Wiki source code of Phoenix Excel for SEQ-01

Version 26.1 by Eric Nantel on 2026/04/06 14:29
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Eric Nantel 25.1 1 {{html wiki="false" clean="false"}}
2 <style>
3 .asm { font-family: Verdana, Helvetica, sans-serif; font-size: 14px; max-width: 960px; }
4 .proj-callout { background: #F5A800; color: #2C1A00; font-weight: bold; font-size: 13px; text-align: center; padding: 0.6rem 1rem; border-radius: 6px; margin-bottom: 1.5rem; }
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9 .proj-card-body { padding: 1rem; font-size: 13px; line-height: 1.7; }
Eric Nantel 26.1 10 .proj-gallery { display: flex; flex-wrap: wrap; gap: 0.75rem; margin: 1rem 0; }
11 .proj-gallery a { text-align: center; text-decoration: none; flex: 1 1 180px; }
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Eric Nantel 25.1 18 .proj-downloads { border: 1px solid #ddd; border-radius: 6px; overflow: hidden; margin: 1rem 0; }
19 .proj-dl-item { padding: 0.6rem 1rem; border-bottom: 1px solid #eee; font-size: 13px; }
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25 .proj-section-label { font-weight: bold; color: #2C1A00; margin: 1rem 0 0.4rem 0; font-size: 13px; }
26 .proj-links { font-size: 13px; line-height: 2; }
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30 </style>
Eric Nantel 1.1 31
Eric Nantel 25.1 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
Eric Nantel 26.1 43 <!-- Robot photo gallery (larger) -->
Eric Nantel 25.1 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">
Eric Nantel 26.1 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/zenta03s.jpg">
Eric Nantel 25.1 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">
Eric Nantel 26.1 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/zenta04s.jpg">
Eric Nantel 25.1 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">
Eric Nantel 26.1 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/zenta05s.jpg">
Eric Nantel 25.1 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">
Eric Nantel 26.1 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/zenta06s.jpg">
Eric Nantel 25.1 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
Eric Nantel 26.1 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
Eric Nantel 25.1 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>
Eric Nantel 1.1 137 {{/html}}
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