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KurtEKurtE
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First pass to make work with Arduino 1.5.x
Warning: WIP - I am using 1.5.5 and/or Daily Build. Also working on fixes to Hardware Serial on Arduino. This is a work in progress. Requires changes to Arbotix files. Information in issues: vanadiumlabs/arbotix#4 Also more information up on TrossenRobotics Forum: http://forums.trossenrobotics.com/showthread.php?5786-Arbotix-on-Arduino-1.5(will-be-1.0.2)-IDE/page2 More Information about Hardware Serial issues on 1.5.5 are up on their github: arduino/Arduino#1742 Also in this first pass, added the ability to define for Quad instead of Hex. Note: Has code to bypass HardwareSerial write method which I am testing currently. Later if Arduino fixes issue can turn off and use ::write and ::flush methods.
1 parent 3519ab3 commit 1dd357a

6 files changed

+735
-5
lines changed

‎BioloidEx.h

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* PROGMEM transition_t name[] = {{NULL,count},{pose_name,1000},...}
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*/
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#include <ax12.h>
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#include "_ax12Serial.h"
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/* pose engine runs at 30Hz (33ms between frames)
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recommended values for interpolateSetup are of the form X*BIOLOID_FRAME_LENGTH - 1 */
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unsigned char interpolating; // are we in an interpolation? 0=No, 1=Yes
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unsigned char runningSeq; // are we running a sequence? 0=No, 1=Yes
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int poseSize; // how many servos are in this pose, used by Sync()
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// Kurt's Hacks
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uint8_t frameLength; // Allow variable frame lengths, to test...
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‎Phantom_Phoenix.ino

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// Warning setup to build for standard hexapod or for quad.
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//#define QUAD_MODE
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//=============================================================================
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//Project Lynxmotion Phoenix
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//Description: Phoenix software
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#define DEFINE_HEX_GLOBALS
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#include <Arduino.h>
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#include <EEPROM.h>
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#include <ax12.h>
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#ifdef QUAD_MODE
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#include "Quad_Cfg.h"
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#else
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#include "Hex_Cfg.h"
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#endif
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#include "_Phoenix.h"
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#include "_Phoenix_Input_Commander.h"

