The Complete H3/H3-R Tutorial (BotBoarduino) v2.0

- Hexapod Calibration (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynx-hexapod-calibration-software/" target="_blank">download</a>)

22

- Arduino Software (<a href="http://arduino.cc/en/Main/Software" target="_blank">download</a>)</td>

23

Image of AH3-R.</td>

</tr>

<tr>

Image of BH3-R.</td>

</tr><tr>

Image of BH3.</td>

Image of CH3-R.</td>

</tr>

<tr>

</tr>

<tr>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step 1.

48

Set the robot up on a stand such as a CD spindle. Connect the USB cable to your PC and to the Botboarduino. Power up the robot.

49

Verify that the green LED on the Botboarduino and SSC-32 light up. Note, the SSC-32's LED is NOT a power indicator. Its purpose is to light up, indicating that the SSC-32

50

is functioning properly. It will remain lit until it receives serial data. After that, it will blink when receiving data. The servos may jump

51

but will not hold position yet. </td>

</tr>

<tr>

</tr>

<tr>

Figure 1-1.</td>

Figure 1-2.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 2.

67

You will need to modify a 6" servo extender cable. Remove the header pins from the cable so you

68

have two female ends. Then use an exacto knife to gently pry the tab up to pull the red wire free on one end. Cover the exposed female connector

69

with heat shrink to avoid accidental shorts.

70

Remove the TX and RX jumpers from the lower-right corner of the SSC-32, and plug the unmodified end of the

71

cable in. Yellow on TX, red on RX, and black on ground.

72

Plug in some extra lengths of 18-24awg wires to VL on the SSC-32, with the 9vdc battery clip. These will be

73

used to run power to the BotBoarduino.</td>

Figure 2.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 3.

82

We need to set up the SSC-32 to communicate with the BotBoarduino.

83

Remove the DB9-enable jumpers and install the unmodified end of your 6" servo extender cable on the TTL serial communication posts. The black wire is closest to the edge of the board, and the yellow wire is on RX.

84

See the schematic below for detailed information.</td>

Figure 3.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 4.

93

Remove the 3/8 x 4-40 screws that hold the SSC-32 in place. Install the BotBoarduino as illustrated in Figure 4 using the

94

same screws. Attach the red and black wires from the SSC-32 to the VL input, with black on (-) and red on (+). Plug the red wire of your modified cable into pin 12 and the yellow wire to pin 13. Install the Playstation 2 cable as illustrated in Figure 4-1.

95

Note: Refer only to Figure 4-1 for connection information.

96

The cable colors in the picture may be outdated. If your cable's colors do

97

not match the diagram, you can find a complete listing of possible colors <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#aglance">here</a>.

Figure 4-1.</td>

Figure 4.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Schematic.

108

Double check your connections against the schematic below.

<td bordercolor="#808080" bgcolor="#C0C0C0" colspan="3">Servo Letter Definitions</td>

114

</tr>

115

<tr>

116

<td bordercolor="#C0C0C0" align="left" valign="middle"> Left

117

Right</td>

118

<td bordercolor="#C0C0C0" align="left" valign="middle"> Rear

119

Middle

120

Front</td>

121

<td bordercolor="#C0C0C0" align="left" valign="middle"> Knee

Vertical

Horizontal</td>

</tr>

</tbody></table>

</center>

</div>

Schematic.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 5. Download the Program

136

Download the Arduino software from <a href="http://arduino.cc/en/Main/Software" target="_blank">here</a>.

137

Install and run the program to allow programming the chip. You can download the code for your robot <a href="https://github.com/Lynxmotion/3DOF-4DOF-Hex/raw/master/BotBoarduino/3%20DoF%20Ready/BotBoarduino_CH3R_PS2_2016-03-08.zip">here</a>.

138

Extract the .zip file to a folder named "BotBoarduino_CH3R_PS2". The folder name IS required. Open BotBoarduino_CH3R_PS2.ino in the arduino software, turn on the robot, and click upload (the small arrow pointing to the right.)

