HexEngine Configuration Guide - Robotics Lab - IWR
Contents
1. Command Description Units Min Max APD Auto power down enable bit 0 1 SLT Sleep Time Out Seconds 1 255 RET Relax Time Out Seconds 1 255 STT Stop Time Out Seconds 0 5 10 0 RTR Auto Reset Translate amp Rotate bit 0 1 SRC Servo Range Check bit 0 1 ASF Auxiliary Servo Filter Integer 0 25 ADC External Port Analogue Digital Configure string 8 8 DIO External Port Digital Direction Configure I O string 8 8 PIP PIP Packet Mode bit 0 TXD Command Port Transmission Delay Integer 0 10 PS2 PS2 Gamepad Control Mode bit 0 1 MXR Maximum X Rotation degrees 0 20 MYR Maximum Y Rotation degrees 0 20 MZR Maximum Z Rotation degrees 0 20 MXT Maximum X Translation mm 0 100 MYT Maximum Y Translation mm 0 100 MZT Maximum Z Translation mm 0 100 TRF Translate amp Rotate Filter real 0 0 50 0 PTR Post Translate Body bit 0 1 PAM Head PAN servo mid position Integer 500 2500 PA Head PAN servo max position Integer 500 2500 PA Head PAN servo min position Integer 500 2500 TIM Head TILT servo mid position Integer 500 2500 TI Head TILT servo max position Integer 500 2500 TI Head TILT servo min position Integer 500 2500 TWM Head TWIST servo mid position Integer 500 2500 TW Head TWIST servo max position Integer 500 2500 TW Head TWIST servo min position Integer 500 2500 GRM Head GRIPPER servo mid position Integer 500 2500 GR Head GRIPPER servo max position Integer 5002. Table 1 Command Description Units Min Max List all available commands within this screen EXIT Exit configuration menu back to main menu RESET Soft reset the p Brain ds24 SAVE Save all configuration data LOAD Load all configuration data DEFAULTS Reset all configuration data to default values GEOMETRY Displays a List of leg geometry GAIT Displays a list of gait configuration BODY Displays a list of body geometry SERVO Display all servo configuration settings RESET CAL Resets all leg offset calibration data to 0 0 LIST LIST all configuration details ESD CONFIG Configure ESD200 blue tooth module MSRHO1 Reset all configuration data to MSR HO1 kit values PHOENIX Reset all configuration data to PHOENIX kit values NAME Pod file name string 0 16 TBR Terminal port BAUD Rate Integer 0 7 CBR Control port BAUD Rate Integer 0 PWM Servo Pulse Width Modulation Range Limit 0 micromagic systems Itd Registered in England no 3745348 www micromagicsystems com p Brain HexEngine V1 2 Configuration Guide Page 12 35 Command Description Units Min Max PCY Right Posterior Coxa Y mm 250 0 IFA Initial Femur angle Degrees 0 90 ITA Initial Tibia angle Degrees 180 0 90 0 ACA Anterior Coxa Centre angle Degrees 45 0 45 0 MCA Middle Coxa Centre angle Degrees 45 0 45 0 PCA Po
3. Auxiliary Servo 1 Auxiliary Servo 2 Auxiliary Servo 3 Auxiliary Servo 4 Auxiliary Servo 5 Auxiliary Servo 6 micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 23 35 p Brain HexEngine V1 2 Configuration Guide SM2 For p Brain SMB Servo Remap Hexapod Reversed This setting will set the servo remap for the p Brain SMB to the inverted Hexapod configuration with the SMB mounted above or below the top chassis plate with servo pins pointing down See table below for servo output configuration SMB Servo Number Leg Joint SMB Servo Number Leg Joint Auxiliary Servo 6 Auxiliary Servo 5 Auxiliary Servo 4 Auxiliary Servo 3 Auxiliary Servo 2 Auxiliary Servo 1 SM3 For p Brain SMB amp p Brain p24 Servo Remap Standard Numbering This setting will set the servo remap for the p Brain SMB to the standard numbering of the SMB see table below SMB Servo Number Leg Joint SMB Servo Number Leg Joint Auxiliary Servo 1 20 Auxiliary Servo 2 21 Auxiliary Servo 3 22 Auxiliary Servo 4 23 Auxiliary Servo 5 24 Auxiliary Servo 6 micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 24 35 p Brain HexEngine V1 2 Configuration Guide SM1 For p Brain p24 Servo Remap Hexapod Standard This setting will set
4. TILT Servo Minimum This value sets the tilt servo minimum position in micro seconds Therefore for the standard servo range 45 would be approximately 1000 TWM TWIST Servo Middle This value sets the tilt servo middle position in micro seconds Therefore for the standard servo centre position this would be 1500 TW TWIST Servo Maximum This value sets the tilt servo maximum position in micro seconds Therefore for the standard servo range 45 would be approximately 2000 micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 29 35 p Brain HexEngine V1 2 Configuration Guide TW TWIST Servo Minimum This value sets the tilt servo minimum position in micro seconds Therefore for the standard servo range 45 would be approximately 1000 GRM GRIPPER Servo Middle This value sets the tilt servo middle position in micro seconds Therefore for the standard servo centre position this would be 1500 GR GRIPPER Servo Maximum This value sets the tilt servo maximum position in micro seconds Therefore for the standard servo range 45 would be approximately 2000 GR GRIPPER Servo Minimum This value sets the tilt servo minimum position in micro seconds Therefore for the standard servo range 45 would be approximately 1000 LPT Load Pan Tilt When LPT is set to 1 the pan and tilt head mid positions stored in PAM amp TIM respectively are re loaded when the hexapod wakes up effective
5. 2 Left f Posterior X Right i Posterior Posterior Leg 4 Leg 3 Coxa ISO View of right anterior leg Femur Tibia Tarsus foot micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 6 35 p Brain HexEngine V1 2 Configuration Guide Main Menu ixi File Edit Setup Control Window Help For a list of available commands CONFIG CALIBRATE CAL INFO GAIT INFO WAKE STOP HOME CONTROL SERVO TEST SIM CONTROL After the initial boot message the hexapod is ready for locomotion control or one of the commands listed in the main menu Locomotion control only works within the main menu and the gait info screen if the hexapod is powered up and one of the configuration screens is entered such as CONFIG the hexapod will power down Main Menu Commands Table Command Description List all available commands within this screen CONFIG Enter configuration screen CALIBRATE Enter servo calibration screen CAL INFO Display calibration data LEG INFO Display tarsus position and leg angles GAIT INFO Enter gait information screen WAKE Wake the hexapod SLEEP Hexapod into standby STOP Stop the Hexapod HOME Reset Hexapod legs to home position SERVO TEST Enter servo test screen PIP CONTROL Enter Packet Interface Protocol locomotion control mode SIM CONTROL Enter Simple locomotion control mode PORT
6. MCX and MCA are set to zero and are not shown on the diagram Right Middle an Coxa 4 Anterio AN ail s Coxa y ai od i aff 75 00 75 00 Per Sn ACY PCY o C lt micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 17 35 p Brain HexEngine V1 2 Configuration Guide CFA Centre Femur Angle This setting defines the centre position of the femur for example most of my hexapods use a femur leg swing range of 0 0 to 90 0 degrees so the CFA is set to 45 0 degrees Essentially this is where the servo PWM signal will be at its neutral of 1500uS See Diagram 2 CTA Centre Tibia Angle This setting defines the centre position of the tibia for example most of my hexapods use a tibia leg swing range of 90 to 180 0 degrees so the CFA is set to 135 0 degrees Essentially this is where the servo PWM signal will be at its neutral of 1500uS See Diagram 2 Diagram 2 Leg Geometry Details These angles may seem strange at first this is due to the way the Inverse Kinematic model was created If you are looking at the right anterior leg from the front when the femur is pointing straight out from the body parallel to the ground the femur angle is 0 0 degrees Now if the tibia is also pointing straight out from the body parallel to the ground the tibia angle is 0 0 degrees Now if we rotate the femur 45 0 degrees clockwise and tibia 135 degrees anticlockwise
