Here are a few of the ones that I picked out from the others.įirst there is simple defines for selecting something major like four degrees for freedom and Quad mode (versus the default Some are specific to each of the drivers, but someĪre more generic. Many of the options are in place to either include or exclude code from the executable. Many of the different Input drivers as well as the servo drivers have options that can be defined. Sorry that the information here is a bit rough. Not complete, I hope it might help out some. There are features and options that are part of the code base that should probably be documented. Some Notes about Capabilities and Options This is used with most of the Trossen Robots _Phoenix_Input_Commander - Support for the Arbotix Commander._Phoenix_Driver_AX12 - This is the servo driver used for Robotis AX-12 or AX-18 servos._Phoenix.h - Contains the main header file with data descriptions.This code requires that you have also installed the Arbotix extensions to the Arduino environment as well as their libraries. I personally keep this project in my Arduino Sketchbook, such that I can load it, using the Arduino File/Sketchbook menu. Note: Hopefully this code is reasonably self-contained and can be located anywhere. Most of the code in these libraries are in header files, which allows them to be compiled specifically for each project. This is a Work In Progress! There are no warrantees or Guarantees of any type that this code is useable for anything. The code is configured to run on a Version 2 of the PhantomX Hexapod using an Arbotix Commander for input. Warning sometimes when you sync with this project it may be configured as a hexapod and other times it is configured as a quad. When I do that I will rename these files as to not conflict with those files in the I do the migration from the Arduino_Phoenix_Parts project by collecting all of the pieces which in the Arduino_Phoenix_Parts project that in separate directories and copy them into the main sketch folder. If you run into issues with this project, you might want to look at the primary project I mentioned above. There will be times when the projects will be out of sync. When I make changes to the code base I try to migrate the changes to all of the differnt projects. Instead of having to install all of the parts as libraries, they are all self contained in the sketch folder. However this is well as a few other projects are easier to use for a specific type of robot, in this case the PhantomX Hexapods or Quads. The top library is the Phoenix and under this are several example projects that can create several different configurations, including one that is hopefully always set up for a stock PhantomX robot. In that project there are several different libraries, to build the Phoenix code for any of my Hex robots. This is not the primary project for my work to support Hex and Quad Robots.
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