Troubles compiling 'latest' hexapod master program

Lynxmotion Legged Robots
1

greetings members,

i purchased a 3DOF CH3-R hexapod kit before xmas 2011. over xmas i constructed the pod and tested each component as i went along. all worked as it should. i visited the url lynxmotion.com/p-566-free-do … erpod.aspx to make sure i had the ‘latest’ code and applications. i have installed

ppod102_x44.zip (5.08MB)
vX.44.pmp (67KB)
PowerPod manual (368KB)

i have also follow the link for the Basic Micro IDE now version 2.0.0.5 and have that running.

with the PowerPod I am able to communicate w the hexapod, and complete all of the configuration… all servos are new, and all correctly achieve the default positions.

i can also launch the Basic Micro IDE 2.005 and open the master program… but here is where my troubles begin.

when i compile, i get an error that indicate line 162 where the ;ACos begins. in the .bas code that is generated by PowerPod from master program H3 VX.44 - Master.pmp there is a different section of code that is used for different IDEs… NONE of which are the new/latest Studio version 2.0.0.5… the menu choices for IDE that are offered from PowerPod do NOT include Studio 2.0.0.5 either… but if i select this, then generate code and compile, the block of code for ACos has an error… .it uses a token that is different from the rest of the blocks… it uses a keyword ‘data’ only, where blocks of code defining the vaues for ACos for other compilers use the keyword Bytetable

;ACos
#[IDE][Basic Micro IDE V02.2.1.1]
data 64,64,63,63,63,62,62,62,61,61,61,60,60,60,59,59,|
59,59,58,58,58,57,57,57,56,56,56,55,55,55,54,54,|
54,53,53,53,52,52,52,51,51,51,50,50,50,49,49,49,|
48,48,48,47,47,46,46,46,45,45,45,44,44,44,43,43,|
42,42,42,41,41,41,40,40,39,39,39,38,38,37,37,37,|
36,36,35,35,35,34,34,33,33,32,32,31,31,31,30,30,|
29,29,28,28,27,27,26,25,25,24,24,23,23,22,21,21,|
20,19,19,18,17,16,15,15,14,13,11,10,09,07,05,00
#[IDE][Basic Micro IDE V05.3.0.0]
data 64,64,63,63,63,62,62,62,61,61,61,60,60,60,59,59,|
59,59,58,58,58,57,57,57,56,56,56,55,55,55,54,54,|
54,53,53,53,52,52,52,51,51,51,50,50,50,49,49,49,|
48,48,48,47,47,46,46,46,45,45,45,44,44,44,43,43,|
42,42,42,41,41,41,40,40,39,39,39,38,38,37,37,37,|
36,36,35,35,35,34,34,33,33,32,32,31,31,31,30,30,|
29,29,28,28,27,27,26,25,25,24,24,23,23,22,21,21,|
20,19,19,18,17,16,15,15,14,13,11,10,09,07,05,00
#[IDE][Basic Micro PRO IDE V08.0.1.7]
ArcCos Bytetable 64,64,63,63,63,62,62,62,61,61,61,60,60,60,59,59,|
59,59,58,58,58,57,57,57,56,56,56,55,55,55,54,54,|
54,53,53,53,52,52,52,51,51,51,50,50,50,49,49,49,|
48,48,48,47,47,46,46,46,45,45,45,44,44,44,43,43,|
42,42,42,41,41,41,40,40,39,39,39,38,38,37,37,37,|
36,36,35,35,35,34,34,33,33,32,32,31,31,31,30,30,|
29,29,28,28,27,27,26,25,25,24,24,23,23,22,21,21,|
20,19,19,18,17,16,15,15,14,13,11,10,09,07,05,00

if i edit the .pmp file to use the same keywords for ArcCos across all three supported compilers, then i CAN compile without error, and i can upload.

when i initiate PS2 control, SOME of the exepcted actions work when i press the proper buttons, some, do not… the O button DOES bring the robot to the correct ‘default 1500’ position… the X button correctly brings about the ‘attack position and behavior’… the triangle button sort of works - in that the haxapod lays down and powers off servos… .and comes back alive, but when it starts up, the legs all appear to rotate CW and fold against the body… and churn… the joy sticks ‘sort of’ work, in that hints of forward motion are there, but not full motion, that applies to translation with the right joy stick and rotation w the left joystick.

