Hi all, There are multiple threads around the forum containing questions, examples and modifications for my code on this moment. I think that it is a good idea to start a new thread for my Phoenix code here. I would like this to be the central point to discuss my code. The cur…

Like I said in our last chat the #IFDEF sure has its con and pros, especially when it comes to readability. but at some point it might be hard to avoid. Keeping them to a minimum sounds like a good thing. I vote for removing the old command set. But this will exclude all owner…

Hi Xan and Zenta, I totally agree with you about the readability of code is of great importance! But I also think having a different code base for each different configuration would also be difficult to a continue to evolve the code base for all of the 3 and 4 DOF Hex robots th…

Hi Guys, Thanks for the feedback! 1.) We will stick with the Binary mode for now. If someone wants to use the “normal” command set it is still a matter of copy, pasting 2 functions in to the new version. Jim, are you fine with this? 6.) Ok, we keep the source general for both …

I’m ok with the way you want to handle the Binary mode. :smiley:

Hi All, Great! “Binary only” it will be :slight_smile: I just added the new set of gaits Zenta gave me and I just have to say something about it… God I LOVE the sound the Triple Tripod makes! When the T-Hex walks on my wooden floor it sounds like galloping horse is running by…

LOL, how about a sound recording? :wink: Maybe this weekend… I’ve got a a few questions: I decided to use the constants to allow a single point of configuration for all servos. Removing the calculation and make is fixed to 10 like you described a few posts before doesn’t see…

Hi Xan, As you know I’ve just answered this in our last chat. Keeping the constants for pwm calcs is the best way. As soon as the LiPo voltage reaches a predefined level the LiPo safety gets triggered so that you won’t be able to run the robot any more. Thats the most importan…

Hi all, Small update: The PWM values are in the code. I made the safety shut down optional. It can be configured in the config file. The voltage level can be adjusted as well. Only 2 more to go… Xan

RobotShop Community

Xan's Phoenix Code

Lynxmotion Legged Robots

zenta April 12, 2011, 9:32pm 582

Thanks, glad you liked it!
Yeah, I’ve to admit the triple part make a cool sound.

Lynxmotion SES V2 Hexapod Robot