Thanks for all the nice comments! I really appreciate it!
i take it you were using option "2" By sending the leg down in small bits, checking the input of the sensor?
IÃ¢â‚¬â„¢m indeed using option 2 at the moment.
Is that "Creepy Hybrid"? ;>)
LOL, nope the Creepy Hybrid if fully yours. This is one of Lynxmotions prototypes showed earlier in this post
If you move the tripods in a series of incremental commands (like the Powerpod generated code) by dividing up the requested move, then checking after each "sub move" for a tars down should allow you to abort the move for that leg, no? I can see that the other two legs could continue to move until they reach solid ground. By knowing where you stopped the leg in the incremental move, you should have that information. I'm not that familiar with your code yet, so maybe I've missed the point. But I think that's close to what you're doing.
IÃ¢â‚¬â„¢m doing this in some kind of way. But IÃ¢â‚¬â„¢m not using the tripod at this moment since the tripod as got just 3 legs on the ground which makes it kinda self terrain adapting. So IÃ¢â‚¬â„¢m using all legs except for the one in the air as reference point. This makes testing a bit easier since I can clearly see that one (or more) leg(s) are not on the ground. But it would also work with the tripod gait. Then again, this is just a first test
What's the hybrid aspect? And have you posted info on your microswitch leg?Here is the topic
about the microswitches used in the hybrid. They really work great! This construction is very reliable and solid. Jim did some great work!
2. Send the leg down in small bits, checking the input of the sensor. If the sensor is switched the leg will stop, or take another step if not. This way it isnÃ¢â‚¬â„¢t necessary to do FK since the BAP knows the position. The down side is that the BAP needs to make really small steps. This will reduce speed a lot.
Have you experimented with making the steps slightly larger per say 2 times larger? "and see how that affects movement" ..How sensitive are your foot switches..does it take more then a couple steps for the foot sensor to click?
This is one of the tests thatÃ¢â‚¬â„¢s on my list. See how much hysteresis the micro switches are giving me. The hard thing is that this is gonna change when the leg is hitting the floor at a 90 deg angle or at a 60 deg angle. I have to say that the sensors work great under different kind of angles. But I defiantly need to do some more testing on this part.
In my foot contact testing using the V2 ssc-32 and my pc, I give the motion servo a timed move and then monitor the contact ~every 20ms using the analog function (no debounce delay). When the analog value drops, the stop command is given for the servo to stop, and the current servo position is then queried. It might be worth while to drop back to the very simplest method walking and study the issues to start developing solutions.
I think you where using method 1 from my first post. Am I right? Did you noticed any delay before stopping? The stop command must be send once the switch is hit. If this takes to much time the leg shoots down to far and all pressure will be placed on that single leg. This is one of my next tests I want to do. This should give some interesting results.
I think that time and speed could be tweeked to make it run smooth. But IÃ¢â‚¬â„¢ve no idea if there will be any speed left. But itÃ¢â‚¬â„¢s defiantly something to try!
Might also be easier to do the initial testing using a pc and then later move to the microcontroller control.
I would agree on this since debugging on the pc is much easier but since IÃ¢â‚¬â„¢m so familiar with the code I can set up some test environment with the code in no time. Both V2.0 and the DIY RC give me a high accuracy on movement.
Thats awesome! Great progress on your code. One thing is for sure, small steps take time. But also sending stop command to all servos and then doing FK...
Yup itÃ¢â‚¬â„¢s something that needs some experimenting so see what the best option is. Or maybe there is another option we didnÃ¢â‚¬â„¢t think of.
Btw. Have you considered using the balance mode when doing terrain adaption? That should make the hexapod beeing able to "adapt" the body to the terrain and make the body follow the leg when lifting.
Yes, Once IÃ¢â‚¬â„¢m going to do some terrain adaption tests together with the gait it will defiantly improve this function a lot! YouÃ¢â‚¬â„¢re brilliant balance calculations will come in handy here!