7. 2 ATT DIGS CN1 18 CN19 13 CN2 4 CMD DIG6 CN1 19 CN19 11 CN2 6 DAT DIG7 CN1 20 CN19 9 CN2 8 GROUND N A CN19 16 CN2 3 5V N A CN17 9 CN2 5 For 5V Power for 3 3V Power CN17 8 For 3 3V Power Note All wired amp wireless PS2 gamepads we have tested work fine 3 3V but not all will work at 5V therefore we suggest using 3 3V from CN17 to power the gamepad If this does not work try the 5V output on CN17 PS2 Connection Cable To connect a PS2 gamepad to the p Brain SMB or p Brain u24 you will need the female end of a PS2 extension cable The cable needs to be about 8 inches long and requires the following 6 connections violet Oo njc o K black 5 Bins id Svde fe yellow Ground fe red shield CLK m green ATT O orange CMD loj brown _ DAT Note Extension cable wire colours vary so its best to use a continuity tester to determine the correct connections Once connected to the SMB u24 switch on the PS2 control mode within the HexEngine configuration screen by typing PS2 1 exit and save the configuration Enter the PS2 TEST screen to check that your PS2 controller is connected this screen should display the button and joystick of the controller micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 34 35 p
8. 2500 GR Head GRIPPER servo min position Integer 500 2500 LPT Load PAN TILT TWIST mid position upon wake bit 0 1 HSI Head Servos Invert Bits bits 0 111 AHL Auto Head Leveling bit 0 1 PTR Post Translate Body bit 0 1 micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 14 35 p Brain HexEngine V1 2 Configuration Guide Configuration Menu Commands P BRAIN CONFIGURATION NAME Set or read the name string of the p Brain Example NAME MSR HO1 lt cr gt TBR Set the baud rate for the RS232 terminal port UART2 on the dsPIC see Table 2 for available baud rates Note The first time the HexEngine is run the terminal baud rate should be 115200kbps All port communications are 8 Bit No parity 1 Stop bit 8N1 Table 2 Configuration Value Baud Rate Configuration Value Baud Rate 0 1200 4 19200 1 2400 5 38400 2 4800 6 57600 3 9600 7 115200 CBR Set the baud rate for the TTL terminal port UART1 on the dsPIC see Table 2 for available baud rates The baud rate error is listed next to the baud rate with higher baud rate errors problems may occur if the host system also has a baud rate error of the opposite magnitude For the first time the HexEngine is run the control baud rate should be 9600kbps Note All port communications are 8 Bit No parity 1 Stop bit 8N1 If you change the CBR setting and you are using an ESD200 blue tooth module
9. Brain HexEngine V1 2 Configuration Guide PS2 Control Functionality PS2 Button Function Start Power up power down the hexapod Triangle Select tripod gait Circle Select ripple gait 3 Cross Select ripple gait 2 Square Select ripple gait 1 Select Triangle Increase leg transition speed Select Cross Decrease leg transition speed Select Circle Toggle full 3D balance gesture Select Square Toggle Off Road gait Select R1 Reset the hexapod legs to home position Select R2 Reset leg transition speed to configuration default Left Thumb Up Walk Forward Left Thumb Down Walk Backwards Left Thumb Left Turn Left Left Thumb Right Turn Right Right 1 Held Down Enable proportional walking Forward Backward Right Stick Up Down Turn Right Stick Left Right Crab Left Stick Left Right Right 2 Held Down Enable proportioanl body rotate translate X Rotate Right Stick Up Down Y Rotate Left Stick Left Right Z Rotate Right Stick Left Right While holding Left 2 X Translate Right Stick Left Right Y Translate Right Stick Up Down Z Translate Left Stick Up Down Left 1 Held Down Head Pan Left Stick Left Right Head Tilt Left Stick Up Down Image of PS2 cable connected to HexEngine CN19 amp CN17 Using 5V configuration micromagic systems Itd Registered in England no 3745348 www m
10. as soon as the hexapod receives a PIP move command the body rotation and translation are rest to 0 which will level out the body before walking SRC Servo Range Check This option enables or disables the servo range check if SRC is enabled 1 and a servo reaches its minimum or maximum PWM value the hexapod engine issues an error message and all signals to the servos are stopped A wake command needs to be sent to restart the HexEngine ASF Auxiliary Servo Filter This value sets the amount of filtering to apply to auxiliary servo position data samed via the PIP command A Setting this value to zero will switch off any filtering and will result in fast instant moves which can cause damage to servos if not used wisely ADC External Port Function Configure This string value configures the p Brain ds24 external port pins CN19 on p Brain SMB to either Digital I O or Analogue capture The string must be 8 characters long and can contain only A or D characters For example to configure the top nibble as analogue and the bottom nibble as digital enter the following ADC AAAADDDD micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 27 35 p Brain HexEngine V1 2 Configuration Guide DIO External Port I O Configure This string value configures the p Brain ds24 extrenal port pin direction CN19 on p Brain SMB The pin must be configured as digital using the ADC command in order t
11. hexapod Power down hexapod SPACE Stop hexapod I Emergency stop hexapod Shuts off servos instantly w Walk forward s Walk backwards a Turn Left d Turn Right q Crab Left e Crab Right 1 Wave gait 1 slowest 2 Wave gait 2 3 Wave gait 3 In my opinion the best 4 Tripod gait fastest 5 On Road gait fast fluid 6 Off Road gait slower better ground clearance 7 Decrease leg transfer speed by 0 1 seconds 8 Increase leg transfer speed by 0 1 seconds 9 Reset leg transfer speed to power on default DLT Reset legs to neutral position b Switch on full 3D balance mode c Switch off full 3D balance mode ESC Return to main menu Port Test This screen displays the digital and analogue I O status The port is configured using the DIO and ADC configuration commands PS2 Test This screen displays the PS2 gamepad status and variables such as buttons and the two analogue joystick values See PS2 Gamepad Control for further information micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 10 35 p Brain HexEngine V1 2 Configuration Guide Configuration Menu Tera Term COM1 T a BEEK File Edit Setup Control Window Help p Brain HexEngine lt c micromagic systems ltd STATUS ERROR 6 1 Jul 27 2668 DEFAULT STAND BY For a list of available commands EXIT LOAD DEFAULTS EOMET RY GAIT B RESET CAL AME IST Ste CONFIG PWM L Within this menu all of the geometry gai
12. off global servo refresh press the key You will see a picture of the hexapod at the right side of the screen with the current leg highlighted in red to change selected leg use the number keys 1 to 6 when selecting a leg all individual servo enable bits are switched off To enable a servo and start calibration press one of the servo jog keys Coxa A Z Femur S X Tibia D C The relevant servo will spring into life and you can adjust its position using the appropriate keys The calibration position is shown in Picture 5 Once you have a leg calibrated save the data using the F key and move to the next until all 6 legs are done You can also check the leg movement by pressing the 0 key This will move the selected leg to the centre angles defined by ACA MCA PCA CFA amp CTA To return to the calibration position press key 9 Once you have finished calibrating all legs press Q to quit you will be prompted to save the calibration data Note It s a good idea to spend time getting your calibration and servo ranges correct the better the calibration the smoother your hexapod will move You can check how good your calibration is working by using the Wake command from the main menu to check the hexapods neutral standing position micromagic systems Itd e Registered in England no 3745348 www micromagicsystems com Page 8 35 p Brain HexEngine V1 2 Configuration Guide Cal Info This command will list the c
