using a sequencer program. So its very limited.
Willing to learn though if you know of any links.
Ok from what i understand a
Ok from what i understand a “bridge rectifier” is used as a type of voltage regulator. The amperage listed will be the amperage pushed. They come in all types and sizes and are generally used to transform AC to DC. Im still trying to figure out the voltage factor. They say 400 to 600 to 1000v but when looking at the data it says its only pushing 1.1v.
Ha ha ok. The bottom half
Ha ha ok. The bottom half looks like an algorythm to me.
Ok so ive looking at ripple
Ok so ive looking at ripple gaits again. So when moving a front leg to forward, i noticed the tibia doesnt change position til it hits the ground then comes in 10*. The back legs are the same but opposite. When the back legs touch the ground they need to be 10* in and come out to neutral. What im having trouble with is how far i should move the front legs foward and how far should i bring them back. Im thinking 30* forward then bring them back to 15*, but it could be 20* to 15*. I have limited power right now so i cant really test it. Any advice on the coordinates would greatly appreciated.
Ok i have a speed question. Example, im moving leg 1 from 0* to 30*. How fast should the leg move from to. Im using 100ms but it serms a lil slow. What do you guys reccomend?
Ok i’m done with a sequence
Ok i’m done with a sequence i call complex ripple gait. The complexity comes from the front two legs pulling in as it moves forward and the back legs pushing out. This should look more natural. The front legs come in to 10* while back legs push out to ten. Heres a excerpt…
Ripple gait complex
#1
Leg 1 lifts rotates forward to F30 legs
#2
Leg 1 drops
#3
Leg 5 lifts rotates to forward F30 leg 1 rotates reverse to F27.5 while coming in 2* leg 2 rotates reverse to R5 leg 3 rotates reverse to R5 leg 4 to reverse to R5 leg 6 reverse to R5
#4
Leg 5 drops
#5
Leg 3 lifts rotates forward to 0* leg 1 rotates reverse to F25 while coming in to 4* leg 2 reverses to R10 leg 4 reverse to R10 Leg 5 reverses to F20 leg 6 reverses to R10
#6
Leg 3 drops with tibia 12*
#7
Leg 4 lifts rotates to F30 leg 1 reverse to F22.5 while coming in to 6* leg 2 reverse to R20 leg 3 reverse to R2.5 while coming out to 10* leg 5 reverses to F10 leg 6 reverses to R15
#8
Leg 4 drops
#9
Leg 2 lifts rotates forward to F30 leg 1 reverse to F20 while coming in to 8* leg 3 reverse to R5 while coming out to 8* leg 4 reverses to F27.5 while coming in to 2* leg 5 reverse to 0* leg 6 reverse to R20
#10
Leg 2 drops
#11
Leg 6 lifts rotates forward to 0* leg 1 reverse to F17.5 while coming in to 10* leg 2 reverse to F20 leg 3 reverse to R7.5 while pushing out to 6* leg 4 reverses to F25 while coming in to 4* leg 5 reverse to R10
#12
Leg 6 drops tibia comes in to 12*
I need to change the 12
I need to change the 12 degree in on the back legs to ten.
I ran across this PDF for the decepticon controller.............
http://www.thanksbuyer.com/download/25363-32%20Channel%20Servo%20Motor%20Control%20Board.doc
Could some one scroll down to the bottom where it gives the button mapping. I coukd use a lil help deciphering it. You can store up to 125 commands on the board. I would like to be abke to switch to three different modes. Ripple, wave and tripod. Does it look like it could be done.
Can IK Bd FK be used on a 2DOF hexapod? Would it be a lil easier to learn?
Ok so im still working on my
Ok so im still working on my new sequence. I want the back legs moving just like the front except reverse. The first one had legs 3 & 6 moving from 0 to R15 which after seeing it in my head doesnt look right. So what i did was start my numbers with legs 1 & 4 rotating between F25 and F15 while bringing in the toe and legs 3 & 6 rotating between R15 and R25. But in order for it to work ill have to make an initialization sequence to move the legs in to the right position to start. I could do a regular transition from straight neutral but it always seems to drag leg 4. Dont know if that makes sense to yall but it does in my head and paper.
I think Z could still be in the equation it just depends on the height you want the bot to be. Like walking high or low. Just cant bring the Toe in out.
Ok so my Ripple gait is 12
Ok so my Ripple gait is 12 steps from start to Trot and another 12 for the trot. Im wondering if i could use the 12 step as my initial then run 13-24 in a loop. So it goes straight to trot.
Ive got the middle legs
Ive got the middle legs rotating between F30 and R30, does that seem to much?. The bot that im comparing to looks like its only moving them 15 to 15. Does that sound right?
SSC-32U
You might give the SSC-32U a look - Well before RobotShop purchased Lynxmotion, they were really the pioneers in hexapod design (a ton of credit to the community for that too), and the original SSC-32 was developed really for that purpose. The current SSC-32U connects to a BotBoarduino or Arduino and there’s amazing code to make it walk using a PS2 controller. The other servo controllers like the one from Polu are great (Pololu makes some quality products), but with the SSC-32U you get quite a bit of hexapod-specific guides, code and more. Don’t know much about the Torobot servo controller or why it was fried, but I can say that the SSC-32U doesn’t take kindly to reversing the polarity of the battery. The Torobot just stopped?
I had lloked at the SSC-32
I had lloked at the SSC-32 but after looking at the size figured out it was too big for my hexapod. Thats a problem with the good controllers. I also looked at the Arbotix since the Software calculates IK but it only works with a certain kind of servos.
I thought i had fried the torobot controller but it turns out that i wasnt supplying enough amperage so it was killing my batteries.
Servos can be deceptive that
Servos can be deceptive that way - small servos can consume way more current than standard ones. Would love to see a pic or two of your project.
Heres a pic of my
Heres a pic of my hex…
Duane helped me design the chassis plates and i borrowed the rest from a hex on a 3D print site.
Just had another glance of the SSC-32U. I could possibly use it if i moved my Bolts on the hex out a hair or two.
Really nice
Really attractive., and just what I suspected - small servos consume a lot of current. Your battery will need to be able to provide high current also and the servo controller will need to be able to handle it.
Can you yell me in the least
Can you yell me in the least techy way, why with the lynxmotion you need to use both the bot boarduino and the SSC-32U together? Reading the info looks like they do the same thing. Could i use a nano.
R/C servo positions need to
R/C servo positions need to be refreshed every 20-30ms… for an 18 degree of freedom hexapod, that’s a lot of servos and a lot of updating, so it consumes a lot of the microcontroller’s time and effort. The SSC-32 takes care of all that and leaves the “higher level” stuff to the microcontroller like the actual walking method and communication.
That makes sense. Do that
That makes sense. Do that attach to each other?
**Ripple walk forward servo degree hints **
Got my Pololu 9A regulator the a couple days ago. ( wow they are quick ). Been hesitant to add power until today. I did the stress solder over using the screw heads and should keep my wires from being unsoldered by too much manipulation. Wrapped it up real good with E-tape. So i hooked up my decepticon controller and powered it up. Well my lil 3S 500mah gave me a good 45 minutes of experimentation and had to just unhook it when i was done. So that fixes my brown out issues.
On the front legs, Do i pull
On the front legs, Do i pull the tibias in to thier most inward position then sweep them back?
Whats the difference between
Whats the difference between the SSC-32 software free on the lynxmotion site and the SSC-32 software sold on EBay?
Can i use my own PS2 handle or do i have to buy the lynxmotion handle?