As most of you probably already know, Xan has been readying a new version of the Phoenix code that has some new features, with some help from Zenta and a little from me. After playing around with it for quite awhile, we think it is good enough to allow others to try it out.
Warning: This version uses binary commands to communicate with the SSC-32. This implies that you will need to update your SSC-32 to a version that supports binary commands, such as: http://www.lynxmotion.com/images/files/ ... GP_A1A.abl
Also by default we communicate with an SSC-32 at 115200, which requires a recent copy of Basic Micro IDE. Also you will need to set the appropriate baud rate jumpers on the SSC-32.
Some other features of V2.1 include: New Gait Triple Tripod (Zenta) DONE, and it ROCKS!More accurate PWM constant
- If I remember correctly this has to do with how the conversion is done from angle to PWM...Something about SSC/BAP sync timing.
- Updated code to make the timings of the different sequences more accurate.Configure leg lengths for each leg DONE
- You now have the ability to have legs with different lengths of segments... Optional 3DOF/4DOF using optional compiling
- This part is still being tested. The code has the ability to be configured for 3DOF or 4DOF and may also allow you to mix and match. That is for example: you will be able to have a T-Hex with maybe the front legs be 4DOF and the rest be 3DOF. Again this part is still being tested. I should have some parts soon to convert my CHR-3 to a CHR-4...LiPo Safety, useful for all LiPo owners
- You can enable or disable and configure for what voltages will shut down the hex...Movable Center Point of Rotation DONEChange SSC/BAP/ARC specific functions to a separate driver file DONE
- We have tried to minimize how many #ifdefs are in the main part of the code. To help with this, we moved all of the SSC-32 specific code into a separate file. We also have an ARC32 specific version that replaces those functions.Update GP player for speed control (Zenta)
- This is a lot of fun. Once you start up a sequence, if for example with the PS2 version, you move the right stick up and down while the sequence is playing you can control the speed and direction of the sequence. I believe by default we allow you to go up to double speed, but there are limits to this. That is the SSC-32 will only allow a step to speed up to the point that does not try to move the servo to the new location faster than some pre-defined max speed.
There are probably many other enhancements that I forgot to mention here.
Currently I have configurations built for a 3 DOF T-Hex running on a Bap28 with SSC-32 and a PS2 controller. I also have a similar configuration with the Serial control (works with the Powerpod serial test program). I also have a configuration for a Phoenix running with an Arc32 with PS2 control. Soon I will also upload some DIY XBee remote control versions, but these use my changes to the XBEE code.
Over the next week or so, I also hope to build a CHR-3 version as well, but currently my CHR-3 is being used to test the Arduino versions.
I hope you enjoy