‎Quad_Cfg.h

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//====================================================================
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//Project Lynxmotion Phoenix
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//Description:
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// This is the hardware configuration file for the
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// Version 2 PhantomX Quad robot.
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// Will first define to use their commander unit.
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//
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//Date: June 29, 2013
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//
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//====================================================================
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#ifndef QUAD_CFG_H
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#define QUAD_CFG_H
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#define QUADMODE // We are building for quad support...
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#define ADJUSTABLE_LEG_ANGLES
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#define DBGSerial Serial
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//==================================================================================================================================
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// Define which input classes we will use. If we wish to use more than one we need to define USEMULTI - This will define a forwarder
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// type implementation, that the Inputcontroller will need to call. There will be some negotion for which one is in contol.
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//
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// If this is not defined, The included Controller should simply implement the InputController Class...
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//==================================================================================================================================
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//#define USEMULTI
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//#define USEXBEE // only allow to be defined on Megas...
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//#define USEPS2
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#define USECOMMANDER
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// Global defines to control which configuration we are using. Note: Only define one of these...
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//
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// Which type of control(s) do you want to compile in
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#ifdef USEXBEE // some options only valid if running with XBEE stuff
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#define XBEE_DEBUG_OUTPUT // use our xbee serial class to do debug stuff
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#define DBGSerial XBDSerial
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#endif
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#define DBGSerial Serial
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// Define other optional compnents to be included or not...
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//#define PHANTOMX_V2 // Some code may depend on it being a V2 PhantomX
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#define cFemurHornOffset1 -70
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#define cTibiaHornOffset1 380
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#define cRRTibiaInv 0
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#define cRMTibiaInv 0
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#define cRFTibiaInv 0
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#define cLRTibiaInv 1
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#define cLMTibiaInv 1
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#define cLFTibiaInv 1
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#define BALANCE_DELAY 25 // don't add as much as the default here.
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//===================================================================
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// Debug Options
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#ifdef DBGSerial
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//#define OPT_TERMINAL_MONITOR
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//#define OPT_FIND_SERVO_OFFSETS // Only useful if terminal monitor is enabled
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//#define OPT_PYPOSE
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#endif
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//#define DEBUG_IOPINS
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#ifdef DEBUG_IOPINS
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#define DebugToggle(pin) {digitalWrite(pin, !digitalRead(pin));}
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#define DebugWrite(pin, state) {digitalWrite(pin, state);}
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#else
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#define DebugToggle(pin) {;}
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#define DebugWrite(pin, state) {;}
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#endif
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// Also define that we are using the AX12 driver
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#define USE_AX12_DRIVER
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#define OPT_BACKGROUND_PROCESS // The AX12 has a background process
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//#define OPT_GPPLAYER
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//==================================================================================================================================
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//==================================================================================================================================
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//==================================================================================================================================
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// PhantomX
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//==================================================================================================================================
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//[SERIAL CONNECTIONS]
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//====================================================================
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// XBEE on non mega???
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#define XBeeSerial Serial
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#define XBEE_BAUD 38400
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#define DISP_VOLTAGE // User wants the Battery voltage to be displayed...
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#define DISP_VOLTAGE_TIME 1000 // how often to check and report in millis
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//--------------------------------------------------------------------
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//[Arbotix Pin Numbers]
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#define SOUND_PIN 1 //0xff // Tell system we have no IO pin...
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#define PS2_DAT A0
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#define PS2_CMD A1
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#define PS2_SEL A2
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#define PS2_CLK A3
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// Define Analog pin and minimum voltage that we will allow the servos to run
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//#define cVoltagePin 7 // Use our Analog pin jumper here...
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//#define CVADR1 1000 // VD Resistor 1 - reduced as only need ratio... 20K and 4.66K
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//#define CVADR2 233 // VD Resistor 2
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#define cTurnOffVol 1000 // 10v
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#define cTurnOnVol 1100 // 11V - optional part to say if voltage goes back up, turn it back on...
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//====================================================================
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#define DEFAULT_GAIT_SPEED 50 // Default gait speed - Will depend on what Servos you are using...
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#define DEFAULT_SLOW_GAIT 50 // Had a couple different speeds...
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//====================================================================
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//--------------------------------------------------------------------
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// Define which pins(sevo IDS go with which joint
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#define cRRCoxaPin 8 //Rear Right leg Hip Horizontal
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#define cRRFemurPin 10 //Rear Right leg Hip Vertical
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#define cRRTibiaPin 12 //Rear Right leg Knee
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#define cRFCoxaPin 2 //Front Right leg Hip Horizontal
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#define cRFFemurPin 4 //Front Right leg Hip Vertical
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#define cRFTibiaPin 6 //Front Right leg Knee
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#define cLRCoxaPin 7 //Rear Left leg Hip Horizontal
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#define cLRFemurPin 9 //Rear Left leg Hip Vertical
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#define cLRTibiaPin 11 //Rear Left leg Knee
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#define cLFCoxaPin 1 //Front Left leg Hip Horizontal
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#define cLFFemurPin 3 //Front Left leg Hip Vertical
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#define cLFTibiaPin 5 //Front Left leg Knee
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//--------------------------------------------------------------------
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//[MIN/MAX ANGLES] - Warning - remember that some servos direction is
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// inverted in code after we do the conversions. So the Right legs need
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// to have their Min/Max values negated from what is seen on the actual robot
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// servo positions...
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//1:224(-843) 797(834)
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//3:159(-1034) 862(1025)
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//5:277(-688) 864(1031)
