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Xan
08-09-2008, 08:35 AM
Hi all,

Last week I introduced myself, and right now I can hear you thinking: Ok, but what's he up to ;) Some of you know me from the LM forum but for those who don't, here are my projects!


My Robots

http://forums.trossenrobotics.com/gallery/files/2/0/3/7/family.jpg



BlackWido

The idea of building BlackWido is born about 10 months ago. I was searching the web and bounced into Zenta's Phoenix. I needed to have one of those sitting on my desk! So that is what I did, I made almost a copy. (Thanks again ;)) The big difference is that BlackWido goes with onboard controlling. BlackWido is featured with 12x 645, and 6x475 HiTech servos, BB2, ATOM pro 28, SSC V2, BlueSmirf.

http://forums.trossenrobotics.com/gallery/files/2/0/3/7/p1000543.jpg

http://forums.trossenrobotics.com/gallery/files/2/0/3/7/p1000564.jpg

I've build the ATOM code from scratch and now it does all the IK calculations onboard.

Original I controlled it with the Wii-remote. The BlueSmirf doesn't support the HID protocol for the Wii-remote so I'm using a small C# application on my pc that does some HID, SPP conversion. I did some tests using a PS2 remote that I'm using for my phoenix right now.

BlackWido controlled by the Wii-remote

http://www.youtube.com/watch?v=5ro_1-6ADQM

My latest video showing the current progress of my code

http://www.youtube.com/watch?v=w92gXdfE1kY


Phoenix

I just finished the mechanical part of my second bot, LM's Phoenix. I'm gone use this one to get my code plug and play with LM's Phoenix.

http://forums.trossenrobotics.com/gallery/files/2/0/3/7/p1020543.jpg

http://forums.trossenrobotics.com/gallery/files/2/0/3/7/p1020544.jpg

I've got LM's phoenix configured as described in the tutorials. SSC with the connector to the front.

http://forums.trossenrobotics.com/gallery/files/2/0/3/7/p1020545.jpg

To get a total Black look I used some sleeves for the wires. All the servo wires are still in the original length so some strategy was necessary to fit them all in the tiny body. 8)

http://forums.trossenrobotics.com/gallery/files/2/0/3/7/p1020506.jpg

I removed the connecter from the PS2 receiver and soldered the wires directly on the PCB. Since the receiver was already open, I replaced the LEDs for some, lying around, blue ones. The PS2 receiver is placed on a custom made bracket. BlackWido was so friendly that I could borrow some of his spare material. ;)

In the lower deck is some free space for a battery slot. It can both fit the 9V battery for the logic as the Lipo battery for the servos. As you can see I placed a piece of thin plastic over the soldering side of the SSC to prevent damage to the Lipo when changing batteries (I've ordered 2 8)).

http://forums.trossenrobotics.com/gallery/files/2/0/3/7/p1020499.jpg

http://forums.trossenrobotics.com/gallery/files/2/0/3/7/p1020550.jpg

http://forums.trossenrobotics.com/gallery/files/2/0/3/7/p1020551.jpg

The Lipo is in backorder for 3 weeks already, I just received a mail saying that they expect them August 20th. It looks like I have to wait some time before I can see it walk…



The electronics are connected as in the tutorial:

BB2 Pin 4 t/m 6 to the buttons A, B and C (In the middle of the BB)
BB2 Pin 8 and 10 to the SSC.
BB2 Pin 12 t/m 15 PS2 (I used the once in the middle where the jumpers are)
I didn't fire it up yet. I only connected the logic to check the blue LEDs. I need to get a connector to drive the servos on my net adapter so start calibrating.



What's next



After I finished Phoenix I've got a lot of plans.

Optimize my code and add some gaits.
Add a balance system.
See if I can get one of them stand/walk on 4 legs. Just for trying to get the COG between 3 legs.
Stretch the legs of the Phoenix.
Add an onboard cam. Any suggestions for a quality wireless cam?
It looks like I will be busy for some time :D

What do you think?

DresnerRobotics
08-09-2008, 08:53 AM
Amazing work with the Wii control.

And... you have onboard IK using a Basic Atom??? Holy crap man, talk about code optimization.

Very impressive work, looks like you contracted Zenta for some construction help on the initial BlackWido?

sam
08-09-2008, 09:15 AM
I am very impressed! looks really nice with both the PS2 and Wii remotes.

With te PS2 it walks faster and looks very nice!

I have so much work befor I could even think of doing something like this. :sad: Where did you learn to program? Is it a book or are you an engineer?

Zenta
08-10-2008, 04:59 AM
Hi Xan!

Again, excellent work you've done putting LM Phoenix together!
Also wants to thank you again for your work with the code.

Are you thinking of making the tibia parts longer?

4mem8
08-10-2008, 06:47 AM
Xan: This is great work, I admire your programming skills. Very neatly put together.

metaform3d
08-10-2008, 08:09 PM
Very impressive! You could enter your BlackWido in crabfu's "illusion of life" contest.

Xan
08-11-2008, 03:35 AM
Hi All,

I would like to start to thank you all for the great reactions! I知 glad that I致e jointed this forum.


And... you have onboard IK using a Basic Atom??? Holy crap man, talk about code optimization.

Very impressive work, looks like you contracted Zenta for some construction help on the initial BlackWido?

Thanks Tyberius! It sure took some time to get the IK running at the Atom. Now I致e got my LM Phoenix putted together I致e got some plans to optimize some parts of my code and make it even more fluent. BlackWido is a copy of Zenta痴 Phoenix. So the honour for the mechanical design goes totally to him!!


With te PS2 it walks faster and looks very nice!

I have so much work befor I could even think of doing something like this. Where did you learn to program? Is it a book or are you an engineer?

