Phoenix code problems

Hexapod Robots

Phoenix code problems

Postby Duhjoker » Thu Nov 26, 2015 5:53 am

Does any one here have any experience building hex's and using the phoenix code. Ive built a small hexapod using MG90 servos and utilizing an SSC-32U, botboarduino and PS2 TX/RX.

Ive changed alot of the variables to match my bot im still having trouble getting it to walk properly. The single leg movements work just fine and i can make the body sway back and fourth and Raise/lower the bot but when try to use the sticks to make it walk it goes haywire. The femurs barely lift but push down further than the ground. And the front and rear legs come out way further than they need.


The list below are the modifications to the code for my hexapod.


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.
Duhjoker
 
Posts: 6
Joined: Fri Jul 31, 2015 8:17 am

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