String or list channel numbers on PSCU

Carol Hazlett

I have a 6 legged, 3DOF spider type walker using a BS2 and 2 Prop Servo Controllers. I want to have a custom starup mode that will have the robot in a standing position when powered on. Right now I just have the servos going to center when powered on. I have changed the start up to PM1 as per the instruction manual. My question is, is there a way to list or string the channel numbers so I can give a certain value to several at once? The line in the manual is for changing channels 0 to 31 all to the same value, but I would like only 12 channels of one value, 3 of another and three of another value. Or is the only way to do each channel one at a time? Will that even work? The channels are not sequential so I cannot batch them as the instructions show, I am reluctant to rewire them to be numbered in a batch as that would make working on the walking gaits rather difficult.

Carol Hazlett

I think I have a way to do it using variables. Will let you know if it works and post my code.

Carol Hazlett

I was unable to get anything to work for programming start-up mode on the prop servo controller, so I have just settled for letting it zero the servos when I turn the spider on. I have written a routine to make the bot stand up but I am having to program each individual servo instead of being able to use the PSCI software. The version number of the PSCU will come up in the software but the sliders will not move a servo. I suspect that the software just does not work with the current version of the PSCU as it was written originally for another earlier board. I would like help with my code also, there is not much info on how to program the PSCU and I am sure someone has a better method than I used. I am posting the code and a link to the video of what the code does. Go to www.facebook.com/Robothon and look for the video posted on Nov. 13, 2012 at 7:45 PM.

' {$STAMP BS2}
' {$PBASIC 2.5}

'First attempt at programming the Minds-i Spidey
'6 legged 3DOF walking robot.
'Created by Carol Hazlett 11/8/2012

'---[Variables]-------------------------------------------------------

pw                VAR     Word
ra                VAR     Byte
Sdat              CON     15
Baud              CON     396
counter           VAR     Byte

FRHip             CON     16              'Forward right hip servo
FRKnee            CON     17              'Forward right knee servo
FRFoot            CON     18              'Forward right foot servo

MRHip             CON     27              'Middle right hip servo
MRKnee            CON     28              'Middle right knee servo
MRFoot            CON     29              'Middle right foot servo

RRHip             CON     24              'Rear right hip servo
RRKnee            CON     25              'Rear right knee servo
RRFoot            CON     26              'Rear right foot servo

FLHip             CON     8               'Forward left hip servo
FLKnee            CON     9               'Forward left knee servo
FLFoot            CON     10              'Forward left foot servo

MLHip             CON     3               'Middle left hip servo
MLKnee            CON     4               'Middle left knee servo
MLFoot            CON     5               'Middle left foot servo

RLHip             CON     0               'Rear left hip servo
RLKnee            CON     1               'Rear left knee servo
RLFoot            CON     2               'Rear left foot servo

Main:


  GOSUB Stance
  GOSUB Stand
  GOSUB Wave


END



Stance:
  ra = 15
  'Front left leg
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", FLHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 300
  SEROUT Sdat, Baud+$8000,["!SC", FLKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 400
  SEROUT Sdat, Baud+$8000,["!SC", FLFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50

  'Middle left leg
  pw = 700
  SEROUT Sdat, Baud+$8000,["!SC", MLHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 300
  SEROUT Sdat, Baud+$8000,["!SC", MLKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 400
  SEROUT Sdat, Baud+$8000,["!SC", MLFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50

  'Rear left leg
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", RLHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 250
  SEROUT Sdat, Baud+$8000,["!SC", RLKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 350
  SEROUT Sdat, Baud+$8000,["!SC", RLFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50

  'Front right leg
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", FRHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 1190
  SEROUT Sdat, Baud+$8000,["!SC", FRKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 1140
  SEROUT Sdat, Baud+$8000,["!SC", FRFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50

  'Middle right leg
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", MRHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 1230
  SEROUT Sdat, Baud+$8000,["!SC", MRKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 1200
  SEROUT Sdat, Baud+$8000,["!SC", MRFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50

  'Rear right leg
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", RRHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 1200
  SEROUT Sdat, Baud+$8000,["!SC", RRKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 1200
  SEROUT Sdat, Baud+$8000,["!SC", RRFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  RETURN

Stand:

  ra = 11
  'Front left leg
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", FLHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 1200
  SEROUT Sdat, Baud+$8000,["!SC", FLKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", FLFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50

  'Middle left leg
  pw = 700
  SEROUT Sdat, Baud+$8000,["!SC", MLHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 1200
  SEROUT Sdat, Baud+$8000,["!SC", MLKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", MLFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50

  'Rear left leg
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", RLHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 1150
  SEROUT Sdat, Baud+$8000,["!SC", RLKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", RLFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50

  'Front right leg
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", FRHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 280
  SEROUT Sdat, Baud+$8000,["!SC", FRKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 760
  SEROUT Sdat, Baud+$8000,["!SC", FRFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50

  'Middle right leg
  ra = 5
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", MRHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 300
  SEROUT Sdat, Baud+$8000,["!SC", MRKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", MRFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50

  'Rear right leg
  ra = 5
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", RRHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 320
  SEROUT Sdat, Baud+$8000,["!SC", RRKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
  pw = 750
  SEROUT Sdat, Baud+$8000,["!SC", RRFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
  PAUSE 50
RETURN

Wave:
  FOR counter = 1 TO 10
    ra = 11
    pw = 750
    SEROUT Sdat, Baud+$8000, ["!SC", FRHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
    PAUSE 100
    pw = 1190
    SEROUT Sdat, Baud+$8000, ["!SC", FRKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
    PAUSE 100
    pw = 300
    SEROUT Sdat, Baud+$8000, ["!SC", FRFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
    PAUSE 100

    ra = 7
    pw = 750
    SEROUT Sdat, Baud+$8000, ["!SC", FRHip, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
    PAUSE 100
    pw = 750
    SEROUT Sdat, Baud+$8000, ["!SC", FRKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
    PAUSE 100
    pw = 750
    SEROUT Sdat, Baud+$8000, ["!SC", FRFoot, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
    PAUSE 100
  NEXT
    pw = 280
    SEROUT Sdat, Baud+$8000, ["!SC", FRKnee, ra, pw.LOWBYTE, pw.HIGHBYTE, CR]
    PAUSE 100

RETURN