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Thread: PhantomX MKIII - Phoenix code - single leg mode

  1. #11

    Re: PhantomX MKIII - Phoenix code - single leg mode

    Thanks Kåre,

    I made that change to the Phantom_Phoenix project on github. Warning, I pushed up a few more changes that were on my machine, like to remove compiler warnings (add const to function header) as to remove warnings when you pass something like PrintMyStuff("MY");
    Also it looks like there was some partial stuff in my queue for semi supporting Octopod, which got pushed up as well. Hopefully everything works, as I don't have my PhantomX MK2 setup with an Arduino board like Arbotix or Teensy...

    I will also fold some of these changes back into a few other of the projects as well. But warning, in some I was removing Single Leg mode as I typically don't use it... Also if you do, make sure the option for it is turned on.

    Edit: As for github, you can always send me zip files or the like and I can take care of it. Also github for windows (or mac) is not too difficult to work with, unless something goes wrong.

  2. #12

    Re: PhantomX MKIII - Phoenix code - single leg mode

    Quote Originally Posted by Zenta View Post
    Hi,

    Sorry for my late reply. I've been busy with other stuff and a business trip lately.
    Just got some free time now.
    ...
    Hi Kaere,
    Thank to your code changes, the solution is getting closer. Good news first...
    • The initial problem is gone.
    • With the help of both joysticks the selected leg can be moved to its intended positions
    • Right joystick works fine, the leg follows the y-axis with up and down movements.

    Left joystick still behaves a bit strange...

    Middle legs:
    • Joytisck up/down = Leg turns left/right
    • Joystick left/right = Leg stretches / shortens
    • Joystick's x and y axis "just" seem to be twisted

    Other legs:
    • Joystick up/down = Leg stretches/turns
    • Joystick left/right = Leg turns(Stretches
    • Meaning that e.g. for the turning motion one direction is assigned to the x-axis, while the other direction is assigned to y-axis


    Best regards,
    Sven

  3. #13
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    Re: PhantomX MKIII - Phoenix code - single leg mode

    Quote Originally Posted by wfsj55 View Post
    Left joystick still behaves a bit strange...

    Middle legs:
    • Joytisck up/down = Leg turns left/right
    • Joystick left/right = Leg stretches / shortens
    • Joystick's x and y axis "just" seem to be twisted

    Other legs:
    • Joystick up/down = Leg stretches/turns
    • Joystick left/right = Leg turns(Stretches
    • Meaning that e.g. for the turning motion one direction is assigned to the x-axis, while the other direction is assigned to y-axis
    The single leg mode gives you directly control of the xzy coordinates. As long as the IK solution is ok the foot will move in a straight line along the X and Z axis. Moving left joystick up/down makes the leg move along the Z axis. The leg does not turn in single leg mode (it just look like that).

    I did found another minor error in the single leg code though. The left legs need to be reversed (X-coords). I did try an Github update on the serial code. Hopefully Kurt will notice this.

    The code should be like this:
    Code:
    if (g_InControlState.SelectedLeg >= (CNT_LEGS / 2)) {//Must be reversed for left legs                
    LegPosX[g_InControlState.SelectedLeg] = (short)pgm_read_word(&cInitPosX[g_InControlState.SelectedLeg]) - g_InControlState.SLLeg.x;
                }
                else{
                    LegPosX[g_InControlState.SelectedLeg] = (short)pgm_read_word(&cInitPosX[g_InControlState.SelectedLeg]) + g_InControlState.SLLeg.x;
                }
    I'm not sure about the X and Y being twisted?

    I've tested the single leg mode to be ok. There might be other issues I can't see, as mentioned before currently I'm not using the same code (I'm using serial and serial float for Teensy).
    Kåre Halvorsen aka Zenta
    ---------------------------------
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  4. #14

    Re: PhantomX MKIII - Phoenix code - single leg mode

    Thanks Zenta,

    I will try to merge in your changes and also try to propagate similar ones... Which github did you update?
    When I look up at github.com\zenta it does not show any commits in the last year.

    Thanks again!

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