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MechWarfare Biped Arc32

Reverse knee biped for use in the MechWarfare event at RoboGames.
My attempts at adapting Zenta's biped code to my robot.
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bgalperin committed Oct 4, 2012
1 parent c3c9a2e commit 5c8e8fc608b2001471f8ac75657732937f666445

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+;Project Lynxmotion Phoenix
+;Description: Phoenix, configuration file.
+; All Hardware connections (excl controls) and body dimensions
+; are configurated in this file. Can be used with V2.0 and above
+;Configuration version: V2.0
+;Date: 06-10-2009
+;Programmer: Jeroen Janssen (aka Xan)
+; ARC32 Version: Kurt Eckhardt(kurte)
+;
+;Hardware setup: ABB2 with ATOM 28 Pro, SSC32 V2, (See further for connections)
+;
+;NEW IN V2.0
+; - Conversion to Arc32
+;
+;--------------------------------------------------------------------
+USEPS2 con 1 ; Do we use the PS2?
+;USEXBEE con 1 ; and/or do we use XBEE?
+UseReversedKnee con 1
+
+;--------------------------------------------------------------------
+;[BB2 PIN NUMBERS]
+cEyesPin con P25
+;--------------------------------------------------------------------
+;[ARC32 PIN NUMBERS]
+; Using group 1 and 3 for servos
+; Some pins are changed!
+
+#IFDEF UseReversedKnee
+ cLHipYawPin con P0 ;Right Leg Hip Rotate
+ cLHipRollPin con P1 ;Right Leg Hip Sway
+ cLFemurPin con P7 ;Right Leg Femur
+ cLTibiaPin con P3 ;Right Leg Knee
+ cLAnklePitchPin con P2 ;Right Leg Ankle
+ cLAnkleRollPin con P5 ;Right Leg Ankle Sway
+
+ cRHipYawPin con P16 ;Left Leg Hip Rotate
+ cRHipRollPin con P17 ;Left Leg Hip Sway
+ cRFemurPin con P23 ;Left Leg Femur
+ cRTibiaPin con P20 ;Left Leg Knee
+ cRAnklePitchPin con P18 ;Left Leg Ankle
+ cRAnkleRollPin con P19 ;Left Leg Ankle Sway
+#ELSE
+ cRHipYawPin con P0 ;Right Leg Hip Rotate
+ cRHipRollPin con P1 ;Right Leg Hip Sway
+ cRFemurPin con P7 ;Right Leg Femur
+ cRTibiaPin con P3 ;Right Leg Knee
+ cRAnklePitchPin con P2 ;Right Leg Ankle
+ cRAnkleRollPin con P5 ;Right Leg Ankle Sway
+
+ cLHipYawPin con P16 ;Left Leg Hip Rotate
+ cLHipRollPin con P17 ;Left Leg Hip Sway
+ cLFemurPin con P23 ;Left Leg Femur
+ cLTibiaPin con P20 ;Left Leg Knee
+ cLAnklePitchPin con P18 ;Left Leg Ankle
+ cLAnkleRollPin con P19 ;Left Leg Ankle Sway
+#ENDIF
+
+cCogShifterpin con P6
+;
+cSound con P31 ; lets try output sound on plug in speaker
+cStatusLED con P44
+cBattLED con P45
+
+;--------------------------------------------------------------------
+;[MIN/MAX ANGLES]
+cRHipYawMin1 con -900 ;Mechanical limits of the Right Leg, decimals = 1
+cRHipYawMax1 con 900
+cRHipRollMin1 con -900
+cRHipRollMax1 con 900
+cRFemurMin1 con -900
+cRFemurMax1 con 900
+cRTibiaMin1 con -900
+cRTibiaMax1 con 900
+cRAnklePitchMin1 con -900
+cRAnklePitchMax1 con 900
+cRAnkleRollMin1 con -900
+cRAnkleRollMax1 con 900
+
+cLHipYawMin1 con -900 ;Mechanical limits of the Right Leg, decimals = 1
+cLHipYawMax1 con 900
+cLHipRollMin1 con -900
+cLHipRollMax1 con 900
+cLFemurMin1 con -900
+cLFemurMax1 con 900
+cLTibiaMin1 con -900
+cLTibiaMax1 con 900
+cLAnklePitchMin1 con -900
+cLAnklePitchMax1 con 900
+cLAnkleRollMin1 con -900
+cLAnkleRollMax1 con 900
+
+;--------------------------------------------------------------------
+;[BODY DIMENSIONS]
+cHipVertLength con 29
+cCoxaLength con 29 ;Length of the Coxa [mm]
+cFemurLength con 75 ;Length of the Femur [mm]
+cTibiaLength con 57 ;Lenght of the Tibia [mm]
+
+cROffsetX con -45 ;Distance X from center of the body to the Right Hip
+cROffsetZ con 0 ;Distance Z from center of the body to the Right Hip
+
+cLOffsetX con 45 ;Distance X from center of the body to the Left Hip
+cLOffsetZ con 0 ;Distance Z from center of the body to the Left Hip
+;--------------------------------------------------------------------
+;[Joint offsets]
+cFemurOffset con 300 ;450 (350)
+cAnklePitchOffset con 350 ;300 (350)
+;--------------------------------------------------------------------
+;[START POSITIONS FEET]
+cRInitPosX con 0 ;Start positions of the Right leg
+cRInitPosY con 75 ;75 / 90
+cRInitPosZ con 30 ; -10
+
+cLInitPosX con 0 ;Start positions of the Left leg
+cLInitPosY con 75 ;75 / 90
+cLInitPosZ con 30 ;-10
+;--------------------------------------------------------------------
+;[ICS, Internal Cog Shifter]
+cSliderHalfMaxMinDeg con 245 ;Thats the 1/2 of max/min range for the slider servo = 24,5 deg
+cSCBPX con 18 ;Division factor for calculating the SCBodyPosX
+cMaxOppositeTravel con 20 ;A limitation for how far the oposite leg can travel while doing sidewalking
+ ;(when walking sideways to the right the left leg is the oposite)
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