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# 01 - IK Gait

Last modified by Eric Nantel on 2024/07/03 09:38
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Setup
SES V2 - mechDOG Inverse Kinematics
Quickstart

1. Install Arduino IDE
| Use the official tutorial to install Arduino IDE Install the Arduino Software (IDE)
2. Install the Lynxmotion Smart Servo Library
| Use the official tutorial to install Libraries Installing Libraries Tutorial Library Name: Lynxmotion Smart Servo -LSS-
3. Install the PPM Library (for RC PPM use)
| Use the official tutorial to install Libraries Installing Libraries Tutorial Library Name: PPM
4. Get the mechDOG Inverse Kinematics Sample Code
| Download the Example mechDOG-IK-Gait on GitHub Unzip the whole directory to a known location Ref: Lynxmotion mechDOG GitHub Repo
5. Open the sample code
| In the Arduino IDE open the sample code mechDOG-IK.ino
6. Upload the Code
| Upload the code Select your COM port Select your Board type Upload the code Note: Be sure to have the PPM input set to the A3 pin and the receiver in PPM output. (Purple LED on RadioLink when double click the side button)
7. RC Controls
| Right Switch Mode (CH5) Down: Body Orientation (Pitch Roll) Middle: Walking Up: Body Translation Left Switch Special Moves (CH7) Dependent to the MODE selected Right Button Jog (CH6) Push: Keep the button pressed to walk using a dynamic gait. Left Potentiometer Height (CH8) Left: Lower body Right: Higher body Left Joystick: Up: Speed up the Gait Down: Speed down the Gait Left: Yaw Left (parallel to ground) Right: Yaw Right (parallel to ground) Right Joystick Dependent to the MODE selected

Setup
SES V2 - mechDOG Inverse Kinematics
Quickstart
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Created by Eric Nantel on 2024/07/03 09:38
Copyright RobotShop 2018