Phoenix Excel for SEQ-01

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3

Let us feature your cool Lynxmotion based robot project here!

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<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">PEP screen 1</a></td>

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<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">PEP screen 2</a></td>

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<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">Phoenix standing</a></td>

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<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">Phoenix compact</a></td>

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<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">Phoenix attack side</a></td>

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<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">Phoenix attack front</a></td>

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Project Name: Phoenix Hexapod

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Author: Kåre Halvorsen (aka Zenta)</td>

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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).

42

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).

45

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.

48

49

50

You can download PEP (Phoenix Excel Program) and the manual here:

<td width="100%" bordercolor="#808080"><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>

56

What's New:

57

<ul>

58

<li>Live SSC-32 control (beta)</li>

59

<li>Added forward kinematics control for all legs (new spin buttons, femur and tibia angles)</li>

60

<li>"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.</li>

62

<li>"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.</li>

64

<li>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.</li>

</ul>

</td>

</tr>

<tr>

<td width="100%" bordercolor="#808080"><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></td>

73

</tr>

74

<tr>

75

<td width="100%" bordercolor="#808080"><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></td>

77

</tr>

78

<tr>

79

<td width="100%" bordercolor="#808080"><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></td>

</tr>

</tbody></table>

Here are some pre-made sequences:

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>

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>

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>

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90

91

Check out these videos of Phoenix in action:

92

<a href="http://www.youtube.com/watch?v=OF0x4oH4wps">http://www.youtube.com/watch?v=OF0x4oH4wps</a>

93

<a href="http://www.youtube.com/watch?v=gtfFk2CTUUU">http://www.youtube.com/watch?v=gtfFk2CTUUU</a>

94

<a href="http://www.youtube.com/watch?v=l5tdLAvYpNY">http://www.youtube.com/watch?v=l5tdLAvYpNY</a>

95

<a href="http://www.youtube.com/watch?v=XuIqfnJ0w74">http://www.youtube.com/watch?v=XuIqfnJ0w74</a>

96

<a href="http://www.youtube.com/watch?v=zCnxmrh1otI">http://www.youtube.com/watch?v=zCnxmrh1otI</a>

97

<a href="http://www.youtube.com/watch?v=a_QUk7pL5lw">http://www.youtube.com/watch?v=a_QUk7pL5lw</a>

98

<a href="http://www.youtube.com/watch?v=IqWKGh4XLbk">http://www.youtube.com/watch?v=IqWKGh4XLbk</a>

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</body>

Wiki source code of Phoenix Excel for SEQ-01

Navigation

1	{{html wiki="false" clean="true"}}
2	<body bgcolor="#FFFFFF">
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"> </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"> </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>
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 <-> 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>
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