Wiki source code of Phoenix Excel for SEQ-01
Last modified by Eric Nantel on 2023/01/26 14:51
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1.1 | 1 | {{html wiki="false" clean="true"}} |
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21.1 | 2 | <body bgcolor="#FFFFFF"> |
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21.1 | 4 | <table border="0" cellpadding="5" cellspacing="0" width="100%"> |
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| 6 | <td colspan="4" width="106%"> | ||
| 7 | <p align="center"><font size="2" face="Verdana"><strong><br> | ||
| 8 | Let us feature your cool Lynxmotion based robot project here!</strong></font></p> | ||
| 9 | </td> | ||
| 10 | </tr> | ||
| 11 | <tr> | ||
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22.1 | 12 | <td width="25%" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta01.jpg" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta01s.jpg" width="117" height="75"></a><br> |
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21.1 | 13 | <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta01.jpg"><font size="2" face="Verdana"><strong>PEP screen 1</strong></font></a></td> |
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22.1 | 14 | <td width="25%" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta02.jpg" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta02s.jpg" width="109" height="75"></a><br> |
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21.1 | 15 | <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta02.jpg"><font size="2" face="Verdana"><strong>PEP screen 2</strong></font></a></td> |
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22.1 | 16 | <td width="25%" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta03.jpg" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta03s.jpg" width="100" height="75"></a><br> |
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21.1 | 17 | <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta03.jpg"><font size="2" face="Verdana"><strong>Phoenix standing</strong></font></a></td> |
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22.1 | 18 | <td width="25%" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta04.jpg" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta04s.jpg" width="100" height="75"></a><br> |
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21.1 | 19 | <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta04.jpg"><font size="2" face="Verdana"><strong>Phoenix compact</strong></font></a></td> |
| 20 | </tr> | ||
| 21 | <tr> | ||
| 22 | <td valign="top" colspan="4" width="106%"> | ||
| 23 | <p align="center"><font size="2" face="Verdana"> </font></p></td> | ||
| 24 | </tr> | ||
| 25 | <tr> | ||
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22.1 | 26 | <td width="25%" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta05.jpg" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta05s.jpg" width="100" height="75"></a><br> |
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21.1 | 27 | <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta05.jpg"><font size="2" face="Verdana"><strong>Phoenix attack side</strong></font></a></td> |
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22.1 | 28 | <td width="25%" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta06.jpg" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta06s.jpg" width="100" height="75"></a><br> |
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21.1 | 29 | <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/zenta06.jpg"><font size="2" face="Verdana"><strong>Phoenix attack front</strong></font></a></td> |
| 30 | <td width="25%" align="center"><font size="2" face="Verdana"> </font></td> | ||
| 31 | <td width="25%" align="center"><font size="2" face="Verdana"> </font></td> | ||
| 32 | </tr> | ||
| 33 | <tr> | ||
| 34 | <td valign="top" colspan="4" width="106%"><font size="2" face="Verdana"><strong><br> | ||
| 35 | Project Name:</strong> Phoenix Hexapod<strong><br> | ||
| 36 | Author:</strong> <span class="postbody">Kåre Halvorsen (aka Zenta)</span></font></td> | ||
| 37 | </tr> | ||
| 38 | <tr> | ||
| 39 | <td valign="top" colspan="4" width="106%"><font size="2" face="Verdana"><br> | ||
| 40 | Phoenix is a hexapod robot with 3DOF per leg. Hardware consists of SSC32, 18 servos and BlueSMIRF bluetooth interface. Software on PC is Visual | ||
| 41 | Sequencer and a MS Excel spreadsheet I’m calling PEP (Phoenix Excel Program).<br> | ||
| 42 | <br> | ||
| 43 | PEP take cares of forward and inverse kinematics and body rotation along all axes. It is possible to easy define direction of walking and define | ||
| 44 | center of rotation. Ex. you can define center of rotation at the center of left forward tars (foot).<br> | ||
| 45 | <br> | ||
| 46 | But the most important thing is that it’s possible to create sequences and walking gaits that you can copy into a .csv file and import it to | ||