13. standard and reverse direction servo types Hitec servos have been used for the purpose of defining a standard direction Increasing the Pulse Width turns the servo horn in a clockwise direction Servo Standard Reverse Bit Direction configuration Settings LEG Standard Right Anterior RAS 000 Standard Right Middle RMS 000 Standard Right Posterior RPS 000 Standard Left Posterior LPS 000 Standard Left Middle LMS 000 Standard Left Anterior LAS 000 Reverse Right Anterior RAS 111 standard Servo mounting amp orientation Reverse Right Middle RMS 111 for right anterior leg Reverse Right Posterior RPS 111 Left leg configured as mirror of right Reverse Left Posterior LPS 111 Reverse Left Middle LMS 111 Reverse Left Anterior LAS 111 micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 22 35 p Brain HexEngine V1 2 Configuration Guide Note SM1 amp SM2 Settings differ for the p Brain SMB and p Brain u24 modules please see the relevant sections below SM1 For p Brain SMB Servo Remap Hexapod Standard This setting will set the servo remap for the p Brain SMB to the standard Hexapod configuration with the SMB mounted above or below the top chassis plate with the servo pins facing up See diagram amp table below for servo output configuration SMB Servo Number Leg Joint SMB Servo Number Leg Joint
14. you will need to run the ESD CONFIG command to configure the ESD200 to the new baud rate PWM Set the global maximum and minimum PWM servo output range There are three settings standard extended and full Most servo will operate quite happily with standard and extended ranges however not all servos will tolerate the full range Most analogue servos will accept full range signals but may have mechanical stops which prevent full range use many digital servos have full range mechanical capabilities but cut out if the signal goes beyond the extended range limits It is rare that a hexapod will need the full range limits and therefore I suggest using either standard or extended limits Setting PWM Minimum PWM Maximum Approx Rotation degrees 0 1000 2000 50 1 800 2200 70 2 600 2400 90 3 500 2500 100 micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 15 35 p Brain HexEngine V1 2 Configuration Guide GEOMETRY CONFIGURATION CLN Coxa Length The distance from the centre of the coxa servo spline to the centre of the femur servo spline See Diagram 2 FLN Femur Length The length from the centre of the femur servo spline to the centre of the tibia servo spline See Diagram 2 TLN Tibia Length The length from the centre of the tibia servo spline to the end of the tibia foot See Diagram 2 ACX Anterior Coxa X Distance fro
15. your terminal screen The bluetooth pass key or pin code is 1138 This is only true for version 1 2 and higher of the HexEngine for versions below 1 2 please see the relative documentation Once configuration is complete your ESD200 should now be in discover mode this means that you should be able to pair with your ESD200 using Windows bluetooth utility or similar During the pairing procedure you will be asked for the pass key defined above When pairing is complete you should be able to connect you your ESD200 with the COM port assigned by your host operating system LED1 The blue LED next to the ESD200 is the connection LED This should illuminate when a connection is made between the device and a host system Note I have noticed in some cases the LED does not light even when a connection is established this seems to be determined by the host software initiating the connection micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 33 35 p Brain HexEngine V1 2 Configuration Guide PS2 Gamepad Control The HexEngine can have a Playstation PS2 style controller directly connected to the 8 channel I O port This gives a convenient way to make your hexapod into a remote controlled robot without the need for an intermediate processor Connection to the PS2 controller PS2 Gamepad p Brain ds24 p Brain SMB p Brain p24 Signal CLK DIG4 CN1 17 CN19 15 CN2
16. L UART2 RS232 OFF OFF Locomotion port Configuration port OFF ON Locomotion amp Configuration port ON OFF Locomotion amp Configuration port BILWINI eB ON ON Configuration Port Locomotion Port The baud rate for the TTL port is set by CBR and the RS 232 baud is set by TBR within the configuration menu The default baud rates are TTL port 9 6kbps RS 232 port 115 2kbps Note All port communications are 8 bit No Parity 1 Stop bit 8N1 micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 3 35 p Brain HexEngine V1 2 Configuration Guide Port Configuration p Brain p24 There are two serial ports on the p Brain y24 which are used for locomotion control and or terminal configuration UART2 is an TTL serial port which can be used for locomotion control only UART1 is connected to either the RS 232 RJ11 port or the optional ESD200 bluetooth adaptor using JP1 This port defaults to PIP locomotion control mode but can also be used for the hexapod configuration mode terminal port Terminal Connection In order to configure your HexEngine you will require terminal software such as HyperTerm or Tera Term a free serial port and a suitable RS232 lead If you are using the p Brain SMB in conjunction with the p Brain ds24 or the p Brain y24 there is an RJ11 4 4 to DB9 RS232 cable available from micromagic systems MSR RJ11 232 If you wish to make your own
17. OL command To return to configuration mode once in locomotion mode type three times with no enter key followed by a one second pause Servo Test This enables direct driving of each servo using the cursor keys left amp right to select a servo and the cursor key up amp down to change the servo position The servo position is listed in micro seconds There are three pre defined servo positions using the number keys 1 2 amp 3 which are equal to 1000uS 1500uS 2000uS respectively Pressing one of these keys will drive the servo from its current position to the desired position over a one second interval Pressing any key during the automated move will stop the servo in the current position Use the Q key to quit servo test micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 9 35 p Brain HexEngine V1 2 Configuration Guide Sim Control The Sim Control screen offers a very simple locomotion interface to the hexapod for testing and control using single key commands which allows the hexapod to be controlled using a simple terminal interface The ENTER key is not required after a command key for example to walk forward press and hold the w key upon releasing the key the hexapod will automatically stop Upon entering Sim Control the following keys control the hexapod Key Description Power up