139

Please note that in some cases you may have to reverse the Attention/Command/Data connector for the PS2 receiver to function with the BotBoarduino</td>

Figure 5.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 6.

148

At this point, the robot is able to move around. However, since the legs are not calibrated, it will look very sloppy. Download the Hexapod Calibration program to calibrate the robot's legs <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynx-hexapod-calibration-software/">here</a>. Just unzip the zip file and run the installer. This will automatically create an icon on your desktop so you can easily run it. </td>

Figure 6.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 7.

158

Hold the "A" button on the BotBoarduino and apply power to the robot. This will force the robot into a calibration mode. Open the Hexapod Calibration program. The program will automatically detect a connected SSC-32 on ports 1-30 and will display the SSC-32's firmware version when connected.

159

Click "All=1500" to enable the servos. The robot's legs should move quickly into position as in Figures 8-1 or 8-2, and should hold

160

this position. If the legs move into position but suddenly go limp, this is an indication of a low battery. A low battery can't deliver the

161

required current, causing the SSC-32 to reset. Another clue that this is happening is the SSC-32's green LED will be on steady, as it is upon

162

powerup.

163

If the legs are holding position but look radically different, then a mistake may have been made in the assembly. To correct this, you

164

can remove the center servo horn screw, pull the servo horn off the servo, reposition it, and press it back on the servo. Then replace the servo

165

horn screw. Don't worry if the legs are off a little bit (under 15°) as this will be corrected in the servo offset procedure.

166

Note, you can click on "inline" if you do not have a circular chassis for a more accurate visual representation.</td>

Figure 7.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 8.

175

We will now begin to use the servo offset adjustment to fine-tune the alignment of the leg joints. The goal is to align the leg to be

176

perpendicular to the chassis and for the knee to form a perfect right angle. (See Figures 8-2 and 8-3.)

177

We are assuming that you have your servos plugged into the appropriate pins, according

178

to the assembly guide. Select a hip servo by clicking on the corresponding radio button. Move the Offset slider around until the joint is aligned. You can move it using the scroll wheel or arrow keys for fine tuning.

179

After aligning the hip servo, move on to the next closest servo to the body. Finally adjusting the knee servo last. Align the rest of the robot's legs in this manner. When you move to another servo, the previous one is marked as red to show your progress.

</td>

Figure 8-1.</td>

</tr>

<tr>

</tr>

<tr>

Figure 8-2.</td>

Figure 8-3.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 9.

199

Mount the PS2 cable to the chassis. We used some double-sided foam tape to stick the PS2 cable on the bottom of the robot as shown. This makes it easier to swap controllers if

needed.</td>

Figure 9.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step 10. Controlling the

209

Robot

210

The default is Walking

211

mode 1. Use the Left joystick to move the robot around without

212

turning (this is called "translation"), and the Right joystick rotates the robot as it moves. Up and Down on the D-Pad increases or

213

decreases the height of the body. The Triangle button puts the body at 35mm from the ground. The Circle button puts the body onto the floor in a

214

'resting' position. Press Triangle or Up on the D-Pad to raise the body.

215

There are four special "body moves" functions that are triggered by pressing

216

L1, L2, Circle, or X. While in one of these modes, the hexapod does not

217

walk. The joysticks and some buttons change function depending on which mode is toggled on; see

218

Table 10 for details.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td bordercolor="#808080" bgcolor="#C0C0C0">Button</td>

232

<td bordercolor="#808080" bgcolor="#C0C0C0" align="center">Function</td>

233

</tr>

234

<tr>

235

<td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Common

Controls</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Start</td>

240

<td bordercolor="#C0C0C0" align="center">Turn robot on/off</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Switch

245

between Walk mode 1 (default) and Walk mode 2</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Toggle

Shift mode</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Toggle

Rotate mode</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Toggle

GP Player mode</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">O Circle</td>

264

<td bordercolor="#C0C0C0" align="center">Toggle

Single Leg mode</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">[] Square</td>