im confused. there is NO way that ANYONE could compile the code pointed to by the lynxmotion website… the errors have nothing to do with me - anyone following instructions and loadin lastest Basic Micro IDE Studio 2.0.0.5 would get same error and flawed code generated using
H3 VX.44 - Master.pmp .

who out there has a WORKING and fully functional hexpod 3DOF CH3-R using PS2 controls? what .pmp file did you use? what PowerPod version, and what IDE/compiler?

again, half my actions WORK, including default mid-positions … half dont… doesnt make sense unless there more errors in the CODE and nothing to do w errors in my construction…

help… i have work to do, this was supposed to be commerical, ready to go hexapod and this is a huge delay …

thanks

Doc

2

Couple of different things come to mind.

  1. When you use powerpod, make sure to configure it for the Basic Atom Pro. The option will say using IDe 8.0.1.7… Actually we will be using Studio instead.

  2. I would recommend using the latest version of Studio. You can usually find that information up on the Basic Micro news forum… (viewtopic.php?f=4&t=5463&p=72770#p72770) updated with what changes happen from release to release. Sometimes I have to guess… currently I have build 2.0.0.15 installed.

  3. What power are you using? Sometimes when you say it lays down, it can be a power issue.

  4. Did you create 3 left legs and 3 right legs? I made this mistake before.

  5. Pictures help.

Kurt

Note: I downloaded the current powerpod and uninstalled my previous version and reinstalled what I downloaded. Selected Basic Atom Pro, likewise choose Bot Board 2, PS2, Round, … Did a build Basic Program. I then loaded the generated file into build 2…15 of studio and it compiled without problems.

3

I hear you loud and clear. The tutorial needs updating as you should not need to guess about which setting to select. PowerPod was written before the Basic Micro studio IDE. We will add more content to the tutorial. I believe Kurt is right and you are using the Basic Atom IDE, not the Pro. Select 8.0.1.7 and then use Studio. Please post any additional questions and we will get your robot walking ASAP.

4

Jim [robot dude] et al,

A complete and accurate manual/installation guide is of couse, highly desireable (read - required), but second only to that is ‘prompt and knowledgable technical support’. You were all correct about the version of IDE I should use and which I should report using to PowerPod. I had the Basic Micro (studio) IDE 2.0.0.15 installed, and I had version 1.4 of the PowerPod application. Since Studio 2.0.0.15 is NOT a selection option in PowerPod’s set up (preparing to generate .bas code from the .pmp file and .hcf settings), “I” selected the version that looked the most like it (numerically)… and never tried v8.0.17… so I followed your instructions and everything compiled without error (because the code blocks surrounded by compiler directives for the 8.0.17 did not have the same syntax errors as the code blocks for other IDEs)… and uploaded just was error-free. The start-up procedure using the PS2 worked as it was supposed to and I was ‘walking’ around the kitchen for about 40 mins till my 200 mAhr battery pooped out. I did some additionl refinement of the leg alignment and completed another shakedown. I am mounting a wireless camera system and tying down the battery pack and PS2 RX.

I VERY MUCH appreciated everyone’s prompt and in all cases correct information. I did have all of the construction completed w/o error and that does credit to the practical (if a little behind) web-site instructions…

I have taken photos as I went along, and would be pleased to help provide editorial comments and re-writes for the tutorial updates. My hexapod is ‘stock’ and unmodified… and represents what the generic builder would produce first-off.

More later as I make progess. Once again, THANKS.

Doc

5

Please feel free to email or pm me any suggestions you have. We have already corrected a few things, but we are also working on a few other improvements that will just take a little longer to implement. And finally we are coordinating a major rewrite of the tutorial that will use the Phoenix code base. Keeping these tutorials accurate and up to date is an overwhelming task at times. But when problems are pointed out we address them asap. I appreciate that you have taken the time to let us know attention was needed, and please know we are not done yet.