Thinking about trying out a different Hex robot...

[KurtEck]

Thanks Zenta,

I am merging now... I totally understand... Not sure yet about the changes for Tibia Min/Max if this is safe for default ones as well, will probably simply create a:
#define OPTION_UPSIDE_DOWN
when define:
and depending on if it is defined will set some variables differently...

#define cRRTibiaMin1    -1500
#define cRRTibiaMax1    1500

versus

#define cXXTibiaMin1    -700
#define cXXTibiaMax1    900

Kurt

[KurtEck]

Hi Zenta and others,

Have not had much time today as well, but started to play with the Accelerometer(http://www.lynxmotion.com/p-606-lynx...lerometer.aspx) to detect if we are right side up or upside down...

As you can see I mounted it to the Front on the Vertical support, as putting it horizontal did not detect upside down... I connected the two outputs to A0 and A1 (need to look which one is which). I found that the one I have connected to A0, gives me a value of about 650 when it is right side up and about 350 when it is upside down...

So now I can continue to integrate your stuff in and add code that says something like if it is < 500 it may be upside down... and use the new values and if it is right side up ...

Kurt

[Tyberius]

Zenta, could I request some video of your PX hexapod walking? Doesn't need to be the upside down code, just plain walking under your IK would be great! Thanks!

[Zenta]

Hi,

Looking good Kurt. I think we need to make sure the robot doesn't turn over when doing body Z rotation, by defining a deadband. Like you did for the batteryvoltage there must be multiple analog readings. 8 readings might be sufficient, not sure.

Video? My plan was to not post any video until we have something more than just plain walking and body movements. I'll see what I can do this weekend. I'm leaving for a little vacation with my kids again at monday. So if I don't get time for it I'll not be able to post any vids for awhile.

[Tyberius]

Just a sneak peak! Pretty please!

[KurtEck]

Hi Guys,

Zenta, I sent you an email with the updated code that allows the robot to walk right side up, or upside down. Looks pretty cool Not sure if I should post it up here yet, or if I should turn the option off that enables this. The hardware change is real simple. simply unscrew the 4 screws holding the Tibia to their servos and rotate it 90 degrees and screw them back on...

But this code also is now using the Accelerometer to detect this.

Andrew and Zenta I did email you with a real real real real bad video showing the robot taking a couple of steps and then I grab the robot and start to turn it over and the legs all move to the other side and then I put it down and have it walk again...

Would have taken longer with the video, but robot stopped working again and I found servos 2 and 4 both had ID 1, so I had to use my program to update them again...

Kurt

[KurtEck]

Decided to post the updates in case anyone want's a sneak peek.
The Walk Upside down option is turned off in this zip file

Kurt

[Upgrayd]

Really cool stuff Zenta and KurtEck. Lots of fun watching this develop.

You guys should really consider hosting your code on github or other similar code repository. Much easier than passing around zip files.

[Zenta]

Hi,

I guess you are all sleeping now..

Wow! That was cool and fun. Flipping it over and in a fraction of a second the legs adapt to the correct position. Simple, convenient and fun!

Need to inverse some values. I'll see if I get a chance to do it to day. Stay tuned for a sneak peek..

EDIT: Got a problem. At full speed the accelerometer get affected. Need to do multiple analog readings..

[Zenta]

Hi,

I simply disabled the "turn around" feature while walking. Also inverted some values. Work fine now. Will post code later.

Have to go my toddler is dragging my pants..