18. TEST Enter I O port test screen PS2 TEST View PS2 Gamepad connection status and values micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 7 35 p Brain HexEngine V1 2 Configuration Guide Main Menu Commands Calibrate In this screen the servo calibration offsets can be set for each leg joint Servo calibration offset can be between 127 to 127 uS Before beginning calibration it is best to move your hexapod legs into the approximate calibration position and to stand your hexapod off of the ground so that none of the legs come in contact with the floor Be prepared for sudden servo moves Also if your configuration file is not set up correctly servos may drive into the body or other legs so always be ready to stop the servo refresh with the key or switch off the servo power Calibration Position Diagram she Anterior All coxa joints are at right angles to the hexapod Y axis lt Axis All Femur joints are at right F ia angles to the Z Axis parallel i g h T ge i to the ground Tibia joints co a are a right angles to the femur perpendicular to the ground Ground o yh see re m at j HY us i Right Anterior leg viewed from front Hexapod viewed from top When entering calibration mode global servo refresh is switched off and is only switched on when the key is pressed To switch
19. URNS POLICY All sales are final New products are warranted for 30 days Any return for repair or replacement must be pre authorized by micromagic systems and under no circumstance will returns be accepted unless so authorized Return Products under warranty must be pre approved by MMS and sent via certified mail prepaid and insured for your protection Please note we cannot refund shipping fees All electronic kit sales are final Due to the fact that components of the kit may be damaged during assembly we do not accept returns or refunds on any electronic kits If you receive damaged merchandise you must contact micromagic systems within 2 days of receipt of your original order Specify clearly the reason for your refusal We will exchange returned merchandise for same new merchandise or for the item sterling amount within 7 days once we receive the returned damaged items from you Proof of mailing is advised as we cannot be held responsible for loss of the returned merchandise in mail transit All return postage is non refundable The merchandise including packing and wrapping material being returned should be in the same condition as when you received them Please contact us via e mail at matt micromagicsysstems com Defective merchandise will be replaced No cash will be refunded We reserve the right to refuse to replace any merchandise which our micromagic systems technicians determine to be damaged by the user or through inappropriate us
20. age to servos if not used wisely PTR Post Translate body When this is set the body translation happens after the body rotation so if the head is pinting towards the ground and the body is translated forward the body will translate along the new rotated axis If this bit is clear 0 the body will translate along the original ground axis and is not effected by the body rotation Head Configuration The following settings control the head pan tilt twist and grip servo limits These servos are internally mapped to auxiliary servos see page 25 for details Head limits are used by the PIP command H and the PS2 game pad control interface PAM PAN Servo Middle This value sets the pan servo middle position in micro seconds Therefore for the standard servo centre position this would be 1500 PA PAN Servo Maximum This value sets the pan servo maximum position in micro seconds Therefore for the standard servo range 45 would be approximately 2000 PA PAN Servo Minimum This value sets the pan servo minimum position in micro seconds Therefore for the standard servo range 45 would be approximately 1000 TIM TILT Servo Middle This value sets the tilt servo middle position in micro seconds Therefore for the standard servo centre position this would be 1500 TI TILT Servo Maximum This value sets the tilt servo maximum position in micro seconds Therefore for the standard servo range 45 would be approximately 2000 TI
21. ate range values FSR Femur Servo Range This setting specified in degrees determines the servo travel range for the femur servos See CSR for a more detailed explanation TSR Tibia Servo Range This setting specified in degrees determines the servo travel range for the femur servos See CSR for a more detailed explanation micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 21 35 p Brain HexEngine V1 2 Configuration Guide Table 4 Servo movement in degrees for PWM of 1 to 2 milliseconds Make Model Servo Range Hitec HS 475HB 99 5 Hitec HS 645MG 99 5 Hitec HS 225BB 92 5 Kondo KRS788HV 104 0 Diagram 3 Servo Reverse Settings The picture below show the right front anterior leg with the servos mounted in a standard configuration Assuming these are Hitec servos the servo reverse setting for this leg RAS would be 000 This means all the servo joints are normal travel direction This would be the same for any type of servo which rotates in the same direction as a Hitec servo If you were to use a servo which had reverse direction rotation RAS would need to be 111 the exact opposite Note Many of my hexapod have the posterior legs mounted in reverse to the anterior and middle legs this is for aesthetic and sometimes mechanical reasons In this scenario the setting for RPS amp LPS would be 111 The table below lists servo reverse settings for
22. bar which displays software name and version hexapod status error codes and page title Upon boot various information is listed such as the frame rate EEPROM size PWM range and compiler version The HexEngine will also load the Pod short for hexapod configuration file and Pod calibration file If there is a problem with either of these files you will be informed during boot The configuration file holds all the geometry gait and default boot values for the pod If this is the first time the HexEngine has been run it will have loaded up with a default set of geometry values so the first thing to do is to enter the configuration menu If you are using a p Brain y24 to enter configuration mode type do not type any other key for at least one second To exit configuration mode return to the MAIN menu and type PIP Control followed by the ENTER key Type followed by the ENTER key to see a list of commands for this menu screen micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 5 35 p Brain HexEngine V1 2 Configuration Guide Hexapod Pod Geometry Before you start configuring your hexapod take time to study the following drawings to help you understand the basic geometry of a hexapod Note print this out and keep it handy Y Positive Z is down towards the ground Z Anterior X Left Right Anterior Anterior Leg 6 Leg 1 Left Right Middle Middle Leg 5 Leg
23. be asked for the pass key defined above When pairing is complete you should be able to connect you your ESD200 with the COM port assigned by your host operating system LED1 The LED next to the ESD200 LED1 on the p Brain SMB board is the connection LED This should illuminate when a connection is made between the device and a host system Note I have noticed in some cases the LED does not light even when a connection is established this seems to be determined by the host software initiating the connection micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 31 35 p Brain HexEngine V1 2 Configuration Guide ESD Manual Configurations The ESD200 device can be manually configured using a suitable RS 232 interface and terminal software For further information on connecting the ESD to a serial port please see the ESD200 user guide Following a factory reset the ESD CONFIG command runs the following terminal commands on the ESD device Note All commands are followed with a carriage return Command Description Reply AT See if device is connected OK AT BTKEY 1138 Set the PIN code OK AT BTSEC 1 0 Pin Authentication on Encryption off OK ATS3 1 Fast Operation on OK AT BTMODE 3 Set Discovery mode on OK ATS37 8000 Set link lost time out 5 seconds OK AT UARTCONFIG x N 1 0 Configure Uart x BAUD rate e g 9600 OK ATZ Soft reset OK micromagic sys
