mark11original wrote:
My question is what does the "c" stand for before each word e.g. cRRTibiaMax1 con 770 and what does the "con" stand for? Also in the example Ive given why is the angle -770. Does this mean 77?
The "c" stand for constant, the con declare the constant. Xan uses fixed point calcs for better angle resolution. -770 means -77,0 deg.
mark11original wrote:
When I am calculating my min/max angles should I do this in Lyxnterm?
No. The min/max angles are simply mechanical limits, you set them by measuring the min/max mechanical travel range for each joint.
mark11original wrote:
Also my hexapod has its legs in line and it is walking pretty good with the pheonix code at present but to change the code to for an inline body is it just a matter of changing the set up angle which is currently -600 to 0 for the four Coxas which are positioned at the corners of the hexapod?
Sorry for all the questions and thanks for your help in advance.
cRRCoxaAngle1 con -600 ;Default Coxa setup angle, decimals = 1
cRMCoxaAngle1 con 0 ;Default Coxa setup angle, decimals = 1
cRFCoxaAngle1 con 600 ;Default Coxa setup angle, decimals = 1
cLRCoxaAngle1 con -600 ;Default Coxa setup angle, decimals = 1
cLMCoxaAngle1 con 0 ;Default Coxa setup angle, decimals = 1
cLFCoxaAngle1 con 600 ;Default Coxa setup angle, decimals = 1
The +/- 600 (60 deg) should be equally to the calibrated centered position for each coxa. If all coxas are calibrated with the centered position like the picture you posted above, all angles should be 0. Take a look at the
4 DOF T-Hex tutorial step 6 and 10, thats an example of how the coxa are calibrated with the centered position (for the 4 outer coxa) at a 45 deg coxa angle (450).
I hope this helps.
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My design was inspired by many other hexapods on this site and others. I'll get a video of it as soon as I get it working, can't wait to have it working! What way did you program yours (the one in picture under your name). I just started using the PEP, entering values etc
