Xan's Phoenix Code

[likwidchz]

Innerbreed,

I’m not sure if this helps you or not, but you don’t really need the initialize legs at all 1500 at start, you can de click this, or when you turn your robot on it will be tall then 2 seconds later it will fall to the ground.

You really don’t need that option, although It’s good to check to see if all your legs are aligned properly.

–Aaron

hope this helps slightly

[xan]

Hi Innerbreed,

I’m a bit confused with you’re story. Are you talking about the SSC registers for the initial pulse offset or for the initial pulse length?

The only thing you need to do is set the registers for the pulse offsets and make sure the option is enabled in the enable register (R0). Don’t forget to check bit 15 which enables all functions. (The table in manual talks about bit 12 but it should be 15.) Don’t use the SSC initial pulse lengths.

After hitting the start button the legs should snap in to the init position. Check the vid at 0.03
Phoenix getting up is just me hitting the triangle button
It’s also possible to use the d-pad up/down buttons to adjust the body-ground clearance.

Let me know if it helped.

Xan

[innerbreed]

all makes sence now. thanks again.

i feel more questions will follow… i will try and make them less stupid.

[innerbreed]

@Xan

Hi Innerbreed,

Yeah, I remember something to

If I’m correct you wanted the body to rotate in the direction you’re walking right?

You need to calculate the walking direction between forward/backward(Z) and left/right(X). I used ARCCOS to calculate the angle since this will be easier to use with fixed point later on.

I also added the rotation so the body servo will rotate to the correct direction while turning. Like he’s looking over his shoulder

The function is written in word so you need to check/debug it. I may not even compile without a error.

Here is the complete list of what you need to add:

@ [PIN NUMBERS] BodyPin con P19 ;Body rotation

@ [MIN/MAX ANGLES] Body_MIN con -90 Body_MAX con 90I prefer to think in angles…
0 is the middle position

@ [ANGLES] BodyAngle var sword

@ [MAIN] … GOSUB BodyDirection … GOSUB CheckAngles … Place before the CheckAngles function
New Function:[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)
BodyAngle = TOINT(FACOS(TOFLOAT(TravelLengthZ) / TOFLOAT(TravelLengthXZ)) * 180.0) / 3.141592)

;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]

@ [CHECK ANGLES] BodyAngle = (BodyAngle min Body_MIN) max Body_MAX

[code]@ [SERVO DRIVER]
…
Serout SSC_OUT, SSC_BAUTE,“#â€

[xan]

Hi Innerbreed,

I made a quick test-setup started debugging this Saturday. I had the servo following the direction when my girlfriend pulled me away from my PC. I think I can get the servo to move on rotation as well tomorrow. Then you’ll have a ready to rock sub.

Stay tuned

Xan

[innerbreed]

@Xan

Hi Innerbreed,

I made a quick test-setup started debugging this Saturday. I had the servo following the direction when my girlfriend pulled me away from my PC. I think I can get the servo to move on rotation as well tomorrow. Then you’ll have a ready to rock sub.

Stay tuned

Xan

this is great. thanks. im guessing it only needs tweeking a little. the main part is there.

again thanks. cannot credit you anymore for your help.

[xan]

@innerbreed

this is great. thanks. im guessing it only needs tweeking a little. the main part is there.

It’s mostly about placing the brackets in the right place

[innerbreed]

@Xan

@innerbreed

this is great. thanks. im guessing it only needs tweeking a little. the main part is there.

It’s mostly about placing the brackets in the right place

as im not a programmer at heart (having only really modified codes) i have noticed the importance of these breakets. what do they reall do/mean?
and what changes when adding another? ))

[xan]

The brackets are simply used to define the order of operations. In this case it’s not only for adding and multiplying but also for converting to floats and backwards.

I also had to made some small changes to the calculation to get the servo in the middle position (0 deg). But as I said, this was just a simple scratch. I didn’t even tried to compile it.

Xan

[xan]

Hi Innerbreed,

Here is the code to make the body servo move in the walking direction. You will see that the middle position is a bit bumpy. This is caused by a error in the FACOS function. The error is somewhere in the compiler and is out of my hands. Jim and Nathan are both aware of this error. I’m using cos tables in V2.0 so it doesn’t have the same problems which makes the whole setup much more stable. I’ll hope to release it soon. There still are some balance problems to solve. Anyway, here is the code:

[code]BodyDirection:

;Return to the middle position
BodyAngle=0

;IF ((ABS(TravelLengthX)>TravelDeadZone | ABS(TravelLengthZ)>TravelDeadZone) & TravelLengthZ<TravelDeadZone) | ABS(TravelRotationY*10)>TravelDeadZone THEN
IF ABS(TravelLengthX)>TravelDeadZone | ABS(TravelLengthZ)>TravelDeadZone THEN

