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PC Control These demos and projects allow the robot to be controlled via a computer.

ArbotiX Commander Control - These demos and projects control the Robot using the ArbotiX Commander, the handheld Arduino based remote control.

Direct Control - These demos and projects control the Robot directly from sensors connected directly to the Robot's control board.

Pose Control - These demos and projects allow you to create and playback a sequence of poses.

Serial Control - These demos and projects control the robot using a serial packet protocol.

Standalone - These demos and projects are deisgned to let your robot function without a computer or additional microcontroller.

Wireless Control - These demos and projects allow you to control the robot wirelessly - usually by replacing the Serial Connection with XBee modules.

Reference - These articles have technical details regarding the control and operation of the robot.

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More info here

PhantomX Hexapod Projects

  • DYNAPose - DYNAMIXEL/ArbotiX Pose Tool

    Description:

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    Pose Playback
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    PC Control

    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.

    This firmware does not use any Inverse Kinematic calculations to position the servos - it simply moves the servos to a pre-set position. Please see the 'Demo' section for your Robot for more information on code examples that us IK engines.

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  • LIDAR Lite Hexapod Demo

    This demo will show off the capabilities of the LIDAR Lite by using it to control a PhantomX Hexapod.

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  • 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

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  • PhantomX Hexapod Phoenix Code

    Description:

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    Wireless
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    Serial Control
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    ArbotiX Commander Control

    This guide will help you set up the Phoenix Code on the PhantomX Hexapod. This guide will work for both MK-I and MK-II models, as well as AX-12A and AX-18A models. This guide assumes that you have completed the PhantomX Hexapod Getting Started Guide. This includes setting up the ArbotiX RoboController and using the original firmware for the hexapod.




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  • Untethered Pose Playback with DYNAMIXEL/ArbotiX

    Description:

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    Pose Playback
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    PC Control
    (Setup Only)
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    Standalone

    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.

    This firmware does not use any Inverse Kinematic calculations to position the servos - it simply moves the servos to a pre-set position. Please see the 'Demo' section for your robot for more information on code examples that use IK engines.

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  • Virtual Commander - Generic Software Robot Control

    Description

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    (Optional)
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    Serial Control
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    PC Control

    The Virtual Commander software is a piece of software designed to mimic the ArbotiX Commander. This is a small demo application written in Processing/Java. This application allows you to control InterbotiX robots as if it were connected to a real ArbotiX Commander as if it were connected to a real ArbotiX Commander. This can be very handy for rapid development, as you can program and control the ArbotiX over the same USB-FTDI connection, switching back and forth between the Arduino IDE and the Virtual Commander

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  • Wireless Handheld Control for the PhantomX Hexapod

    Description:

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    Wireless
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    ArbotiX Commander Control
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    Serial Control

    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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