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PhantomX Hexapod Demos

  • PhantomX Hexapod - Wireless Control - Phoenix Code

    Edge Programs and Firmware

    Edge programs and firmware are offered with limited support and documentation. They are experimental and offered 'as-is' for advanced users.

    Wireless Control - Phoenix Code

    Phoenix Code Setup Guide

    The Phoenix code is firmware for the PhantomX Hexapod. This firmware gives the PhantomX Hexapod a life-like walking gait as well as offers a variety of features. This community based project is based on the code for the original Phoenix Hexapod.

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  • PhantomX Hexapod - Wireless Control - ArbotiX Commander

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    Description:

    The PhantomX Hexapod can be controlled wirelessly via the ArbotiX Commander In this demo, the ArbotiX Commander's joysticks will be used to control the movement of the cralwer while the pushbuttons allow for gait selection.

    This demo code has an integrated Inverse Kinematics engine powered by NUKE. This software engine handles the calculations for each servo to make the cralwer walk. This demo code is a great place to start if you want to build modify the crawlers behavior and still use NUKE. You can learn more about NUKE here

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  • PhantomX Hexapod - PC Control - Virtual Commander

    Edge Programs and Firmware

    Edge programs and firmware are offered with limited support and documentation. They are experimental and offered 'as-is' for advanced users.

    PC Control - Virtual Commander

    Download ArbotiX Robocontroller Firmware Sketch
    Download Virtual Commander program and source code

    The Virtual Commander is a simple way to control your crawler using the commander protocol.

    • Load the sketch onto your ArbotiX
    • Keep the FTDI-USB cable plugged into your ArbotiX
    • Launch the Virtual Commander application
    • Choose your serial port from the drop-down menu (the same serial port that you use to program from your Arduino IDE)
    • Click 'Connect'
    • Now you can press on the joysticks or buttons to control the crawler
    If you are using a UartSBee or other USB-XBee device, you can also connect wirelessly from your computer to your crawler.
    • Configure your XBees and connect everything as shown below
    • Plug an XBee into your UartSbee and plug the UartSbee into your computer
    • Plug the other XBee into your ArbotiX Robocontroller
    • Connect the Virtual Commander to the serial port the UartSbee is on
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  • DYNAPose - DYNAMIXEL/ArbotiX Pose Tool

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    Description:

    All the InterbotiX robots turrets, arms, and crawlers use DYNAMIXEL servos. These servos all have positional feedback, allowing the ArbotiX-M Robocontroller to read the current position of each servo. This makes it possible to physically pose an InterbotiX robot, then capture the positions for each servo, allowing the user to save/capture the current pose. By capturing multiple poses, a user can create a sequence that can be repeated.

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  • Untethered Pose Playback with DYNAMIXEL/ArbotiX

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    Description:

    The ArbotiX-M Robocontroller can be used to easily 'play' a sequence of poses on DYNAMIXEL servos. These poses can run automatically, triggered by an outside input (like a pushbutton) or integrated into more advanced code.

    This tutorial can be used in conjunction with the DYNApose tutorial. The DYNApose tutorial will help you to capture a series of poses while this tutorial will help you integrate those poses into new code.

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