I have a question on using Nuke with the PhantomX hexapod - I finally this past weekend focused my time and completed the Hexapod - I started a long time ago. So I have Nuke setup, I am using OS X and running everything in a Parallels VM - 32-bit Windows 7, I have found zero issues getting all the software setup, using the Arduino 0018 version, which seems to work nicely with arbotix libraries 0014. I see arbotix2 beta, but decided just to get things working - then I will experiment with newer version and look into ROS, I know Fergs is pushing us to go that route - I do intend to.
Anyway most seems to be going well, I tried to mess with the downloaded version of the PhantomX nuke gaits, etc, didn't compile up for me and I wanted to go through Nuke. I dug into the files PhantomX files and confirmed the measurements I had taken, they pretty much match up so I used those. I went through the capture process and feel like I did a pretty consistant job with it. I setup the neutral position - that looked good I went to test/signs and that is where stuff goes wrong - doing it twice I had 2 or 3 Tibia on a specific side, go up instead of down - so I had to no/cancel out of the test for all the moves. I saved the project and then went into PyPose pose editor, the neutral looks good, and the ik_min and ik_max I think is okay if I am correct, Min and Max should end up having the hex go into a state where the coxia, femur and tibia are mirrored, so if min has left side coxia forward, femur down, tibia down -> right side coxia would be back, femur up, tibia up. When I do max that reverses - so I am confused why the test setup is moving 2 or 3 of the tibias on the one side (it was left side) to the upward position. The coxia and femur looked to be correctly positioned. Am I moving the tibia too far, I move til it cannot, then back the down, using key visual points - bolts,corners to make sure I am fairly even.
I am pretty sure I have the robot constructed correctly and having the femur and tibia aligned is pretty straight forward. The default PhantomX build has you swapping the left/right side servo ids from what comes up default on Nuke. I want to get this working with the robot commander test program - then I get into more messing around. Not sure what I am doing wrong - I will likely tonight, step things through and note all of the servo position settings - next step I guess is try to debug Nuke. - or should I just go arbotix2 beta? Is there another arbotix board? I got mine a while back