Changes for page Phoenix Excel for SEQ-01

Last modified by Eric Nantel on 2026/04/06 14:30
From version < 24.2 >
edited by Eric Nantel
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3 3  
4 -<table border="0" cellpadding="5" cellspacing="0" width="100%">
5 - <tbody><tr>
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>
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>
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>
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>
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>
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>
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>
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>
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">&nbsp;</font></p></td>
24 - </tr>
25 - <tr>
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>
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>
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>
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">&nbsp;</font></td>
31 - <td width="25%" align="center"><font size="2" face="Verdana">&nbsp;</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>
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
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 &lt;-&gt; 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>
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
72 - Excel Sheet (07-11-08) (zipped)</a></font></td>
73 - </tr>
74 - <tr>
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
76 - v1.09 Lynxmotion-Phoenix Compatible Excel Sheet (07-11-08) (zipped)</a></font></td>
77 - </tr>
78 - <tr>
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
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>
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>
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>
99 - </font></p>
100 - </td>
101 - </tr>
102 -</tbody></table>
103 -</body>
32 +<div class="asm">
33 +
34 + <div class="proj-callout">⭐ Community Spotlight — Share your Lynxmotion-based robot project to be featured here!</div>
35 +
36 + <div class="proj-card">
37 + <div class="proj-card-header">
38 + <div class="proj-card-title">Phoenix Hexapod</div>
39 + <div class="proj-card-author">by Kåre Halvorsen (aka Zenta)</div>
40 + </div>
41 + <div class="proj-card-body">
42 +
43 + <!-- Robot photo gallery (larger) -->
44 + <div class="proj-gallery">
45 + <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">
46 + <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/zenta03.jpg">
47 + <span>Phoenix standing</span>
48 + </a>
49 + <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">
50 + <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/zenta04.jpg">
51 + <span>Phoenix compact</span>
52 + </a>
53 + <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">
54 + <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/zenta05.jpg">
55 + <span>Phoenix attack side</span>
56 + </a>
57 + <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">
58 + <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/zenta06.jpg">
59 + <span>Phoenix attack front</span>
60 + </a>
61 + </div>
62 +
63 + <!-- Description -->
64 + <p>Phoenix is a hexapod robot with 3DOF per leg. Hardware consists of an SSC-32, 18 servos, and a BlueSMiRF Bluetooth interface. The PC software is the Visual Sequencer paired with a custom MS Excel spreadsheet called <b>PEP (Phoenix Excel Program)</b>.</p>
65 + <p>PEP handles forward and inverse kinematics and body rotation along all axes. Walking direction and center of rotation can be freely defined — for example, you can set the center of rotation at the center of the left forward foot. Most importantly, PEP can generate sequences and walking gaits that export directly as .csv files for import into the Visual Sequencer.</p>
66 +
67 + <!-- PEP screenshots inline with text -->
68 + <div class="proj-section-label">PEP Software Screenshots</div>
69 + <div class="proj-screenshots">
70 + <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">
71 + <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="175">
72 + <span>PEP screen 1</span>
73 + </a>
74 + <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">
75 + <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="163">
76 + <span>PEP screen 2</span>
77 + </a>
78 + </div>
79 +
80 + <!-- Downloads -->
81 + <div class="proj-section-label">PEP Downloads</div>
82 + <div class="proj-downloads">
83 +
84 + <div class="proj-dl-item proj-dl-new">
85 + <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 v2.02 BETA — Lynxmotion-Phoenix Compatible Excel Sheet</a>
86 + <div class="proj-dl-meta">09-03-08 · .zip</div>
87 + <ul class="proj-dl-bullets">
88 + <li>Live SSC-32 control (beta)</li>
89 + <li>Forward kinematics control for all legs (new spin buttons, femur and tibia angles)</li>
90 + <li>"Swap LF ↔ RF" button — swaps FK values between right and left front legs for waving sequences</li>
91 + <li>"Lock to Read" button — locks sequence and step number to read-sequence values for easy editing</li>
92 + <li>Setup section — calibrate min/max angles per servo; set COM port and baud rate</li>
93 + </ul>
94 + </div>
95 +
96 + <div class="proj-dl-item">
97 + <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 Excel Sheet</a>
98 + <div class="proj-dl-meta">07-11-08 · .zip</div>
99 + </div>
100 +
101 + <div class="proj-dl-item">
102 + <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 v1.09 — Lynxmotion-Phoenix Compatible Excel Sheet</a>
103 + <div class="proj-dl-meta">07-11-08 · .zip</div>
104 + </div>
105 +
106 + <div class="proj-dl-item">
107 + <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 Complete Manual</a>
108 + <div class="proj-dl-meta">04-01-08 · PDF</div>
109 + </div>
110 +
111 + </div>
112 +
113 + <!-- Pre-made sequences -->
114 + <div class="proj-section-label">Pre-Made Sequences</div>
115 + <div class="proj-downloads">
116 + <div class="proj-dl-item"><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"</a><div class="proj-dl-meta">05-19-08 · .zip</div></div>
117 + <div class="proj-dl-item"><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"</a><div class="proj-dl-meta">05-19-08 · .zip</div></div>
118 + <div class="proj-dl-item"><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"</a><div class="proj-dl-meta">05-19-08 · .zip</div></div>
119 + </div>
120 +
121 + <!-- Videos -->
122 + <div class="proj-section-label">Videos</div>
123 + <div class="proj-links">
124 + <a href="http://www.youtube.com/watch?v=OF0x4oH4wps" target="_blank">youtube.com/watch?v=OF0x4oH4wps</a>
125 + <a href="http://www.youtube.com/watch?v=gtfFk2CTUUU" target="_blank">youtube.com/watch?v=gtfFk2CTUUU</a>
126 + <a href="http://www.youtube.com/watch?v=l5tdLAvYpNY" target="_blank">youtube.com/watch?v=l5tdLAvYpNY</a>
127 + <a href="http://www.youtube.com/watch?v=XuIqfnJ0w74" target="_blank">youtube.com/watch?v=XuIqfnJ0w74</a>
128 + <a href="http://www.youtube.com/watch?v=zCnxmrh1otI" target="_blank">youtube.com/watch?v=zCnxmrh1otI</a>
129 + <a href="http://www.youtube.com/watch?v=a_QUk7pL5lw" target="_blank">youtube.com/watch?v=a_QUk7pL5lw</a>
130 + <a href="http://www.youtube.com/watch?v=IqWKGh4XLbk" target="_blank">youtube.com/watch?v=IqWKGh4XLbk</a>
131 + </div>
132 +
133 + </div>
134 + </div>
135 +
136 +</div>
104 104  {{/html}}

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