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//7:223(-846) 798(837)
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//9:160(-1031) 858(1013)
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//11:283(-670) 863(1028)
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//2:220(-855) 797(834)
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//4:163(-1022) 863(1028)
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//6:158(-1037) 747(688)
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//8:220(-855) 801(846)
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//10:255(-752) 861(1022)
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//12:125(-1133) 746(685)
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#define cRRCoxaMin1 -750
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#define cRRCoxaMax1 750
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#define cRRFemurMin1 -1000
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#define cRRFemurMax1 1000
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#define cRRTibiaMin1 -1020
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#define cRRTibiaMax1 680
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#define cRFCoxaMin1 -750 //Mechanical limits of the Right Front Leg, decimals = 1
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#define cRFCoxaMax1 750
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#define cRFFemurMin1 -1000
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#define cRFFemurMax1 1000
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#define cRFTibiaMin1 -1020
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#define cRFTibiaMax1 680
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#define cLRCoxaMin1 -750 //Mechanical limits of the Left Rear Leg, decimals = 1
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#define cLRCoxaMax1 750
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#define cLRFemurMin1 -1000
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#define cLRFemurMax1 1000
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#define cLRTibiaMin1 -1020
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#define cLRTibiaMax1 680
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#define cLFCoxaMin1 -750 //Mechanical limits of the Left Front Leg, decimals = 1
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#define cLFCoxaMax1 750
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#define cLFFemurMin1 -1000
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#define cLFFemurMax1 1000
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#define cLFTibiaMin1 -1020
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#define cLFTibiaMax1 680
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//--------------------------------------------------------------------
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//[Joint offsets]
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// This allows us to calibrate servos to some fixed position, and then adjust them by moving theim
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// one or more servo horn clicks. This requires us to adjust the value for those servos by 15 degrees
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// per click. This is used with the T-Hex 4DOF legs
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//First calibrate the servos in the 0 deg position using the SSC-32 reg offsets, then:
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//--------------------------------------------------------------------
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//[LEG DIMENSIONS]
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//Universal dimensions for each leg in mm
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#define cXXCoxaLength 52 // PhantomX leg dimensions.
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#define cXXFemurLength 65
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#define cXXTibiaLength 133
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#define cRRCoxaLength cXXCoxaLength //Right Rear leg
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#define cRRFemurLength cXXFemurLength
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#define cRRTibiaLength cXXTibiaLength
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#define cRFCoxaLength cXXCoxaLength //Rigth front leg
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#define cRFFemurLength cXXFemurLength
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#define cRFTibiaLength cXXTibiaLength
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#define cLRCoxaLength cXXCoxaLength //Left Rear leg
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#define cLRFemurLength cXXFemurLength
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#define cLRTibiaLength cXXTibiaLength
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#define cLFCoxaLength cXXCoxaLength //Left front leg
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#define cLFFemurLength cXXFemurLength
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#define cLFTibiaLength cXXTibiaLength
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//--------------------------------------------------------------------
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//[BODY DIMENSIONS]
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#define cRRCoxaAngle1 -450 //Default Coxa setup angle, decimals = 1
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#define cRFCoxaAngle1 450 //Default Coxa setup angle, decimals = 1
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#define cLRCoxaAngle1 -450 //Default Coxa setup angle, decimals = 1
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#define cLFCoxaAngle1 450 //Default Coxa setup angle, decimals = 1
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#define X_COXA 65 // MM between front and back legs /2
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#define Y_COXA 65 // MM between front/back legs /2
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#define cRROffsetX -X_COXA //Distance X from center of the body to the Right Rear coxa
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#define cRROffsetZ Y_COXA //Distance Z from center of the body to the Right Rear coxa
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#define cRFOffsetX -X_COXA //Distance X from center of the body to the Right Front coxa
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#define cRFOffsetZ -Y_COXA //Distance Z from center of the body to the Right Front coxa
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#define cLROffsetX X_COXA //Distance X from center of the body to the Left Rear coxa
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#define cLROffsetZ Y_COXA //Distance Z from center of the body to the Left Rear coxa
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#define cLFOffsetX X_COXA //Distance X from center of the body to the Left Front coxa
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#define cLFOffsetZ -Y_COXA //Distance Z from center of the body to the Left Front coxa
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//--------------------------------------------------------------------
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//[START POSITIONS FEET]
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#define cHexInitXZ 150
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#define CHexInitXZCos60 130 //92 // COS(60) = .866
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#define CHexInitXZSin60 75 // 92 // sin(60) = .5
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#define CHexInitY 25 //30
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// Lets try some multi leg positions depending on height settings.
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#define DYNAMIC_INIT_XZ
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#define CNT_HEX_INITS 3
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#define MAX_BODY_Y 150
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// For Inits we may want to tell system actual angles we are initiing servos to...
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// In some cases like some quads may not want legs straight out...
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#define cRRInitCoxaAngle1 -300 //Default Coxa setup angle, decimals = 1
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#define cRFInitCoxaAngle1 300 //Default Coxa setup angle, decimals = 1
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#define cLRInitCoxaAngle1 -300 //Default Coxa setup angle, decimals = 1
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#define cLFInitCoxaAngle1 300 //Default Coxa setup angle, decimals = 1
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#ifdef DEFINE_HEX_GLOBALS
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const byte g_abHexIntXZ[] PROGMEM = {cHexInitXZ, 130, 110};
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const byte g_abHexMaxBodyY[] PROGMEM = { 30, 60, MAX_BODY_Y};
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#else
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extern const byte g_abHexIntXZ[] PROGMEM;
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extern const byte g_abHexMaxBodyY[] PROGMEM;
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#endif
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#define cRRInitPosX CHexInitXZCos60 //Start positions of the Right Rear leg
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#define cRRInitPosY CHexInitY
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#define cRRInitPosZ CHexInitXZSin60
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#define cRFInitPosX CHexInitXZCos60 //Start positions of the Right Front leg
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#define cRFInitPosY CHexInitY
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#define cRFInitPosZ -CHexInitXZSin60
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#define cLRInitPosX CHexInitXZCos60 //Start positions of the Left Rear leg
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#define cLRInitPosY CHexInitY
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#define cLRInitPosZ CHexInitXZSin60
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#define cLFInitPosX CHexInitXZCos60 //Start positions of the Left Front leg
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#define cLFInitPosY CHexInitY
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#define cLFInitPosZ -CHexInitXZSin60
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//--------------------------------------------------------------------
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#endif // HEX_CFG_H
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‎_Phoenix_Driver_AX12.h

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#define cPFConst 512 // half of our 1024 range
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#include <ax12.h>
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#include "_ax12Serial.h"
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#define USE_BIOLOIDEX // Use the Bioloid code to control the AX12 servos...
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#define USE_AX12_SPEED_CONTROL // Experiment to see if the speed control works well enough...

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