Xan's Phoenix Code

[innerbreed]

Warning: (LINE 570) : [Token 3.141592] : Converting FLOAT to INTEGER

Error: (LINE 570) : [TOKEN )] : Unexpected token after LET command

[code]BodyDirection:
IF (ABS(TravelLengthX)>TravelDeadZone | ABS(TravelLengthZ)>TravelDeadZone | ABS(TravelRotationY*2)>TravelDeadZone) THEN

;Calculate walking direction X and Z 
TravelLengthXZ = SQR(TravelLengthX * TravelLengthX) + (TravelLengthZ * TravelLengthZ)[/code] 
BodyAngle = TOINT(FACOS(TOFLOAT(TravelLengthZ) / TOFLOAT(TravelLengthXZ)) * 180.0) / 3.141592) 

[code] ;
;Add sign depending on the direction of X
BodyAngle = BodyAngle * (TravelLengthX/ABS(TravelLengthX))

;Calculate body angle depending on rotation 
BodyAngle = BodyAngle + TravelRotationY*10/14 ; Rotation max = 127*1.4 to get max range of 90 deg. 

ELSE ;Return to the middle position
BodyAngle = 0
ENDIF
RETURN [/code]

iv played about with this section but errors all over.

[km6vv]

You want to rotate the body in the direction of travel? And it uses a servo? I guess I’m not following that.

Can you do “casts” in BASIC to allow the assignments like you can in C?

Alan KM6VV

[innerbreed]

no. i can see were the confusion lyes.

the code i am trying to write is as follows:

using the phoenix code i wish to impliment a “camera” panning servo to the top of the body. and a want the servo to turn to face the direction of travel.

xan mentioned “body” as i wish to add a secondy ses structure on to of this servo.
and not a camera etc.

[km6vv]

OK, that’s a little easier to understand. A panning servo that tracks the trajectory of the 'bot shouldn’t be hard to realize in code.

I’ve just installed a tilt/pan camera mount on a 'bot I’m preparing for field use. It won’t be tracking, however.

Alan KM6VV

@innerbreed

no. i can see were the confusion lyes.

the code i am trying to write is as follows:

using the phoenix code i wish to impliment a “camera” panning servo to the top of the body. and a want the servo to turn to face the direction of travel.

xan mentioned “body” as i wish to add a secondy ses structure on to of this servo.
and not a camera etc.

[innerbreed]

@KM6VV

OK, that’s a little easier to understand. A panning servo that tracks the trajectory of the 'bot shouldn’t be hard to realize in code.

I’ve just installed a tilt/pan camera mount on a 'bot I’m preparing for field use. It won’t be tracking, however.

Alan KM6VV

@innerbreed

no. i can see were the confusion lyes.

the code i am trying to write is as follows:

using the phoenix code i wish to impliment a “camera” panning servo to the top of the body. and a want the servo to turn to face the direction of travel.

xan mentioned “body” as i wish to add a secondy ses structure on to of this servo.
and not a camera etc.

initially waht i am after is a panning code that turns the servo in the direction of travel.

here is previous code that worked for me on Atom28 (not pro)

[code]'Turning in circle to track movement
If headPin >= (0.8 * headPin_MAX) Then

        TravelRotationY = TravelLength / 2 ;Right
    ElseIf headPinY <= (0.8 * headPin_MIN) Then
        
        TravelRotationY = -TravelRotationY / 2 ;Left
    Else
        TravelRotationY = 0 ;Center
    End If[/code]

or

[code]
;Head
Head_PulseMin con 600 ;(panning servo) <180°>
Head_PulseMax con 2400
;The panning servo will point in the direction of the robots heading

Head_Pulse var word

; 180° Head Code
	Head_Pulse =  (((Head_PulseMax - Head_PulseMin) * ((DAngle + 64 ) & $7F) |
		/ 127 + Head_PulseMin) max Head_PulseMax) min Head_PulseMin[/code]

looking to get this to work in pro!

[xan]

Hi,

@innerbreed

BodyAngle = TOINT(FACOS(TOFLOAT(TravelLengthZ) / TOFLOAT(TravelLengthXZ)) * 180.0) / 3.141592) BodyAngle = TOINT((FACOS(TOFLOAT(TravelLengthZ) / TOFLOAT(TravelLengthXZ)) * 180.0) / 3.141592) This should solve the build error.

Maybe I should give you some more information about what it’s doing

It’s a good idea to call the servo mounted on top of the body “headâ€

[innerbreed]

thank you for the explanation. much easier to understand.

i did try adding the extra “(” but i didnt work before.

i found out why it didnt work and i must take the blame.

i had forgotten to take out a previous line of code from and old test, so it conflicted with the current one.

thanks for helping out and pointing me in the right direction.