| 47 | the Visual Sequencer.<br> | ||
| 48 | <br> | ||
| 49 | <br> | ||
| 50 | You can download PEP (Phoenix Excel Program) and the manual here:<br> | ||
| 51 | </font> | ||
| 52 | <table border="1" width="700" bordercolor="#000000" cellpadding="4"> | ||
| 53 | <tbody><tr> | ||
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23.1 | 54 | <td width="100%" bordercolor="#808080"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/PEP2.02LMBeta.zip">PEP |
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21.1 | 55 | v2.02 BETA Lynxmotion-Phoenix Compatible Excel Sheet (09-03-08) (zipped)</a></font> |
| 56 | <p><font size="2" face="Verdana">What's New:</font></p> | ||
| 57 | <ul> | ||
| 58 | <li><font size="2" face="Verdana">Live SSC-32 control (beta)</font></li> | ||
| 59 | <li><font size="2" face="Verdana">Added forward kinematics control for all legs (new spin buttons, femur and tibia angles)</font></li> | ||
| 60 | <li><font size="2" face="Verdana">"Swap LF <-> RF" button in the write sequences section. Simply swaps the FK values | ||
| 61 | between the right and left front legs. This is useful if you want to make a sequence of Phoenix waving her front legs.</font></li> | ||
| 62 | <li><font size="2" face="Verdana">"Lock to Read" button in the write sequences section. Locks the sequence and step nr to the | ||
| 63 | read sequence values. Very useful when you are doing modifications on existing sequences.</font></li> | ||
| 64 | <li><font size="2" face="Verdana">Setup section. If you want your Phoenix to respond correctly you will need to calibrate both min and | ||
| 65 | max angles for each servo, not just the "1500" center value. PEP calculates the correct PWM value for a given value. The | ||
| 66 | comport and baud rate can also be set here.</font></li> | ||
| 67 | </ul> | ||
| 68 | </td> | ||
| 69 | </tr> | ||
| 70 | <tr> | ||
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23.1 | 71 | <td width="100%" bordercolor="#808080"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/PEP1.09.zip">PEP v1.09 |
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21.1 | 72 | Excel Sheet (07-11-08) (zipped)</a></font></td> |
| 73 | </tr> | ||
| 74 | <tr> | ||
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23.1 | 75 | <td width="100%" bordercolor="#808080"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/PEP1.09LM.zip">PEP |
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21.1 | 76 | v1.09 Lynxmotion-Phoenix Compatible Excel Sheet (07-11-08) (zipped)</a></font></td> |
| 77 | </tr> | ||
| 78 | <tr> | ||
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23.1 | 79 | <td width="100%" bordercolor="#808080"><font size="2" face="Verdana"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/PEPman.pdf">PEP |
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21.1 | 80 | Complete Manual (04-01-08) (pdf)</a></font></td> |
| 81 | </tr> | ||
| 82 | </tbody></table> | ||
| 83 | <p><font size="2" face="Verdana"><br> | ||
| 84 | <br> | ||
| 85 | Here are some pre-made sequences:<br> | ||
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23.1 | 86 | <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/phoenix3.zip">Phoenix3 - "Complete project" (05-19-08) (zip)</a><br> |
| 87 | <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/phoenix4.zip">Phoenix4 - "Phoenix and the Box part II" (05-19-08) (zip)</a><br> | ||
| 88 | <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-excel-kinematic-seq-01/WebHome/phoenix5.zip">Phoenix5 - "Body rotation" (05-19-08) (zip)</a><br> | ||
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21.1 | 89 | <br> |
| 90 | <br> | ||
| 91 | Check out these videos of Phoenix in action:<br> | ||
| 92 | <a href="http://www.youtube.com/watch?v=OF0x4oH4wps">http://www.youtube.com/watch?v=OF0x4oH4wps</a><br> | ||
| 93 | <a href="http://www.youtube.com/watch?v=gtfFk2CTUUU">http://www.youtube.com/watch?v=gtfFk2CTUUU</a><br> | ||
| 94 | <a href="http://www.youtube.com/watch?v=l5tdLAvYpNY">http://www.youtube.com/watch?v=l5tdLAvYpNY</a><br> | ||
| 95 | <a href="http://www.youtube.com/watch?v=XuIqfnJ0w74">http://www.youtube.com/watch?v=XuIqfnJ0w74</a><br> | ||
| 96 | <a href="http://www.youtube.com/watch?v=zCnxmrh1otI">http://www.youtube.com/watch?v=zCnxmrh1otI</a><br> | ||
| 97 | <a href="http://www.youtube.com/watch?v=a_QUk7pL5lw">http://www.youtube.com/watch?v=a_QUk7pL5lw</a><br> | ||
| 98 | <a href="http://www.youtube.com/watch?v=IqWKGh4XLbk">http://www.youtube.com/watch?v=IqWKGh4XLbk</a><br> | ||
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24.1 | 99 | </font></p> |
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21.1 | 100 | </td> |
| 101 | </tr> | ||
| 102 | </tbody></table> | ||
| 103 | </body> | ||
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