Wiki source code of 01 - IK Gait
Last modified by Eric Nantel on 2024/07/03 09:38
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20.1 | 1 | {{stepNavigation previousStepName="Setup" previousStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2-legged/ses-v2-mechdog/mechdog-quickstart/mechdog-setup/" nextStepName="Quickstart" nextStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2-legged/ses-v2-mechdog/mechdog-quickstart/" pageTitle="SES V2 - mechDOG Inverse Kinematics"/}} |
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4.1 | 2 | |
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16.2 | 3 | |
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4.1 | 4 | (% style="width:710px" %) |
| 5 | |(% colspan="2" style="width:350px" %)**1. Install Arduino IDE** | ||
| 6 | |(% style="text-align:center; width:350px" %)[[image:[email protected]||height="150" width="150"]]|((( | ||
| 7 | Use the official tutorial to install Arduino IDE | ||
| 8 | |||
| 9 | * [[Install the Arduino Software (IDE)>>https://www.arduino.cc/en/Guide/Windows||rel="noopener noreferrer" target="_blank"]] | ||
| 10 | ))) | ||
| 11 | |(% colspan="2" style="width:350px" %)**2. Install the Lynxmotion Smart Servo Library** | ||
| 12 | |((( | ||
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19.1 | 13 | {{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2-legged/ses-v2-mechdog/mechdog-quickstart/mechdog-setup/WebHome/SESV2-mechDOG-Setup-Arduino-IDE-Libraries-LSS.PNG"/}} |
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4.1 | 14 | )))|((( |
| 15 | Use the official tutorial to install Libraries | ||
| 16 | |||
| 17 | * [[Installing Libraries Tutorial>>https://docs.arduino.cc/software/ide-v1/tutorials/installing-libraries||rel="noopener noreferrer" target="_blank"]] | ||
| 18 | * Library Name: Lynxmotion Smart Servo -LSS- | ||
| 19 | ))) | ||
| 20 | |(% colspan="2" %)**3. Install the PPM Library (for RC PPM use)** | ||
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19.1 | 21 | |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2-legged/ses-v2-mechdog/mechdog-quickstart/mechdog-setup/WebHome/SESV2-mechDOG-Setup-Arduino-IDE-Libraries-PPM.PNG"/}}|((( |
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4.1 | 22 | Use the official tutorial to install Libraries |
| 23 | |||
| 24 | * [[Installing Libraries Tutorial>>https://docs.arduino.cc/software/ide-v1/tutorials/installing-libraries||rel="noopener noreferrer" target="_blank"]] | ||
| 25 | * Library Name: PPM | ||
| 26 | ))) | ||
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7.1 | 27 | |(% colspan="2" style="vertical-align:middle" %)**4. Get the mechDOG Inverse Kinematics Sample Code** |
| 28 | |(% style="vertical-align:middle" %)[[image:[email protected]]]|((( | ||
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5.1 | 29 | Download the Example |
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4.1 | 30 | |
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5.1 | 31 | * [[mechDOG-IK-Gait on GitHub>>https://github.com/Lynxmotion/mechDOG/releases/download/mechDOG-IK-01/mechDOG-IK.zip]] |
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4.1 | 32 | * Unzip the whole directory to a known location |
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13.1 | 33 | |
| 34 | Ref: [[Lynxmotion mechDOG GitHub Repo>>https://github.com/Lynxmotion/mechDOG]] | ||
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4.1 | 35 | ))) |
| 36 | |(% colspan="2" style="vertical-align:middle" %)**5. Open the sample code** | ||
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19.1 | 37 | |(% style="vertical-align:middle" %){{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2-legged/ses-v2-mechdog/mechdog-quickstart/mechdog-setup/WebHome/SESV2-mechDOG-Setup-Arduino-IDE-Open.PNG"/}}|((( |
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5.1 | 38 | In the Arduino IDE open the sample code |
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4.1 | 39 | |
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5.1 | 40 | * **mechDOG-IK.ino** |
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4.1 | 41 | ))) |
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5.1 | 42 | |(% colspan="2" style="vertical-align:middle" %)**6. Upload the Code** |
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19.1 | 43 | |(% style="vertical-align:middle" %){{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2-legged/ses-v2-mechdog/mechdog-quickstart/mechdog-setup/WebHome/SESV2-mechDOG-Setup-Arduino-IDE-Code.PNG"/}}|((( |
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4.1 | 44 | Upload the code |
| 45 | |||
| 46 | * Select your COM port | ||
| 47 | * Select your Board type | ||
| 48 | * Upload the code | ||
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18.1 | 49 | |
| 50 | Note: Be sure to have the PPM input set to the A3 pin and the receiver in PPM output. (Purple LED on RadioLink when double click the side button) | ||
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4.1 | 51 | ))) |
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5.1 | 52 | |(% colspan="2" style="vertical-align:middle" %)**7. RC Controls** |
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9.1 | 53 | |(% style="vertical-align:middle" %){{lightbox image="SESV2-mechDOG-Setup-RC-Control-IK-REV1.png"/}}|(% style="vertical-align:bottom" %)((( |
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16.2 | 54 | Right Switch Mode (CH5) |
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4.1 | 55 | |
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16.2 | 56 | * Down: Body Orientation (Pitch Roll) |
| 57 | * Middle: Walking | ||
| 58 | * Up: Body Translation | ||
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4.1 | 59 | |
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16.2 | 60 | Left Switch Special Moves (CH7) |
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12.1 | 61 | |
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16.2 | 62 | * Dependent to the MODE selected |
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12.1 | 63 | |
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21.1 | 64 | Right Button Jog (CH6) |
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13.2 | 65 | |
| 66 | * Push: Keep the button pressed to walk using a dynamic gait. | ||
| 67 | |||
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21.1 | 68 | Left Potentiometer Height (CH8) |
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13.2 | 69 | |
| 70 | * Left: Lower body | ||
| 71 | * Right: Higher body | ||
| 72 | |||
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4.1 | 73 | Left Joystick: |
| 74 | |||
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16.2 | 75 | * Up: Speed up the Gait |
| 76 | * Down: Speed down the Gait | ||
| 77 | * Left: Yaw Left (parallel to ground) | ||
| 78 | * Right: Yaw Right (parallel to ground) | ||
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4.1 | 79 | |
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16.2 | 80 | Right Joystick |
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4.1 | 81 | |
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16.2 | 82 | * Dependent to the MODE selected |
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4.1 | 83 | ))) |
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10.1 | 84 | |
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20.1 | 85 | {{stepNavigation previousStepName="Setup" previousStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2-legged/ses-v2-mechdog/mechdog-quickstart/mechdog-setup/" nextStepName="Quickstart" nextStepURL="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2-legged/ses-v2-mechdog/mechdog-quickstart/" pageTitle="SES V2 - mechDOG Inverse Kinematics"/}} |