Page 5 of 5 FirstFirst 12345
Results 41 to 45 of 45

Thread: A modified PhantomX to add another degree of freedon running Phoenix software.

  1. #41
    Join Date
    Dec 2012
    Location
    Los Angeles, CA
    Posts
    858
    Images
    25
    Rep Power
    88

    Re: A modified PhantomX to add another degree of freedon running Phoenix software.

    Here is my third pass at the user modified 4dof PhantomX. I've increased the compliance slope of the servos to smooth out the remaining jitter due to the speed of the AX-18s. Tibia is reworked so there is less weight on that segment, Femur has the most weight now. Tweaks to the default angles of the legs as well. This version is much slower so I can see the tweak to the compliance slope. Next steps are to re-attach the turret I posted many weeks ago. I have a few functions that compensate the turret aiming to the body rotations. So that should be fun to get back in and turned on. My apologies Tyberius I had to give the tarsus a bit of a "hair cut."

    Last edited by KevinO; 02-04-2013 at 02:55 PM.

  2. Re: A modified PhantomX to add another degree of freedon running Phoenix software.

    Kevin,
    I picked up a PhantomX in december and have been playing with the code also. I have broken the original code down into seperate libs to make it a bit easyer to digest and seperate the inter-dependencys.
    Then added a terminal interface so I could explore what is happening. To make the bot more responceive, I combined the servo code from several files and created a ISR to drive the AX servos .

    I thought I saw in this thread that you have worked on the AX speed control, do you still endup waiting the 100ms or so in the main loop?

  3. #43
    Join Date
    Dec 2012
    Location
    Los Angeles, CA
    Posts
    858
    Images
    25
    Rep Power
    88

    Re: A modified PhantomX to add another degree of freedon running Phoenix software.

    I haven't used the original code in a while. I've been running a version of Kurt's Phoenix port. So unfortunately I'm not sure what delay you are referring to. You should check it out on his github. It's pretty nice!

  4. Re: A modified PhantomX to add another degree of freedon running Phoenix software.

    The delay is in the code i pulled down back in January, the main loop waits till it it time to make the next move when walking.
    Do you have the link to the new code?
    Cheers

  5. #45
    Join Date
    Dec 2012
    Location
    Los Angeles, CA
    Posts
    858
    Images
    25
    Rep Power
    88

    Re: A modified PhantomX to add another degree of freedon running Phoenix software.


Thread Information

Users Browsing this Thread

There are currently 1 users browsing this thread. (0 members and 1 guests)

Similar Threads

  1. Project My PhantomX AX-18A running the Phoenix code... and it's lovely.
    By KevinO in forum Humanoids, Walkers & Crawlers
    Replies: 28
    Last Post: 04-02-2013, 10:46 AM
  2. Want to use Phoenix code on PhantomX Quadruped
    By Tony S in forum Humanoids, Walkers & Crawlers
    Replies: 38
    Last Post: 01-25-2013, 05:42 PM
  3. For learning: PhantomX Hexapod vs PhantomX Quadruped
    By Leugim in forum Humanoids, Walkers & Crawlers
    Replies: 4
    Last Post: 10-26-2012, 08:50 AM
  4. 90 degree output, good speed and torque?
    By Adrenalynn in forum DYNAMIXEL & Robot Actuators
    Replies: 2
    Last Post: 09-08-2008, 02:21 AM
  5. Highly modified ER1
    By 4mem8 in forum Rovers
    Replies: 12
    Last Post: 06-14-2008, 12:30 AM

Posting Permissions

  • You may not post new threads
  • You may not post replies
  • You may not post attachments
  • You may not edit your posts
  •