PhantomX Hexapod Build Check

Before you start the build check, place the cralwer on its 'back' as shown in the video. The cavity that exposes the ArbotiX-M should be facing up. The build check is not designed to work while the crawler is right-side up.

To run the build check test you will need to upload the build check firmware onto your ArbotiX Robocontroller. The firmware was included with the ArbotiX Library Files installed in the ArbotiX Quick Start Guide. Open the Arduino IDE and open...

File->Sketchbook->ArbotiX Sketches->Tests Sketches ->HexapodTest

Once the program is loaded, make sure that your robot is powered from a 12v power supply, and that the power jumper is set to 'VIN'.

Once the robot is programmed and powered, it will move to a 'Center Position' where each servo horn is at its centered position. You will need to wait for ~20 seconds as the robot starts the build check. The robot should move in the exact way as shown in this video.

If the robot moves in the same sequence as the video, then your robot has been programmed and assembled correctly! Now you can go on to programming your robot's behavior

Troubleshooting

If your robot does not move as shown in the video, there has been a problem assembling, configuring, or programming your robot.

In addition to running a motion test, the ArbotiX Robocontroller will also send serial communications with more details about the build check. This feature will help you figure out exactly what's going wrong with your robot.

To see the serial communications, make sure your FTDI cable is still plugged into your computer. After you have uploaded the test sketch onto the ArbotiX, unplug the power from your robot. Click the 'Serial Terminal' button on the upper right corner (the button should have a magnifying glass). Now plug power back into your robot. Normally, if everything was working, you would see the following text.

###########################
Serial Communication Established.
###########################
System Voltage: 12.10 volts.
Voltage levels nominal.
###########################
###########################
Starting Servo Scanning Test.
###########################
Servo ID: 1
Servo Position: 574
Servo ID: 2
Servo Position: 447
Servo ID: 3
Servo Position: 388
Servo ID: 4
Servo Position: 620
Servo ID: 5
Servo Position: 768
Servo ID: 6
Servo Position: 255
Servo ID: 7
Servo Position: 448
Servo ID: 8
Servo Position: 574
Servo ID: 9
Servo Position: 389
Servo ID: 10
Servo Position: 621
Servo ID: 11
Servo Position: 767
Servo ID: 12
Servo Position: 254
Servo ID: 13
Servo Position: 512
Servo ID: 14
Servo Position: 582
Servo ID: 15
Servo Position: 389
Servo ID: 16
Servo Position: 633
Servo ID: 17
Servo Position: 783
Servo ID: 18
Servo Position: 239
All servo IDs present.
###########################
Moving servos to centered position
###########################
###########################
Initializing Left Leg Tests
###########################
Moving Servo ID: 1
Moving Servo ID: 3
Moving Servo ID: 5
Moving Servo ID: 7
Moving Servo ID: 9
Moving Servo ID: 11
Moving Servo ID: 13
Moving Servo ID: 15
Moving Servo ID: 17
###########################
Initializing Right Leg Tests
###########################
Moving Servo ID: 2
Moving Servo ID: 4
Moving Servo ID: 6
Moving Servo ID: 8
Moving Servo ID: 10
Moving Servo ID: 12
Moving Servo ID: 14
Moving Servo ID: 16
Moving Servo ID: 18
###########################
Please enter option 1-5 to run individual tests again.
1) Servo Scanning Test
2) Move Servos to Center
3) Relax Servos
4) Perform Left Leg Sign Test
5) Perform Right Leg Sign Test
6) Check System Voltage
7) Perform LED Test
###########################

This terminal will warn you if servos are not found or if the voltage is too low or high.

No Serial Communications

  • Check that your ArbotiX is powered correctly Make sure that you are applying a 12v power source and that the power jumper is set to 'Vin'.
  • If you are using a LiPo battery, make sure your battery is fully charged
  • Re-load the test firmware onto your ArbotiX and make sure you see an 'Upload Successful' message.
  • Check that your FTDI cable is oriented properly
  • Make sure you are opening the serial monitor on the same port as you programmed the board.
  • Check that your Servos are set to the correct IDs. Having multiple servos set to the same ID can cause problems with the serial monitor.

If you are still having problems you may have a hardware problem, Contact Support

"Voltage levels below 10v, please charge battery."

  • Usually this error is very straightforward - you may get this error if you batteries are low, or you are using a power supply blow 10v. Check your power and your power jumpers
  • This error can also be caused if there is a problem with servo #1. If servo #1 cannot be found, the system cannot check the voltage. Problems with servo # 1 are most commonly
    • Multiple Servo ID #1 If multiple servos with ID # 1 are on the same bus, they will interfere with each other. The ArbotiX will not be able to detect any servo # 1, nor will it be able to read the system voltage.
    • No Servo ID # 1If there is no servo # 1 present, then the system voltage will not be read.
    In both cases, you can solve this problem by correctly setting the IDs on your servos.

"ERROR! Servo ID(s) are missing from Scan"

  • The serial monitor will tell you which servos cannot be found. Inspect these servos first.
  • Check to make sure that each servo's cables are firmly seated. Inspect each cable for breaks or tears.
  • Watch each servo as you apply power to the robocontroller. The red led on the servo should light up if it is receiving power.
  • Run through the Servo ID guide and test each servo to make sure that it has the correct ID. Also make sure that each servo works in its full range of motion.

If you cannot communicate with the DYNAMIXEL or it does not move in it's full range, Contact Support

The robot does not move as the video shows

  • Check the assembly guide to make sure the robot has been assembled correctly. Specifically, make sure that the horn is aligned correctly and matches the instructions. Having the servo horn attached at the wrong angle can lead to problems.
  • Make sure that your servos are in the correct position, according to this diagram

If you are still having problems you may have a hardware problem, Contact Support