Hello Xan and thanks for the reply.
I finally decided to trust the standard kit: SSC32, Bot Board II and Basic Atom Pro 28.
I just finished assembling and programming. All right! I just have to make some adjustment…
Your code is awesome…congratulations!
A question: I’m not up to date…I used your code which is in the Phoenix tutorial, you made a newer version for use with the PS2 controller?
Hi Xan,
Do you know if someone wrote a Phoenix driver for Pololu maestro series of servo controllers.
If not, you think it’s a difficult task?
Thanks,
Mihai.
Hi I don’t know how much Xan is monitoring this forum these days.
My guess is there may not be one for the maestro controller, probably would not be hard. However but my guess there may not be very much working being done these days with this code base for the Basic Atom processors. These days code bases that were based earlier from here that work with most all Arduino like processsors (C/C++) as well as many linux boxes. Most of these are up on my github account: //www.github.com/kurte
Kurte, thanks for the very quick reply.
Do you suggest going with a more advanced platform for motion control and other logic (like a Raspberry pi instead of some Arduino board)?
Depends on what all you are wanting to do…
Personally i have had a lot of fun with Teensy 3.1s over the last many months. It uses the Arduino IDE, but is a lot more capable. I built my own interface boards. Right now I am playing around some with the Intel boards (Edison, Galileo G2), I also do like boards like the Raspberry Pi, but probably prefer the BeagleBone black over it. LIkewise I like the Odroids, but their shipping charges are really high…
(kurte is alive…)
Just wondering if any body still participating in this thread? Im having trouble getting the code to work with my hexapod.
You can find the details here…
Hi Duhjoker,
I’m still watching this thread. But I will reply on yours 
THE Xan …!!!
Feels good to know your’re still around and looking.
Probably got an email notification (like me) about a reply here.
Still playing with Robots ?
Yep, I got on email notification and took a quick peek.
I did some fiddling with a Raspberry Pi 2 for a new project. But I didn’t make any progress for the last month. So I guess it will take some time. But who knows, it’s getting winter again
What about yourself?
Nice, you are actually making an Hexapod with a Pi2 ? Or a complete other project ? (i’m curious)
I’ve been working on the Quadrino Nano a lot before and after it’s release and now some other project related to the Lynxmotion UAV lineup.
(i work for Lynxmotion / RobotShop now, if you didn’t know)
I will try to complete my Mini Hexapod project in the coming months…
Hi Eric,
Yes it will be another hex. But with more brain power so more options 
Can’t say to much right now
Really cool you work for LM/RS! I didn’t know! I did see your quad in the shop! (Which is really cool btw)
Do you have al ink to the Mini Hex?
Xan
Here is the link to the old topic. I didn’t do much for years but would like to finish it now.
(thanks for the kind words)
Hey guys
Im trying to phoenix a small hexapod using MG90 servos, an SSC-32U, ps2 TX/RX pair and a 3d printed frame. Coleman has been trying to help me but i think we’ve surpassed his expertise. Ive gotten a lil help from Arduino but nobody really knows the program enough to help.
I was hoping you guys could help me finish my project. Ive changed alot of the code to match my bot but i still cant get it to walk properly so must be something i either have wrong or dont know it needs changing.
I have no problems using the single leg movements or raising and lowering the bot and even turns on the spot okish but it goes haywire when you try to make it walk. It doesnt lift the leg high enough but brings the leg down farther than it needs to go. Also the coxa rotation is way out there bringing the leg to farthest limit.
The list below are the modifications to the code for my hexapo.
Leg IK
Coxa length=== 12mm
Femur length=== 35mm
Tibia length== 51mm
Body IK
-41
51
-51
0
-41
-51
41
51
51
0
41
-51
ChexinitXZ === 47
Cos60 === 24
Sin === 41
Inity === 51 // i couldnt figure out this number so made it the length of tibia.
I also changed the pwm settings in the servo file to
#define cPwmDIV 936;
#define cPfconst 538; // 900*(1000/cPwmDiv)+cPFconst must always be 1500
// 900*1000/936+538= 1499.54
Is there anything else im supposed to change?
I found this in the hex globals file do they need changing?
#define WTIMERTICSPERMSUL 64 //BAP28 is 16mhz need a multiplyer and divider to make the conversion with /8192
#define WTIMERTISPERMSUL 125
#define USPRINT_TIMERAV
Do the arcos and sin tables need to be recalculated to my bot?
I would like to publish a list of variables and other things that need to changed to make it easier for others having trouble.
I have what I believe is your or some of your IK code ported to run on Win 10 IOT and the PI 2. It is in C#. Works pretty well. I will put it up on GitHub soon. Uses a Xbox 360 Wireless controller for putting the Hexapod through its paces.
It took me quite a while to wrap my head around the code, and I am still not 100% of the way there yet!
Good stuff!
Hi guys.
Any implementation of xans code being ported in arduino with Radio Control?
Hey Johnny…!!!
Sorry for the long… wait…
Well… i’m unsure regarding that but maybe @scharette can give a hand about that.
That said, you need something for a Biped no ?
Hay Eric.
Well i find that i can convert the hex code to work for biped, but yes Biped is the end goal for this so should that be available it will save a bit of time.
I have been looking at github.com/KurtE/Arduino_Phoenix_Parts
and it seems all the files i am looking for are there but as Kurt had mentioned the RC part is only first pass and im not sure how well implemented it is as i cannot test at the moment.
With that said i am also a little confused as to which files i need. There are lots and so if you have a pointer to what ill need that would be great.
Simply looking for a standard IK Robot code that i can control with RC.
I plan to use an arduino board and SSC as i also (luckly) have one in stock so im sure i am on the right track.
But yes as i mentioned, Biped is the goal.