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PhantomX Manual

1) This document provides assembly instructions for a PhantomX hexapod robot kit, including an overview of the communication protocol. 2) It recommends inventorying parts, configuring software and an Arduino IDE, and pairing XBee radios before assembly. 3) The hexapod is controlled through a simple serial protocol from an Arbotix Commander handheld or computer using XBee radios and inverse kinematics software on an Arbotix microcontroller.

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Alex Fierăscu
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424 views5 pages

PhantomX Manual

1) This document provides assembly instructions for a PhantomX hexapod robot kit, including an overview of the communication protocol. 2) It recommends inventorying parts, configuring software and an Arduino IDE, and pairing XBee radios before assembly. 3) The hexapod is controlled through a simple serial protocol from an Arbotix Commander handheld or computer using XBee radios and inverse kinematics software on an Arbotix microcontroller.

Uploaded by

Alex Fierăscu
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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QUICK START GUIDE PhantomX AX Series Hexapod

INTRODUCTION
Congratulations on your purchase of the PhantomX Hexapod Kit! The first thing we recommend when unpacking your kit is to refer to the Assembly Guide and take a quick inventory of all of your parts using the parts list (found at the end of this packet). www.trossenrobotics.com/productdocs/assemblyguides/phantomx-hexapod.html 1) Be sure to read through the Assembly Guide prior to starting your build so that you have a good overview of the build process. When you are done building your hexapod, you will need to pair your Xbees and program the Arbotix with the latest here. Each servo has the network ID preset, pay close attention to which servos you are using to assemble each leg, there is a diagram in the Assembly Guide that explains which servos go where. http://www.trossenrobotics.com/productdocs/AX_12_PhantomX_Hexapod.zip 2) The Xbees that come with this kit ship with factory defaults. You will need to change the baud rate to 38400 and pair them for proper use. Please refer to the tutorial found here: http://forums.trossenrobotics.com/tutorials/how-to-diy-128/xbee-basics-3259/? 3) The Arbotix Robocontroller uses the Arduino IDE to create and upload firmware. If you are not already familiar with the Arduino IDE, we recommend reading through some of the documentation available on the Arduino website (http://arduino.cc). The Arduino IDE needs to be configured in order to recognize and program the Arbotix; information on how to do this can be here: http://code.google.com/p/arbotix/wiki/GettingSetup

4)

Once your Arduino IDE is properly configured, the PhantomX hexapod sketch can be uploaded. Note: You can power the Arbotix from the FTDI cable by changing the appropriate jumper, this is useful for setting it up and testing prior to having your power wires and battery installed (just remember to set it back when youre done!)

5) We recommend setting up your LiPo Balance Charger and getting you pack fully charged prior to
assembly, so that you won't have to wait for it when you're done building! Once you have completed the assembly of your robot, it is ready to run using the handheld Arbotix Commander!

OVERVIEW
The PhantomX Hexapod is a fairly complex robot, but anyone with a sense of adventure and some programming experience can tweak the software to their liking. All of the software used was developed by Vanadium Labs and is open source by nature, with the intention of encouraging people to modify, hack, and change it any way they see fit. The core of the PhantomX is the Arbotix Robocontroller; this microcontroller runs an inverse kinematics & gait engine that tell the AX-12 Dynamixel network where, when, and how to position the legs. The Arbotix accepts navigation commands using the 'Commander Protocol', which is a simple serial protocol that allows for proportional control of the robot's walking. The Arbotix Commander is a ready-to-run handheld controller that outputs this protocol, and using a pair of Xbee wireless modules, the Robocontroller and the Commander can communicate. This same protocol can also be used to control the hexapod from a computer using the supplied USB Xbee interface. Any programming language that can talk to a serial port is capable of controlling the PhantomX Hexapod using the Commander Protocol (which is detailed in the Arbotix Commander Manual).

DETAILS OF COMMUNICATION PROTOCOL


The Commander Protocol is quite simple to generate even on devices other than the hand held Arbotix Commander. For instance, there is a python version included with PyPose. The core of the protocol is an 8-byte packet: Byte 1 2 3 4 5 6 7 8 Name Header Right Joystick, Vertical Right Joystick, Horizontal Left Joystick, Vertical Left Joystick, Horizontal Button Values Extended Instruction Checksum Value 255 Centered around 128, values can range from -125 to 125. Centered around 128, values can range from -125 to 125. Centered around 128, values can range from -125 to 125. Centered around 128, values can range from -125 to 125. See Mask below See the Commander Manual for details. (255 - (byte2+byte3+...byte7) Mod 256)

Bit Low 2 3 4 5 6 7 High

Button Values Mask Value Button R1 Button R2 Button R3 Button L4 Button L5 Button L6 Right Top Button Left Top Button

PhantomX Hexapod Comprehensive - Parts Checklist


HARDWARE KIT

1x Hexapod Body Kit 3x Hexapod Leg Kits 1x Nut & Bolt Hardware Kit
FRAMES KIT BLACK

12x F2 Bioloid Frames 12x F3 Bioloid Frames


SERVOS & CABLES

18x AX Dynamixel Servos (verify ID programmed) 18x 200mm 3P Cables


ELECTRONICS PACK

Arbotix Arbotix Commander LiPo Balance Starter Kit FTDI Adapter 11.1v 3S LiPo Battery 2x Xbee 1mw Modules USB Xbee Interface USB A to Mini-B Cable

PhantomX Hexapod (NO SERVO) - Parts Checklist


HARDWARE KIT

1x Hexapod Body Kit 3x Hexapod Leg Kits 1x Nut & Bolt Hardware Kit
FRAMES KIT BLACK

12x F2 Bioloid Frames 12x F3 Bioloid Frames


ELECTRONICS PACK

Arbotix Arbotix Commander LiPo Balance Starter Kit FTDI Adapter 11.1v 3S LiPo Battery 2x Xbee 1mw Modules USB Xbee Interface USB A to Mini-B Cable

PhantomX Hexapod Barebones - Parts Checklist


HARDWARE KIT

1x Hexapod Body Kit 3x Hexapod Leg Kits 1x Nut & Bolt Hardware Kit
FRAMES KIT BLACK

12x F2 Bioloid Frames 12x F3 Bioloid Frames

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