24. cable you will need to use the following connections RJ11 4 4 Connector DB9 Female Connector Description 1 3 RS232 RX 2 2 RS232 TX 3 5 GND 4 Unused p Brain RJ232 Micromagic systems RS 232 DB9 to RJ11 serial port adaptor p Brain ds24 It is also possible to configure the HexEngine via UART1 s TTL interface in order to do this you will require a suitable TTL interface converter to your host system or a blue tooth module such as the ESD200 connected to UART1 If you are using the p Brain SMB PCB there is a suitable socket for the ESD200 please see the p Brain SMB user guide for installation guidance p Brain p24 It is possible to configure the HexEngine using either the RS 232 interface the ESD200 bluetooth adaptor or a TTL compatible serial port using the ESD200 socket See the p Brain H24 user guide for ESD200 installation and configuration micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 4 35 p Brain HexEngine V1 2 Configuration Guide Boot Screen Tera Term COM1 T el File Edit Setup Control Window Help ype For a list of available commands ERMINAL port nee type CONTROL to enter control mode PL3 880 uS MAX PWM 2208 uS Pod Configuration File Read OK 174 bytes Initialising Legs Loading Calibrtion data OK Upon boot you should see a boot screen similar to the one above At the top is the title
25. e of that merchandise WARRANTY POLICY We guarantee all products except electronic kits to be free of defects in workmanship and material for 30 days from the purchase delivery date We will repair or replace non electronic kits No cash will be refunded at our option providing there is no evidence of customer misuse or alteration to that product item micromagic systems carries a limited 30 day warranty on most all items some items carry an additional number of warranty days or special restrictions If you want specific warranty information about a product contact micromagic systems to obtain that information We are not able to offer any refunds or accept returns for the following items and products Electronic Kits CANCELLATION POLICY Please be aware that if you cancel an order you may be responsible for restocking fees and or shipping charges including charges for return shipping Cancelled orders are subject to a 25 or 10 00 minimum restocking fee Orders cancelled within 24 hours of order placement will not be subject to restocking fees however this does not apply to orders with Express Shipping and Handling micromagic systems Itd Registered in England no 3745348 www micromagicsystems com
26. e power from S23 your p Brain SMB connect the ESD200 to the SMB as indicated in the picture Install jumper JP1 2 Have JP1 1 ready but not installed JP1 1 connects the ESD200 transmitter to UART 1 receiver on the p Brain ds24 ESD Configuration Switch on power to your p Brain SMB and HexEngine Go to the CONFIG screen and type ESD CONFIG The first prompt you will see is to reset the ESD200 to factory defaults this is achieved by shorting JP1 1 out for a couple of seconds and then removing the JP1 1 link Once this has Wy pM been done continue with the configuration by typing y You should see a series of program operations which configure the device After each parameter is set a response of OK should appear in red on the right of the screen confirming configuration All but the last commend ATZ should receive an OK response if any of the responses are not OK try the configuration procedure again Note The baud rate setting for the ESD200 is determined by the HexEngine CBR parameter The bluetooth pass key or pin code is 1138 This is only true for version 1 2 and higher of the HexEngine for versions below 1 2 please see the relative documentation Once configuration is complete your ESD200 should now be in discover mode this means that you should be able to pair with your ESD200 using Windows bluetooth utility or similar During the pairing procedure you will
27. ed between MXR and MXR degrees MYR Maximum Y Rotation This defines the maximum body Y rotation in degrees When controlling the hexapod using the control interface binary values of 0 to 255 are scaled between MYR and MYR degrees MZR Maximum Z Rotation This defines the maximum body Z rotation in degrees When controlling the hexapod using the control interface binary values of 0 to 255 are scaled between MZR and MZR degrees MXT Maximum X Translation This defines the maximum body X translation in millimetres When controlling the hexapod using the control interface binary values of 0 to 255 are scaled between MXT and MXT mm MYT Maximum Y Translation This defines the maximum body Y translation in millimetres When controlling the hexapod using the control interface binary values of 0 to 255 are scaled between MYT and MYT mm micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 28 35 p Brain HexEngine V1 2 Configuration Guide MZT Maximum Z Translation This defines the maximum body Z translation in millimetres When controlling the hexapod using the control interface binary values of 0 to 255 are scaled between MZT and MZT mm TRF Translation amp Rotation Filter This value sets the amount of filtering to apply to body translations amp rotations Setting this value to zero will switch off any filtering and will result in fast instant moves which can cause dam
28. efault Leg Transition Speed This value sets the initial transition speed of the leg to take a step from A to B This values is in seconds and therefore a lower value gives a faster leg transition speed The leg transition speed can be changed in real time using the hexapod control API Note The maximum speed for the leg to move is determined by the servos being used fast leg speed may damage some servos micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 19 35 p Brain HexEngine V1 2 Configuration Guide DGD Default Gait Delay This value sets the initial gait delay The gait delay determines the way the legs are sequenced as the hexapod moves See Table 3 The gait delay can also be changed in real time using the hexapod control interface Table 3 Gait Delay Gait Style Legs in contact with ground 3 Wave 1 5 2 Wave 2 4 1 Wave 3 4 0 Tripod 3 ORG Off Road Gait This switch enables the off road walking gait In this mode to take a step the legs follow this sequence protract gt move gt retract This gives a much more robot like move but does offer better obstacle clearance When not using the off road gait to take a step the legs protract and retract during the move this gives a much faster more fluid look B3D Full 3D balance This option switches on the full 3D balance gesture engine With this enabled the hexapod body moves according to the positio
29. et the initial leg angles and placement The DPU setting is also used to calculate the initial standing position therefore the final standing femur angle may differ from the value set for IFA ITA Initial Tibia Angle This is the tibia angle when the hexapod is in its neutral standing position Note This value is only used during the hexapod power up in order to set the initial leg angles and placement The DPU is also used to calculate the initial standing position therefore the final standing femur angle may differ from the value set for IFA micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 16 35 p Brain HexEngine V1 2 Configuration Guide ACA Anterior Coxa Angle This is the anterior coxa angle when the hexapod is at its neutral standing position also the centre position for coxa swing Note This angle is set for the right coxa and is automatically mirrored for the left coxa See Diagram 1 MCA Middle Coxa Angle This is the middle coxa angle when the hexapod is at its neutral standing position also the centre position for coxa swing See Diagram 1 PCA Posterior Coxa Angle This is the posterior coxa leg angle when the hexapod is at its neutral standing position also the centre position for the coxa swing See Diagram 1 Diagram 1 Body Geometry Details The following diagram viewed from the top of the hexapod indicates the measuring points for the body geometry settings Note