[innerbreed]

hi Xan.

just been thinking.
in your code you have commented out sections of the code:

[code]in…[MAIN]
;GOSUB ReadButtons ;I/O used by the PS2 remote
;GOSUB WriteLeds ;I/O used by the PS2 remote

in…[PS2Input]
ELSE ;Walk
'BodyPosX = 0
'BodyPosZ = 0

'BodyRotX = 0
'BodyRotY = 0
'BodyRotZ = 0

in…[BalCalcOneLeg]
'serout S_OUT, i9600, “BalOneLeg PosX=”, sdec PosX," PosZ=", sdec PosZ," TotalXTransZ=", sdec TotalTransZ, 13] [/code]

these parts have been commented out, but why? old reminders or just mess?

obviously it makes no difference to the “great” performance of the code, but i was just wondering?

what would happen if these section were opened up into the code? (uncommented)

[xan]

Hi innerbreed,

I think it’s a bit of both…

in....[MAIN] ;GOSUB ReadButtons ;I/O used by the PS2 remote ;GOSUB WriteLeds ;I/O used by the PS2 remote
I used my code with all kinds of remotes. Sometimes it can come in handy to test some small functions without the need of a controller. The PS2 can only be connected the same pins as the buttons/leds on the BB2 so can’t use them both at the same time. I rewired them to other pins some time ago but those pins are used by the FSR’s at the moment.

Conclustion: It can be removed but it can also be used for some testing. Same thing for the subs.

[code]in…[PS2Input]
ELSE ;Walk
'BodyPosX = 0
'BodyPosZ = 0

'BodyRotX = 0
'BodyRotY = 0
'BodyRotZ = 0[/code]
At first I thought it would be handy if the body returns to the “home” position while walking. This offcourse is optimal for the gait. But it’s also funny to see it walk with a rotated or translated body. Now it’s up to the one who’s holding the controller. Making a easy to understand user interface is always though. (Not only talking about controllers but also about pc’s, GUI’s) So sometimes I let friends control my bots to see if the controls are logic for them or only for me

Conclusion: I think most users can handle the “complex” controls so there is no need for locking back to the home position before walking.

in....[BalCalcOneLeg] 'serout S_OUT, i9600, "BalOneLeg PosX=", sdec PosX," PosZ=", sdec PosZ," TotalXTransZ=", sdec TotalTransZ, 13]
Old debug stuff…

Conclusion: Remove!

I think this should clarify it

Happy to hear you’re really digging in to this!

Xan

[innerbreed]

@Xan

Hi innerbreed,

I think it’s a bit of both…

in....[MAIN] ;GOSUB ReadButtons ;I/O used by the PS2 remote ;GOSUB WriteLeds ;I/O used by the PS2 remote
I used my code with all kinds of remotes. Sometimes it can come in handy to test some small functions without the need of a controller. The PS2 can only be connected the same pins as the buttons/leds on the BB2 so can’t use them both at the same time. I rewired them to other pins some time ago but those pins are used by the FSR’s at the moment.

Conclustion: It can be removed but it can also be used for some testing. Same thing for the subs.

i thought this might be the case. nice idea too. i may use the “Idea” if/when i change to RC control.

[code]in…[PS2Input]
ELSE ;Walk
'BodyPosX = 0
'BodyPosZ = 0

'BodyRotX = 0
'BodyRotY = 0
'BodyRotZ = 0[/code]
At first I thought it would be handy if the body returns to the “home” position while walking. This offcourse is optimal for the gait. But it’s also funny to see it walk with a rotated or translated body. Now it’s up to the one who’s holding the controller. Making a easy to understand user interface is always though. (Not only talking about controllers but also about pc’s, GUI’s) So sometimes I let friends control my bots to see if the controls are logic for them or only for me

Conclusion: I think most users can handle the “complex” controls so there is no need for locking back to the home position before walking.

Yeah this was the case in ABB hexapod code. i remember the pro’s and con’s of this. this might work better for me, on my quad project, as it would keep the COG in check!

in…[BalCalcOneLeg]
'serout S_OUT, i9600, “BalOneLeg PosX=”, sdec PosX," PosZ=", sdec PosZ," TotalXTransZ=", sdec TotalTransZ, 13] [/code]
Old debug stuff…

Conclusion: Remove!

Removed!

I think this should clarify it

thanks again for the details on this. a real help.

Happy to hear you’re really digging in to this!

i would really like to start programming my own codes from scratch and i have found that you have structured it reall well and i understanding and find your way around it 'is fairly easy.

if iv not said it… “great work”.

