I not sure this belongs in this section, but as it pertains to my Hexapod Robot I thought I would post here.
Currently I use a Spectrum Dx7 and Ar6100E receiver to run things
I am looking at a startup sequence for my bot this consists of the following:
Query the Servo controller and confirm Input voltage, Firmware version and of course that I can actual talk to it.
Have the user establish the high and low positions for the throttle and directional control. Basically move the sticks and save the values.
Flick a switch to move each the servos as a serviceability test, servo movement is automatic and done sequentially
A sensor test to confirm data is being received correctly no long lines of zero - this is a target on a stick that is at a known range it works pretty well.
Finally flick the switch back to continue
All requests currently pass through the serial interface, a small LCD with buttons to be added.
My question is this overkill ? I look at it as a logical startup process but I have been known to over think things.
Any input would be appreciated, I need a rest from IK, it has been way too many years since I had to think that hard.
All I can say is you start implementing and add what seems appropriate.
IK is nice, but I always thought it was somewhat overkill for a hexapod. You're not doing
pick and place. Do the feet really need to come down in precise locations? Actually, a walker
should have sensors in its feet to provide feedback to the main processor. Eg, some people
found that the easiest way to get a hexapod to walk over obstacles was to sense if the foot
banged into something, and then literate on code saying, to effect
a. lift foot a bit.
b. move foot forward.
c. if collision, then go to a.
Oric_dan, interesting observation and it mirrors mine, it seems like a lot of math unless you are try to keep your center of gravity precisely set for uneven ground. I setup an idiot walking system that works fine for forward motion to verify servo range of movement.
I also have been playing with FSR's as that seems like a good way to determine a safe leg position on the ground.
I'm not sure that IK has anything to do with keeping the COG positioned properly. Most
people implement very simple gaits, like alternating-tripod gait, for hexapods. And
hexapods are very stable in general, as compared to other walker geometries. People
rarely use gaits that control each leg completely separately, that I have seen.
If you really want it to walk over uneven you should do some research into what people like
Boston Dynamics Little Dog and Big Dog do [albeit those are quadrupeds]. Eg, they will
advance a single leg, and then knowing the position of the 4 legs, move the COG into
position between all four legs. A lot has to do with having accelerometers to read body
position. Go to youtube.com, and search on "little dog darpa".