269

<td bordercolor="#C0C0C0" align="center">Toggle

270

Balance mode

271

(Balance mode: Lifts and lowers body along with moving legs.)</td>

272

</tr>

273

<tr>

274

<td bordercolor="#C0C0C0" align="center">/\ Triangle</td>

275

<td bordercolor="#C0C0C0" align="center">Switch

276

between body at 35mm from ground (walking default) and body

277

lowered to ground</td>

</tr>

<tr>

</tr>

<tr>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">D-Pad

289

Left</td>

290

<td bordercolor="#C0C0C0" align="center">Decrease

speed by 50mS</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">D-Pad

295

Right</td>

296

<td bordercolor="#C0C0C0" align="center">Increase

speed by 50mS</td>

</tr>

<tr>

<td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Walk

301

Mode Controls

302

(Default is Walk mode 1)</td>

303

</tr>

304

<tr>

305

<td bordercolor="#C0C0C0" align="center">Select</td>

306

<td bordercolor="#C0C0C0" align="center">Change gaits</td>

307

</tr>

308

<tr>

309

<td bordercolor="#C0C0C0" align="center">Left Joystick</td>

310

<td bordercolor="#C0C0C0" align="center">Walk

311

mode 1: Walk/strafe

312

Walk mode 2: Disabled</td>

313

</tr>

314

<tr>

315

<td bordercolor="#C0C0C0" align="center">Right Joystick</td>

316

<td bordercolor="#C0C0C0" align="center">Walk

317

mode 1: Rotate

318

Walk mode 2: Walk/rotate</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Toggle

323

double gait travel speed</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Toggle

328

double gait travel length</td>

329

</tr>

330

</tbody></table></td>

<td bordercolor="#808080" bgcolor="#C0C0C0">Button</td>

335

<td bordercolor="#808080" bgcolor="#C0C0C0" align="center">Function</td>

336

</tr>

337

<tr>

338

<td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Shift

Mode Controls

(Special mode)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Turn

Shift mode off</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

349

Joystick</td>

350

<td bordercolor="#C0C0C0" align="center">Shift

body X/Z</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Right

355

Joystick</td>

356

<td bordercolor="#C0C0C0" align="center">Shift

357

and rotate body Y</td>

358

</tr>

359

<tr>

360

<td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Rotate

Mode Controls

(Special mode)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Turn

Rotate mode off</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

371

Joystick</td>

372

<td bordercolor="#C0C0C0" align="center">Rotate

body X/Z</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Right

377

Joystick</td>

378

<td bordercolor="#C0C0C0" align="center">Rotate

body Y</td>

</tr>

<tr>

<td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Single

Leg Mode Controls

(Special mode)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">O

388

Circle</td>

389

<td bordercolor="#C0C0C0" align="center">Turn

390

Single Leg mode off</td>

391

</tr>

392

<tr>

393

<td bordercolor="#C0C0C0" align="center">Select</td>

394

<td bordercolor="#C0C0C0" align="center">Switch

legs</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

399

Joystick</td>

400

<td bordercolor="#C0C0C0" align="center">Move

401

leg X/Z (relative)</td>

402

</tr>

403

<tr>

404

<td bordercolor="#C0C0C0" align="center">Right

405

Joystick</td>

406

<td bordercolor="#C0C0C0" align="center">Move

407

leg Y (absolute)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Hold/release

leg position</td>

</tr>

<tr>

<td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">GP

416

Player Mode Controls

417

(Special mode; Requires GP firmware in SSC-32)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Turn

422

GP Player mode off</td>

423

</tr>

424

<tr>

425

<td bordercolor="#C0C0C0" align="center">Select</td>

426

<td bordercolor="#C0C0C0" align="center">Switch

sequences</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Start

432

sequences</td>

433

</tr>

434

</tbody></table></td>

</tr>

</tbody></table>

</center>

</div>

<div align="center"> PS2 Controls

440

Table 10. </div></td>

</tr>

</tbody></table>

</body>

Wiki source code of The Complete H3/H3-R Tutorial (BotBoarduino) v2.0

Navigation