[xan]

@innerbreed

[code]in…[PS2Input]
ELSE ;Walk
'BodyPosX = 0
'BodyPosZ = 0

'BodyRotX = 0
'BodyRotY = 0
'BodyRotZ = 0[/code]
At first I thought it would be handy if the body returns to the “home” position while walking. This offcourse is optimal for the gait. But it’s also funny to see it walk with a rotated or translated body. Now it’s up to the one who’s holding the controller. Making a easy to understand user interface is always though. (Not only talking about controllers but also about pc’s, GUI’s) So sometimes I let friends control my bots to see if the controls are logic for them or only for me

Conclusion: I think most users can handle the “complex” controls so there is no need for locking back to the home position before walking.

Yeah this was the case in ABB hexapod code. i remember the pro’s and con’s of this. this might work better for me, on my quad project, as it would keep the COG in check!

I totally agree. the COG is much more important for a quad.

@innerbreed

i would really like to start programming my own codes from scratch and i have found that you have structured it reall well and i understanding and find your way around it 'is fairly easy.

if iv not said it… “great work”.

Thanks for the comments

Xan

[km6vv]

With the COG being much more important on a quad, what about adding a head, and maybe a tail to allow the COG to be shifted, like the animals do?

Alan KM6VV

[innerbreed]

@KM6VV

With the COG being much more important on a quad, what about adding a head, and maybe a tail to allow the COG to be shifted, like the animals do?

Alan KM6VV

Xans code will counteract this.
plus there is a “head”!
just so we dont hijack this thread, further information on the quad can be found here:
lynxmotion.net/phpbb/viewtop … &start=180

[km6vv]

balance calculations?

Maybe I missed something. What’s afoot? (pun intended).

I read over the IK for the body, is this it?

I can’t keep up. Job gets in the way!

Alan KM6VV

[innerbreed]

@KM6VV

balance calculations?

Maybe I missed something. What’s afoot? (pun intended).

I read over the IK for the body, is this it?

I can’t keep up. Job gets in the way!

Alan KM6VV

LOL.

the ik yes. still under development.

if you dont mind me asking… what do you do?

[innerbreed]

@innerbreed

hi Xan.

just been thinking.
in your code you have commented out sections of the code:

[code]in…[MAIN]
;GOSUB ReadButtons ;I/O used by the PS2 remote
;GOSUB WriteLeds ;I/O used by the PS2 remote

in…[PS2Input]
ELSE ;Walk
'BodyPosX = 0
'BodyPosZ = 0

'BodyRotX = 0
'BodyRotY = 0
'BodyRotZ = 0

in…[BalCalcOneLeg]
'serout S_OUT, i9600, “BalOneLeg PosX=”, sdec PosX," PosZ=", sdec PosZ," TotalXTransZ=", sdec TotalTransZ, 13] [/code]

these parts have been commented out, but why? old reminders or just mess?

obviously it makes no difference to the “great” performance of the code, but i was just wondering?

what would happen if these section were opened up into the code? (uncommented)

hi xan,

been looking over the code again and i have also found a few more varibles that seem to have no function:

In.. [Body Inverse Kinematics] DistCenterBodyFeet var float ;Total distance between the center of the body and the feet AngleCenterBodyFeetX var float ;Angle between the center of the body and the feet

In.. [Gait] TravelMulti var sbyte ;Multiplier for the length of the step

i have followed up the rest of the code and i cannot find anything that they relate too.

[xan]

Just some more left over code…

You can drop them without a problem. I’ll do the same over here

I’m using Visual Studio 2008 at work for developing software. It’s got some nice features like intellisence and on the fly pre-compiling. It puts a green or red line under errors or variables that are not used. Looks like I’m a bit spoilt

Thanks for the feedback!

Xan

[innerbreed]

@Xan

Just some more left over code…

You can drop them without a problem. I’ll do the same over here

I’m using Visual Studio 2008 at work for developing software. It’s got some nice features like intellisence and on the fly pre-compiling. It puts a green or red line under errors or variables that are not used. Looks like I’m a bit spoilt

Thanks for the feedback!

Xan

ok great.

this is a great feature. iv always wanted something tking like that for the atom IDE.

great well i look forward to seeing some of your work on this.

[likwidchz]

YEP,

I had suggested that to AcidTech a while ago when I was still in the process of learning the basic code, I admit its a very cool feature to have, and speeds up the learning process.

–Aaron

[innerbreed]

i have followed the instructions for SSC regesters, and before i connected the botboard i restarted the SSC to see if the legs would “Snap into position” they did.

i connected the botboard and uploaded the code. When i push (start) to initiate the robot, the legs snap into initial position, but from there nothing else. im lead to believe, from here 'the robot should stand up. it doesnt!?