30. fore setting an unrealistic value may result in servo collisions amp or IK maths errors MTA Maximum Turn Angle This defines the maximum turning speed of the hexapod Start with a value of 10 degrees and test high values will be clamped by the LZR setting and may produce stange walking patterns Note There are no checks to see if this value is within the physical range of the hexapods legs therefore setting an unrealistic value may result in servo collisions amp or IK maths errors LZR Landing Zone Radius This value can be seen as a circle with its centre at the neutral resting point of the foot of each leg If this value is non zero when a new leg step position is calculated the foot must fall within this working radius if it does not the foot will be limited to the extremity of the LZR radius LLH Leg Lift Height This value determines the height the leg is lifted when the hexapod is taking a step Note There are no checks to see if this value is within the physical range of the hexapods legs therefore setting an unrealistic value may result in servo collisions amp or IK maths errors LLO Leg Lift Off Road This value determines the height the leg is lifted when the hexapod is taking a step using the off road gait method Note There are no checks to see if this value is within the physical range of the hexapods legs therefore setting an unrealistic value may result in servo collisions amp or IK maths errors DLT D
31. g TeraTerm Pro available here TeraTerm Pro V2 3 Once the HexEngine is configured for the target hexapod platform the hexapod locomotion can be controlled using simple direction commands over either the RS 232 or TTL serial port The idea of the HexEngine is to allow you to get your hexapod up and running with minimum fuss allowing you to concentrate on obstacle avoidance or other high level control applications Key Features Configuration via terminal port or control port via optional blue tooth link Locomotion control via terminal port or control port Configurable body geometry Configurable leg geometry Multiple Servo output re map configurations Gait configurations X Y Z Body rotation and translation Walk in any direction Servo rotation calibration Servo reverse for each leg joint Leg calibration offsets Four selectable gaits patterns can be changed during locomotion Two selectable leg move styles giving a total of eight individual gaits Eight supported baud rates Three PWM servo ranges standard extended and full 500 to 2500uS Dedicated PWM hardware for precision 1uS PWM resolution Port Configuration p Brain ds24 There are two serial ports on the p Brain ds24 which are used for locomotion control and or terminal configuration Using jumpers JP1 and JP2 on CN18 of the p Brain SMB there are four possible combinations for port configuration JP2 JPL CN18 JP2 JP1 UART1 TT
32. icromagicsystems com Page 35 35 p Brain HexEngine V1 2 Configuration Guide Legal Please read fully before purchasing any merchandise from micromagic systems Itd PRODUCTS In no event shall micromagic systems be liable for any claim for incidental consequential damages or any injuries sustained due to the use of or improper use of products and or kits purchased out of or in connection thereof with the manufacture sale delivery or use of any product in this catalogue or web site All micromagic systems products purchased should NOT be used for medical life saving life support or any applications that could cause injury dangerous hazardous situations or consequential damages resulting from the use of the mechanical hardware or software products sold or represented by micromagic systems All products sold by micromagic systems are for Self Learning Experiences and for Safe Entertainment Prices and Specifications Note Product specifications prices listed and availability of items in our web site and in our printed catalogue are subject to change without notice All prices shown in our web site and in our printed catalogue are believed accurate at time of publication but subject to change without any notice We will always advise you of the new price increase and seek your approval before processing any orders you place General Product Terms and Conditions Call micromagic systems before returning any items PRODUCT RET
33. ith GFA and GTA to determine the neutral position of the hexapod This value should be a positive greater than DPD and greater than the distance from the centre of the coxa spline to the base of the hexapod DPU Default Power Down Height This is the resting position for the legs when the hexapod powers down This value should be positive and greater than or equal to the distance from the centre of the coxa spline to the base of the hexapod APD Auto Power Down When enabled the hexapod will automatically power down to the rest position if no control commands have been received within 30 seconds SLT Sleep Time If auto power down APD is enabled this variable determines how many seconds pass since the last locomotion command before the hexapod sleeps RET Relax Time This variable determines how many seconds pass since the last locomotion command before the hexapod returns all legs to the neutral standing position SST Stop Time This variable determines how many seconds pass since the last locomotion command before the hexapod stops moving e g If a walk forward command is sent the hexapod will automatically stop after SST seconds if no further commands are sent Useful for loss of communications RTR Reset Translate amp Rotate This switch enables the automatic reset of body translation and rotation to 0 when a PIP movement command is sent For example if the hexapod is stood still and the body rotated in X by 10 degrees
34. ly resetting the head position to neutral HSI This is the individual servo reverse bits for the three head servos in the order MSB to LSB Pan Tilt Twist Setting the associated bit to 1 will invert the servo direction e g HSI 001 Would have the Twist servo inverted AHL Auto Head Level with this bit set to 1 the auto head levelling feature is enabled now when the body is rotated the head will counter rotate in an appropriate direction to keep the head level at its current position If the head rotates in the same direction as the body invert the associated servo using the HSI setting PTR Post Translate Body Usually the body translation maths happens before the body rotation functions therefore a translation would continue along the new rotated axis With PTR enabled the body translation function happens after the body rotation function this causes the body to translate along the original axis If in doubt give it a go and see the difference micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 30 35 p Brain HexEngine V1 2 Configuration Guide ESD200 Bluetooth configuration p Brain SMB This section explains the HexEngine ESD CONFIG command This command attempts to configure the ESD200 or ESD100 ready to work with the HexEngine Note Have a copy of the p Brain SMB to hand to help installation and jumper identification ESD Installation To install your ESD200 remov
