Phoenix Excel for SEQ-01

<style>

.asm { font-family: Verdana, Helvetica, sans-serif; font-size: 14px; max-width: 960px; }

.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; }

5

.proj-card { background: #fff; border: 1px solid #ddd; border-radius: 8px; overflow: hidden; margin-bottom: 1.5rem; }

6

.proj-card-header { background: #F5A800; padding: 0.6rem 1rem; display: flex; align-items: center; justify-content: space-between; }

7

.proj-card-title { font-weight: bold; font-size: 15px; color: #2C1A00; }

8

.proj-card-author { font-size: 12px; color: #2C1A00; }

9

.proj-card-body { padding: 1rem; font-size: 13px; line-height: 1.7; }

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; }

12

.proj-gallery a img { display: block; width: 100%; height: 150px; object-fit: cover; border: 1px solid #ccc; border-radius: 4px; }

13

.proj-gallery a span { display: block; font-size: 11px; color: #3a5fa0; margin-top: 0.25rem; font-weight: bold; }

14

.proj-screenshots { display: flex; gap: 1rem; margin: 0.75rem 0; flex-wrap: wrap; }

15

.proj-screenshots a { text-align: center; text-decoration: none; }

16

.proj-screenshots a img { display: block; border: 1px solid #ccc; border-radius: 4px; }

17

.proj-screenshots a span { display: block; font-size: 11px; color: #3a5fa0; margin-top: 0.2rem; font-weight: bold; }

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; }

20

.proj-dl-item:last-child { border-bottom: none; }

21

.proj-dl-item a { color: #3a5fa0; font-weight: bold; text-decoration: none; }

22

.proj-dl-item a:hover { text-decoration: underline; }

23

.proj-dl-new { background: #FFF3D6; }

24

.proj-dl-meta { font-size: 11px; color: #666; margin-top: 0.25rem; }

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; }

27

.proj-links a { color: #3a5fa0; text-decoration: none; display: block; }

28

.proj-links a:hover { text-decoration: underline; }

29

.proj-dl-bullets { margin: 0.4rem 0 0 1rem; padding-left: 1rem; font-size: 12px; color: #444; line-height: 1.8; }

</style>

<div class="proj-callout">⭐ Community Spotlight — Share your Lynxmotion-based robot project to be featured here!</div>

<div class="proj-card-title">Phoenix Hexapod</div>

39

<div class="proj-card-author">by Kåre Halvorsen (aka Zenta)</div>

</div>

<span>Phoenix standing</span>

</a>

<span>Phoenix compact</span>

</a>

<span>Phoenix attack side</span>

</a>

<span>Phoenix attack front</span>

</a>

</div>

<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

68

<div class="proj-section-label">PEP Software Screenshots</div>

<span>PEP screen 1</span>

</a>

<span>PEP screen 2</span>

</a>

</div>

<div class="proj-section-label">PEP Downloads</div>

<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

87

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>

</ul>

</div>

<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>

</div>

<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>

</div>

<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>

</div>

</div>

114

<div class="proj-section-label">Pre-Made Sequences</div>

115

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>

</div>

<div class="proj-section-label">Videos</div>

123

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>

</div>

</div>

</div>

</div>

Wiki source code of Phoenix Excel for SEQ-01

Navigation

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; }
5	.proj-card { background: #fff; border: 1px solid #ddd; border-radius: 8px; overflow: hidden; margin-bottom: 1.5rem; }
6	.proj-card-header { background: #F5A800; padding: 0.6rem 1rem; display: flex; align-items: center; justify-content: space-between; }
7	.proj-card-title { font-weight: bold; font-size: 15px; color: #2C1A00; }
8	.proj-card-author { font-size: 12px; color: #2C1A00; }
9	.proj-card-body { padding: 1rem; font-size: 13px; line-height: 1.7; }
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; }
12	.proj-gallery a img { display: block; width: 100%; height: 150px; object-fit: cover; border: 1px solid #ccc; border-radius: 4px; }
13	.proj-gallery a span { display: block; font-size: 11px; color: #3a5fa0; margin-top: 0.25rem; font-weight: bold; }
14	.proj-screenshots { display: flex; gap: 1rem; margin: 0.75rem 0; flex-wrap: wrap; }
15	.proj-screenshots a { text-align: center; text-decoration: none; }
16	.proj-screenshots a img { display: block; border: 1px solid #ccc; border-radius: 4px; }
17	.proj-screenshots a span { display: block; font-size: 11px; color: #3a5fa0; margin-top: 0.2rem; font-weight: bold; }
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; }
20	.proj-dl-item:last-child { border-bottom: none; }
21	.proj-dl-item a { color: #3a5fa0; font-weight: bold; text-decoration: none; }
22	.proj-dl-item a:hover { text-decoration: underline; }
23	.proj-dl-new { background: #FFF3D6; }
24	.proj-dl-meta { font-size: 11px; color: #666; margin-top: 0.25rem; }
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; }
27	.proj-links a { color: #3a5fa0; text-decoration: none; display: block; }
28	.proj-links a:hover { text-decoration: underline; }
29	.proj-dl-bullets { margin: 0.4rem 0 0 1rem; padding-left: 1rem; font-size: 12px; color: #444; line-height: 1.8; }
30	</style>
31
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>
137	{{/html}}