Wiki source code of 01 - IK Gait
Last modified by Eric Nantel on 2024/07/03 09:38
Show last authors
| 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"/}} |
| 2 | |
| 3 | |
| 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 | |((( |
| 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"/}} |
| 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)** |
| 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"/}}|((( |
| 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 | ))) |
| 27 | |(% colspan="2" style="vertical-align:middle" %)**4. Get the mechDOG Inverse Kinematics Sample Code** |
| 28 | |(% style="vertical-align:middle" %)[[image:[email protected]]]|((( |
| 29 | Download the Example |
| 30 | |
| 31 | * [[mechDOG-IK-Gait on GitHub>>https://github.com/Lynxmotion/mechDOG/releases/download/mechDOG-IK-01/mechDOG-IK.zip]] |
| 32 | * Unzip the whole directory to a known location |
| 33 | |
| 34 | Ref: [[Lynxmotion mechDOG GitHub Repo>>https://github.com/Lynxmotion/mechDOG]] |
| 35 | ))) |
| 36 | |(% colspan="2" style="vertical-align:middle" %)**5. Open the sample code** |
| 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"/}}|((( |
| 38 | In the Arduino IDE open the sample code |
| 39 | |
| 40 | * **mechDOG-IK.ino** |
| 41 | ))) |
| 42 | |(% colspan="2" style="vertical-align:middle" %)**6. Upload the Code** |
| 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"/}}|((( |
| 44 | Upload the code |
| 45 | |
| 46 | * Select your COM port |
| 47 | * Select your Board type |
| 48 | * Upload the code |
| 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) |
| 51 | ))) |
| 52 | |(% colspan="2" style="vertical-align:middle" %)**7. RC Controls** |
| 53 | |(% style="vertical-align:middle" %){{lightbox image="SESV2-mechDOG-Setup-RC-Control-IK-REV1.png"/}}|(% style="vertical-align:bottom" %)((( |
| 54 | Right Switch Mode (CH5) |
| 55 | |
| 56 | * Down: Body Orientation (Pitch Roll) |
| 57 | * Middle: Walking |
| 58 | * Up: Body Translation |
| 59 | |
| 60 | Left Switch Special Moves (CH7) |
| 61 | |
| 62 | * Dependent to the MODE selected |
| 63 | |
| 64 | Right Button Jog (CH6) |
| 65 | |
| 66 | * Push: Keep the button pressed to walk using a dynamic gait. |
| 67 | |
| 68 | Left Potentiometer Height (CH8) |
| 69 | |
| 70 | * Left: Lower body |
| 71 | * Right: Higher body |
| 72 | |
| 73 | Left Joystick: |
| 74 | |
| 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) |
| 79 | |
| 80 | Right Joystick |
| 81 | |
| 82 | * Dependent to the MODE selected |
| 83 | ))) |
| 84 | |
| 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"/}} |