35. m anterior coxa servo centre to centre of body in X direction This is the same for both left and right anterior coxa joints Note The right side of the hexapod is positive X direction See Diagram 1 ACY Anterior Coxa Y Distance from anterior coxa servo centre to centre of body in Y direction This is the same for both left and right anterior coxa joints Note The anterior of the hexapod is positive Y direction See Diagram 1 MCX Middle Coxa X Distance from middle coxa servo centre to centre of body in X direction This is the same for both left and right middle coxa joints See Diagram 1 MCY Middle Coxa Y Distance from middle coxa servo centre to centre of body in Y direction This is the same for both left and right middle coxa joints Note The middle coxa joint must be in the middle of the body therefore this value must be 0 0 See Diagram 1 PCX Posterior coxa X Distance from posterior coxa servo centre to centre of body in X direction This is the same for both left and right posterior coxa joints See Diagram 1 PCY Posterior Coxa Y Distance from posterior coxa servo centre to centre of body in Y direction This is the same for both left and right posterior coxa joints Note The anterior of the hexapod is positive Y direction See Diagram 1 IFA Initial Femur Angle This is the femur angle when the hexapod is in its neutral standing position Note This value is only used during the hexapod power up in order to s
36. micromagic _ Animatronic amp Puppet control systems for Film amp Television p Brain HexEngine V1 21 Updated 12 10 09 Configuration Guide Page 1 of 35 Contents 2 Description 2 Key Features 2 Port Configuration 3 Terminal Connection 4 Boot Screen 5 Hexapod POD Geometry 6 Main Menu p Brain ds24 HexEngine 6 Main Menu Commands Table RECUPE eer 7 Main Menu Commands 10 Configuration Menu 11 Configuration Menu Commands Table 14 Configuration Menu Commands 14 P Brain Configuration 15 Geometry Configuration 18 Gait Configuration 20 Servo Configuration 26 Behavioural Configuration 27 Body Motion Configuration 28 Head Configuration 30 ESD200 Bluetooth Configuration SMB 32 ESD200 Bluetooth Configuration 24 33 PS2 Gamepad Control 35 Legal Please Read First p Brain u24 HexEngine micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 2 35 p Brain HexEngine V1 2 Configuration Guide Description The HexEngine is a software module designed for the p Brain ds24 or p Brain y24 hardware modules The HexEngine is a user configurable locomotion engine for hexapod robots HexEngine is configured via a serial port RS 232 or TTL level using standard terminal software such as HyperTerminal or TerraTerm As HyperTerminal is no longer included with Vista I recommend usin
37. n of the legs which gives a more natural body movement With this option disabled the hexapod body is kept stable as the legs move B3T 3D balance tranlation gain This value controls the level of body translation in 3D balance mode Setting to 0 0 will switch off tranlation setting to 2 0 will double the standard amount B3R 3D balance rotation gain This value controls the level of body rotation in 3D balance mode Setting to 0 0 will switch off rotation setting to 2 0 will double the standard amount micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 20 35 p Brain HexEngine V1 2 Configuration Guide SERVO CONFIGURATION RAS Right Anterior Servo This value sets the individual servo reverse bits for the right anterior leg The value is entered in the form Coxa Femur Tibia CFT e g a value of 000 means none of the servos are reversed a value of 010 means only the femur servo is reversed See Diagram 3 RMS Right Middle Servo This value sets the individual servo reverse bits for the right middle leg The value is entered in the form Coxa Femur Tibia CFT e g a value of 000 means none of the servos are reversed a value of 010 means only the femur servo is reversed See Diagram 3 RPS Right Posterior Servo This value sets the individual servo reverse bits for the right posterior leg The value is entered in the form Coxa Femur Tibia CFT e g a value of 000 means no
38. ne of the servos are reversed a value of 010 means only the femur servo is reversed See Diagram 3 LPS Left Posterior Servo This value sets the individual servo reverse bits for the left posterior leg The value is entered in the form Coxa Femur Tibia CFT e g a value of 000 means none of the servos are reversed a value of 010 means only the femur servo is reversed See Diagram 3 LMS Left Middle Servo This value sets the individual servo reverse bits for the left middle leg The value is entered in the form Coxa Femur Tibia CFT e g a value of 000 means none of the servos are reversed a value of 010 means only the femur servo is reversed See Diagram 3 LAS Left Middle Servo This value sets the individual servo reverse bits for the left anterior leg The value is entered in the form Coxa Femur Tibia CFT e g a value of 000 means none of the servos are reversed a value of 010 means only the femur servo is reversed See Diagram 3 CSR Coxa Servo Range This setting specified in degrees determines the servo travel range for the coxa servos For example a standard PWM servo signal is from 1 to 2 milliseconds in length and would drive a standard servo 90 degrees However most servos differ slightly between makes and models and so this value can be trimmed to suit If this value is not set correctly the HexEngine will not produce accurate movements Note See Table 4 for a list of known servos and their appropri
39. o operate as digital I O The string must be 8 characters long and can contain only I or O characters For example if ADC DDDDDDDD to configure the top nibble as inputs and the bottom nibble as outputs enter the following DIO IIIIOOOO Note Digital inputs 0 to 5 have weak internal pull up s inputs 6 and 7 do not There are no output current limiting resistors on the digital ports take care not to short or overload the pins maximum current source and sink per pin is 4 mA PIP Packet Interface Protocol Mode This setting defines the PIP mode either 0 or 1 Please see the HexEngine PIP Guide for further details on the PIP and PIP modes TXD Transmission Delay When controlling the HexEngine from micro processors that do not have hardware uarts such as the basic stamp series it is necessary to add a transmission delay to packets in order to give the connected micro time to switch to data reception after a PIP transmission This is only necessary in two way communications such as reading from the HexEngine I2C port The TXD parameter adds a number of Oxff bytes to the header of each PIP packet PS2 PS2 Gamepad Control Setting this value to 1 will enable the internal PS2 gamepad control module See PS2 Gamepad Control for further details BODY MOTION CONFIGURATION MXR Maximum X Rotation This defines the maximum body X rotation in degrees When controlling the hexapod using the control interface binary values of 0 to 255 are scal