;Calculate walking direction X and Z 
TravelLengthXZ = SQR((TravelLengthX * TravelLengthX) + TravelLengthZ * TravelLengthZ)
BodyAngle = TOINT(FACOS(TOFLOAT(TravelLengthZ) / TOFLOAT(TravelLengthXZ)) * 180.0 / 3.141592)-180

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

ENDIF

;Calculate body angle depending on rotation
IF ABS(TravelRotationY2)>TravelDeadZone & ABS(TravelRotationY3) > ABS(BodyAngle) THEN
BodyAngle = -TravelRotationY3 ; Rotation max = 166 to get max range of 90 deg.
ENDIF

RETURN[/code]
I only included the bodydirection sub. I guess you’ll figure the rest out

Enjoy!

Xan

[innerbreed]

@Xan

Hi Innerbreed,

Here is the code to make the body servo move in the walking direction. You will see that the middle position is a bit bumpy. This is caused by a error in the FACOS function. The error is somewhere in the compiler and is out of my hands. Jim and Nathan are both aware of this error. I’m using cos tables in V2.0 so it doesn’t have the same problems which makes the whole setup much more stable. I’ll hope to release it soon. There still are some balance problems to solve. Anyway, here is the code:

[code]BodyDirection:

;Return to the middle position
BodyAngle=0

;IF ((ABS(TravelLengthX)>TravelDeadZone | ABS(TravelLengthZ)>TravelDeadZone) & TravelLengthZ<TravelDeadZone) | ABS(TravelRotationY*10)>TravelDeadZone THEN
IF ABS(TravelLengthX)>TravelDeadZone | ABS(TravelLengthZ)>TravelDeadZone THEN

;Calculate walking direction X and Z 
TravelLengthXZ = SQR((TravelLengthX * TravelLengthX) + TravelLengthZ * TravelLengthZ)
BodyAngle = TOINT(FACOS(TOFLOAT(TravelLengthZ) / TOFLOAT(TravelLengthXZ)) * 180.0 / 3.141592)-180

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

ENDIF

;Calculate body angle depending on rotation
IF ABS(TravelRotationY2)>TravelDeadZone & ABS(TravelRotationY3) > ABS(BodyAngle) THEN
BodyAngle = -TravelRotationY3 ; Rotation max = 166 to get max range of 90 deg.
ENDIF

RETURN[/code]
I only included the bodydirection sub. I guess you’ll figure the rest out

Enjoy!

Xan

Worked like a charm.
yeah mid pos is a bit twitchy but only by about -/+ 5º off =0

look forward to seeing V2.0.

thanks for the support Jeroen.

[xan]

Glad it works

[t4ndu]

hi oh Yes

I’m excited about the new version

look forward to seeing V2.0.

i hope i understand this code, too

[robotdude]

@Xan

Don’t forget to check bit 15 which enables all functions. (The table in manual talks about bit 12 but it should be 15.)

We’re on it!

[snailkeeper]

@Xan

Don’t forget to check bit 15 which enables all functions. (The table in manual talks about bit 12 but it should be 15.)

Sorry 'bout that! It’s fixed now.

[likwidchz]

Hey xan,

were you still thinking about doing the byte lookup table for the sin/cos/tan functions in the original phoenix code?

–Aaron

[xan]

@Snailkeeper (Admin)

@Xan

Don’t forget to check bit 15 which enables all functions. (The table in manual

talks about bit 12 but it should be 15.)

Sorry 'bout that! It’s fixed now.

Thanks for solving!

@LikWidChz

Hey xan,

were you still thinking about doing the byte lookup table for the sin/cos/tan functions in the original phoenix code?

–Aaron

Not only thinking, v2.0 is already working with byte tables.
There still is some little work to do in the balance system before release.

Xan

[likwidchz]

SWEETSASSYMOLASSY!

I hope it will be pretty painless trying to implement this in the code Zenta modified for RC control, doing the 7 Pulsin’s really causes the phoenix to become pre occupied with reading those channels and you can see the gait lagging.

It’s too bad the atom pro isn’t 2x as fast… cause you can always fix slow code with throwing in a faster cpu “cough Microsoft cough”

cool cool, looking forward to taking a look at that code.

–Aaron

[innerbreed]

is there a small command that i can use to get the servos to pulse at “1500”
in your code, as you code relys on angles not pulse’s.

i wish to use a dualshock to pull up sub.
would the sub be:

ALL1500 for Index = 0 to 31 serout SSC_OUTPUT,SSC_BAUD,"#",DEC Index,"P1500#"] next serout SSC_OUTPUT,SSC_BAUD,"T200",13] return

please note i have changed SSC_OUTPUT & SSC_BAUD intentionally.

[likwidchz]

Yeah that looks right, give it a try,

That part of the code looked familiar to the “FREESERVOS” subroutine

–Aaron