Hi Sam, Thanks! The code that I used in the video with the PS2 remote is just a later version of my code. That is the reason why it is faster. And yep, I知 both a electrical and software engineer. If you ever have some questions, let me know and I値l try to help you out ;)


Again, excellent work you've done putting LM Phoenix together!
Also wants to thank you again for your work with the code.

Are you thinking of making the tibia parts longer?
Hi Zenta, You never have to thank me for anything. That I知 in to robotics is because I could use your Phoenix design! So I知 glad that I could return the favour in some kind of way!!

I find the tibia part of the LM phoenix a little bit short. I知 thinking of making tibia parts of about 15cm or maybe even longer. I値l have to try out some different lengths to see how it will work out for the servo strength and collapsing between the legs. Have you got any thought about that?


Very impressive! You could enter your BlackWido in crabfu's "illusion of life" contest.
Hi Metaform, Thanks for the suggestion, I sure would like to enter some kind of contest. But the question is, what makes the 的llusion of life is it the 斗ooks or the way it moves in realtime? I think it is both so if somebody should enter the contest, it should be Zenta, it is his design ;)

Thanks all!

Xan

LinuxGuy
08-11-2008, 04:14 AM
Amazing work with the Wii control.

And... you have onboard IK using a Basic Atom??? Holy crap man, talk about code optimization.
Lynxmotion has been running IK in their hexapods for quite awhile on the Basic Atom. The code has been very much compacted, to the point of being unreadable.

It's the same type of code PowerPod produces.

8-Dale

ScuD
08-11-2008, 06:12 AM
Yeah regarding the IK on the Atom, anyone care to explain how to get it working with integers?
I can work out the IK for my hex or a biped with floating point math, but I never seem to quite grasp the concept of converting it to 8 or 16 bit math..

I mean, I can make lookup tables for say a cosine or inverse tangent, but after that I'm stuck..

I tried using lookup tables to implement square root calculations as well but that's been put aside with the bioloid arriving..

DresnerRobotics
08-11-2008, 07:56 AM
Lynxmotion has been running IK in their hexapods for quite awhile on the Basic Atom. The code has been very much compacted, to the point of being unreadable.

It's the same type of code PowerPod produces.

8-Dale

Well that's what I get for not building a Lynxmotion Hexapod since the 'yellow' days. I was under the impression that Powerpod just produced FK gaits, thanks for the clarification.

Xan
08-12-2008, 01:53 AM
Yeah regarding the IK on the Atom, anyone care to explain how to get it working with integers?
I can work out the IK for my hex or a biped with floating point math, but I never seem to quite grasp the concept of converting it to 8 or 16 bit math..

I mean, I can make lookup tables for say a cosine or inverse tangent, but after that I'm stuck..

I tried using lookup tables to implement square root calculations as well but that's been put aside with the bioloid arriving..
My IK still includes a lot of floats. I've got the the float to Integer confersion on my "ToDo" list. The big problem for the IK are the numbers <1. I was thinking multiplying those values and results. I didn't tried that yet but I think it should be possible in some kind of way.

Xan

Xan
08-25-2008, 02:54 AM
Aften waiting (and mailing) for 5 weeks I just received a mail from hobbycity that they discontinued selling the lipos I ordered :(

DAMN!! Now I have to find some others that will do the work!

Electricity
08-25-2008, 01:27 PM
try www.evike.com.
What specific kind are you looking for?

Xan
08-27-2008, 02:31 AM
Hi Electicity,


try www.evike.com (http://www.evike.com).
What specific kind are you looking for?
Thanks for the link! I looked at those but I couldn稚 find one with the amp rating that I知 looking for. But it sure opened a whole new world for me! Damn I didn稚 know that there where so much different airsoft guns! They are all forbidden in the Netherlands because they look to real.

The other problem was that hobbycity could only give me store credit back. So if I wanted some value for my money I needed to stick to them.

I just completed my shopping list at hobbycity which I知 gone purchase this evening. I知 gone use a 4900mAh @ 7.4V Lipo together with a switching regulator to give me the maximum runtime. The regulator on my current setup needs to be changed to the new one.

I had some great support on the hobbyshop forum (http://www.myhobbyshop.com) getting the chopping list together. If somebody ever has got some questions about lipos it is definitely worth a try!

Xan

Xan
10-13-2008, 02:03 AM
Hi all,

I just uploaded the first video of lynxmotion痴 Phoenix (http://nl.youtube.com/watch?v=U8dd04VGjl0). It is running on the new version (V1.2) of my code. :D


New features are:

turning on/off the bot by pressing the start button
switching between different gaits by pressing the select button.
The analog sticks will not only control the travel length but also the speed of the servos.

Enjoy! 8)

Xan

BMoscato
10-13-2008, 09:49 AM
I was never a fan of the hexapods, but now I want one after seeing this thread. :)

Xan
10-14-2008, 02:41 AM
I was never a fan of the hexapods, but now I want one after seeing this thread. :)

Thanks for the reply BMorscato!

Enusi Malik
10-14-2008, 10:30 AM
good stuff, I really like the controls with the wii remote how did you go about doing that?

Xan
10-16-2008, 01:51 AM
good stuff, I really like the controls with the wii remote how did you go about doing that?

Thanks! The Wii remote uses a standard Bluetooth HID protocol. I connected the Wii remote to the pc which receives the input and translate it to the SSC protocol. This data which is 1 on 1 from the remote will be send to the hex over another Bluetooth connection (SPP) I couldn稚 find a embedded module that supports a HID device (server side) That痴 why I have to use a pc to convert the protocol from HID to SPP.

I hope it makes any sense ;)

Xan