40. sterior Coxa Centre angle Degrees 45 0 45 0 CFA Centre Femur Angle Degrees 45 0 45 0 CTA Centre Tibia Angle Degrees 45 0 135 0 RAS Right anterior servo reverse bits Bits 000 111 RMS Right middle servo reveres bits Bits 000 111 RPS Right posterior servo reverse bits Bits 000 111 LPS Left posterior servo reverse bits Bits 000 111 LMS Left middle servo reverse bits Bits 000 111 LAS Left anterior servo reverse bits Bits 000 111 CSR Coxa servo range Degrees 0 0 180 0 FSR Femur servo range Degrees 0 0 180 0 TSR Tibia servo range Degrees 0 0 180 0 SM1 Servo Remap SMB Hexapod Standard SM2 Servo Remap Inverted SMB Hexapod Standard SM3 Servo Remap SMB Standard servo numbering MFS Maximum forward leg stroke Walk mm 5 250 MSS Maximum sideways leg stroke Crab mm 5 250 MTA Maximum turn angle Turn Degrees 2 30 LZR Landing Zone Radius mm 0 150 LLH Leg lift height normal mode mm 10 250 LLO Leg lift height Off road mode mm 10 250 DLT Default leg transition speed seconds 0 3 10 0 DGD Default gait delay Integer 3 ORG Off road gait enable bit 1 B3D Full 3D balance gesture bit 1 B3T 3D balance rotation gain real 0 0 2 0 B3R 3D balance translation gain real 0 0 2 0 DPU Default power up height mm 10 250 DPD Default power down height mm 0 250 micromagic systems Itd e Registered in England no 3745348 www micromagicsystems com Page 13 35 p Brain HexEngine V1 2 Configuration Guide
41. t and power up settings can be configured A full list of commands can be viewed by typing followed by the enter key Most commands are three letters long and are followed by the ENTER key Commands longer than three letters are used to view parameters and or change menu s For example type EXIT to return to the MAIN menu Note When entering the configuration menu the hexapod will automatically power down The Pod cannot be run while in configuration mode To query a configuration setting type the three character command followed by a carriage return denoted as lt cr gt in examples The command will be repeated followed by the current setting Example to query tibia length gt TLN lt cr gt TLN 100 00 To change a configuration setting type the three character command followed by followed by the desired value If the value is in the valid range for the command the command and value are echoed back if the value is outside the valid range for the command the value is clamped to the nearest limit Example to set tibia length gt TLN 120 0 lt cr gt TLN 120 0 Example of range clamping gt TLN 0 lt cr gt TLN 25 micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 11 35 p Brain HexEngine V1 2 Configuration Guide Configuration Menu Commands Table KEY COMMANDS P BRAIN CONFIGURATION SERVO CONFIGURATION BEHAVIORAL CONFIGURATION
42. tems Itd Registered in England no 3745348 www micromagicsystems com Page 32 35 p Brain HexEngine V1 2 Configuration Guide ESD200 Bluetooth configuration p Brain p24 ESD Installation To install your ESD200 remove power from your p Brain u24 connect the ESD200 to the SMB as indicated in the picture Install jumper JP1 in the B position ESD Configuration Before you configure the ESD200 device you may need to change the desired baud rate this defaults to 115200 If you require a different baud rate you will need to use the RJ 232 adaptor and configure the HexEngine TBR setting before proceeding Note the baud rate into the ESD200 does not have to match the baud rate on the host PC bluetooth adaptor Although not essential if you have an RJ 232 adaptor lead it is advised to plug this in during ESD200 configuration so that the progress and any configuration errors can be monitored Connect the RJ 232 lead from the RJ11 port to a free serial port on your host PC and start up your terminal software With the JP1 jumper in the B position switch on power to the p Brain y24 wait until the unit has booted up approx 2 seconds then press and hold the small tactile switch located under the power terminal CN3 for at least 2 seconds then release All going well your ESD200 will be configured in approximately 5 seconds If you are using the RJ 232 lead you should see a configuration start and configuration OK message in
43. the foot should now points towards the ground This is the position most of my hexapods use for the CFA amp CTA angles Right Anterior Leg viewed from front of hexapod Ground micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 18 35 p Brain HexEngine V1 2 Configuration Guide GAIT CONFIGURATION MFS Maximum Forward Stroke This defines the maximum forward amp backwards leg stroke the hexapod can take This is one of the configuration settings that determines the speed of the hexapod If in doubt start with a low figure such as 10 then try your hexapod out going forwards at full speed depending on its size the hexapod should be taking fairly small steps approximately 10mm long Note There are no checks to see if this value is within the physical range of the hexapods legs therefore setting an unrealistic value may result in servo collisions amp or IK maths errors MSS Maximum Side Stroke This defines the maximum side stroke crabbing stroke the hexapod can take This is one of the configuration settings that determines the speed of the hexapod If in doubt start with a low figure such as 10 then try your hexapod out going sideways at full speed depending on its size the hexapod should be taking fairly small steps approximately 10mm long Note There are no checks to see if this value is within the physical range of the hexapods legs there
44. the servo remap for the p Brain y24 to the standard Hexapod configuration with the u24 mounted above or below the top chassis plate with the servo pins facing up See diagram amp table below for servo output configuration H24 Servo Number Leg Joint H24 Servo Number Leg Joint 1 Auxiliary Servo 1 Auxiliary Servo 6 micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 25 35 p Brain HexEngine V1 2 Configuration Guide SM2 For p Brain p24 Servo Remap Hexapod Reversed This setting will set the servo remap for the p Brain p24 to the inverted Hexapod configuration with the y24 mounted above or below the top chassis plate with servo pins pointing down See table below for servo output configuration H24 Servo Number Leg Joint H24 Servo Number Leg Joint 1 Auxiliary Servo 6 Auxiliary Servo 1 Pan Tilt Head Servo Map p Brain SMB Servo Number p Brain p24 Servo Number Pan Tilt function Auxiliary 1 Auxiliary 1 Head Pan Auxiliary 2 Auxiliary 6 Head Tilt Auxiliary 3 Auxiliary 2 Head Twist Auxiliary 4 Auxiliary 5 Head Gripper micromagic systems Itd Registered in England no 3745348 www micromagicsystems com Page 26 35 p Brain HexEngine V1 2 Configuration Guide BEHAVIORAL CONFIGURATION DPU Default Power Up Height This is the neutral standing height for the hexapod This value is used in conjunction w
45. urrent servo calibration offsets Leg Info This command will list the leg tarsus foot position in X Y amp Z coordinates along with the leg joint angles Gait Info This screen displays leg phase tarsus position X Y Z leg angles body rotation and translation and drive variables The screen is updated twice a second Very useful for debugging To exit this screen press any key Note This screen can be very useful the first time you configure your hexapod If you are unsure if you have configured the geometry correctly have a look at the tarsus positions and leg angles within this screen to see if they are what you would expect You can also disconnect the servo power source and run the hexapod through some moves without the servos moving to check the leg angles first Wake This will wake the hexapod up from standby mode e g Stand the hexapod up into its neutral standing position This is for testing purposes Sleep This will put the hexapod into standby mode Stop This will stop the hexapod if it happens to be moving Home If the hexapod is standing and the legs are not in their neutral position this will move the legs back to their neutral position e g Relax the hexapod Control When both the locomotion and configuration port are configured to use the same UART e g Mode 2 amp 3 of Port Configuration Table upon boot the HexEngine will default to configuration mode In order to enter locomotion mode use the CONTR
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