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Thread: PhantomX MKIII - Phoenix code - single leg mode

  1. #1

    PhantomX MKIII - Phoenix code - single leg mode

    Dear community,

    I just completed my new PhantomX MKIII hexapod, running the Phoenix code. When using single leg mode the "rubber feet" slide an glide accross the floor, while I would expect the legs to lift an get free from the ground.

    Any advise on how to change the servo settings is highly appreciated.

    Regards,
    Sven

  2. #2
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    Re: PhantomX MKIII - Phoenix code - single leg mode

    Have you tried lifting the leg with the other joystick?
    Kåre Halvorsen aka Zenta
    ---------------------------------
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  3. #3

    Re: PhantomX MKIII - Phoenix code - single leg mode

    Hopefully you already found a solution to this and/or Kåre's question/suggestion will solve the problem for you.

    I am planning to update mine to mk3, hopefully soon. At that point, I will make a quick pass through and see if I notice anything that needs to be updated in the Phoenix code. In particular things like, the lengths and offsets for the different leg segments.

    Good Luck

  4. #4

    Re: PhantomX MKIII - Phoenix code - single leg mode

    Quote Originally Posted by Zenta View Post
    Have you tried lifting the leg with the other joystick?
    Thanks for your response,

    I probably tried all possible combination of both joysticks and all buttons but it is impossible to raise the legs. Even worse.... Certain joystick commands will make the MKIII trying to stick his feet even deeper into the floor, meaning the selected leg will go below the level of the other 5

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    Re: PhantomX MKIII - Phoenix code - single leg mode

    I don't have the MKIII myself, but it sounds like a reversed "g_InControlState.SLLeg.y". I assume everything else work fine, like walking, body movement etc. What code are you using, I'm currently using Kurt's serial float that (done some changes though, should probably contribute on Github, I'm a bit rusty on that part).
    Kåre Halvorsen aka Zenta
    ---------------------------------
    Zenta's YouTube channel
    Zenta's Blog
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  6. #6

    Re: PhantomX MKIII - Phoenix code - single leg mode

    Hi Kåre,

    As I mentioned, I am still waiting for parts for updating my PhantomX to MK3. Actually trying to decide if I should change my MK2 into MK3 or my Quad into MK3 as it looks like Trossen is dropping the PhantomX Quad. But if I go that route, probably need to order a couple more servos....

    Kåre, I have added you on to a few of my projects like the serial float, so it would be great if you could upload your updates. Alternatively you could send them to me and I will integrate them.

    Thanks again

    P.S - When it comes to doing stuff with Github, I am always rusty :lol:

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    Re: PhantomX MKIII - Phoenix code - single leg mode

    Thanks Kurt!

    I'll look into it this weekend.
    Kåre Halvorsen aka Zenta
    ---------------------------------
    Zenta's YouTube channel
    Zenta's Blog
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  8. #8

    Re: PhantomX MKIII - Phoenix code - single leg mode

    The Battery compartment that just drops out of the bottom, is a design breakthrough. I always had trouble getting the battery out to charge it, but this is just a wonderful design. I just did the body part for a upgrade and plan to do the legs later, and everything works wonderfully. I hope there is no issues with the height of the new legs?

  9. #9

    Re: PhantomX MKIII - Phoenix code - single leg mode

    Quote Originally Posted by Zenta View Post
    I don't have the MKIII myself, but it sounds like a reversed "g_InControlState.SLLeg.y". I assume everything else work fine, like walking, body movement etc. What code are you using, I'm currently using Kurt's serial float that (done some changes though, should probably contribute on Github, I'm a bit rusty on that part).
    I have actually tried the codes from Kurt's different repositories on github. At the moment I am using https://github.com/KurtE/Phantom_Phoenix, but regardles of the code all movements and gaits work fine.... Except of single leg mode.

    I made a little video, which will probably give a better idea of whats going on.

  10. #10
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    Re: PhantomX MKIII - Phoenix code - single leg mode

    Hi,

    Sorry for my late reply. I've been busy with other stuff and a business trip lately.
    Just got some free time now.

    From the video I see what the problem is.

    The code in the Phoenix_Input_Commander.h that look like this:
    Code:
    g_InControlState.SLLeg.x= (byte)((int)lx+128)/2; //Left Stick Right/Left
    g_InControlState.SLLeg.y= (byte)((int)command.rightV+128)/10; //Right Stick Up/Down
    g_InControlState.SLLeg.z = (byte)((int)ly+128)/2; //Left Stick Up/Down
    The code I changed:
    Code:
    //Zenta, replaced (byte) to (signed char), expanded range
          g_InControlState.SLLeg.x= (signed char)((int)lx); //Left Stick Right/Left
          if (command.rightV>-cTravelDeadZone) g_InControlState.SLLeg.y= (signed char)(-(int)command.rightV)*2; //Right Stick Up/Down
          g_InControlState.SLLeg.z = (signed char)(-(int)ly); //Left Stick Up/Down
    Currently I don't use this exact version of the code. Sorry for not been able to update Github. Really need to get time learning it..
    Kåre Halvorsen aka Zenta
    ---------------------------------
    Zenta's YouTube channel
    Zenta's Blog
    Zenta's Instagram

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