Teensy 4.1 + hexapode
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PaulS
Well-known member
PaulS
Well-known member
You may want to check this link: [url]https://learn.trossenrobotics.com/interbotix/robot-crawlers/10-phantomx-hexapod/29-phantomx-hexapod-build-check[/URL], and this link: [url]https://learn.trossenrobotics.com/10-interbotix/crawlers/phantomx-hexapod/68-phoenix-code.html[/URL].
The firmware mentioned in the last link is from member KurtE on this forum.
Paul
The firmware mentioned in the last link is from member KurtE on this forum.
Paul
KurtE
Senior Member+
Yes the Teensy 4.1 is fast enough for Hexapod stuff.
As mentioned I have been plying around with hexapods for many years starting off with the Lynxmotion set of hexapods that originally we did all of the basic hexapod code using a Basic Atom Pro (ran a version of basic...), with a lot of the RC servo control handled by a servo controller board (SSC-32). Later we converted to an AVR board using the same processor as the Arduino UNO to control the hexapod... Later I converted the code to work with a Teensy 3.2 and beyond. Later I/We got away from doing much with RC servos and mostly used Dynamixel Servos by Robotis. Currently I am participating with a group of people to get code working using the New Lynxmotion LSS servos and we are mostly using Teensy 4.1. So far I have not made much progress on this as I spend most of my time trying to help/play up here as much as I can.
I have code projects up on github, where are all probably in some form of neglect. Like:
https://github.com/KurtE/Arduino_Phoenix_Parts - sort of a mix and match project where you can have different servo controllers, IO controllers and start from there
https://github.com/KurtE/Phantom_Phoenix - started from the above, but specific to the older Trossen Dynamixel servos mostly with their Arbotix commander controller
https://github.com/KurtE/Open_CM_CR_Arduino_Sketches - Bits and pieces of above but converted to Robotis OpenCM or OpenCR stuff, but in addition I may have a Teensy version up there using the Robotis libraries instead.
There are also other bits and versions up there as well where I converted most of the code run on boards such as RPI, Odroid, UP, ...
The real question is what is you really want to do? What components are wanting to use...
Things like what motors, linear activators, or servos are you wanting to use?
Again I started off with RC servos based Robots by Lynxmotion http://www.lynxmotion.com/c-3-hexapods.aspx
Mostly used HiTec HS-645 servos. Many of these hexapods were designed by the member @zenta.
With these you need to generate an accurate width pulse for each of the servos maybe 50 times per second. We can do that with Teensy, but there are some limitations. Sometimes easier with dedicated servo controller.
Later to ones by Trossen like: https://www.trossenrobotics.com/phantomx-ax-hexapod.aspx
Which use smart servos by Robotis. With these they are controlled by a Half duplex Serial setup, which can be done directly by Teensy or you can and I often add some external components to convert the signal from 3.3v to 5v. These servos allow you to get feedback like there current position, voltage, torque... I have another version of the same Hexapod that is using some of their newer servos. They can use the same setup, although wires are different and they typically use what Robotis says are Protocol 2 versus the older AX servos which are Protocol 1...
Lynxmotion LSS - Are again Serial, but full duplex... Again I use external circuit to convert 3.3v to 5v TTL signal to servos.
Do you want some form of remote control? If so what?
With Teensy, I have done this earlier with XBee based setup, like again the Trossen Arbotix commander. With T3.6 and T4.x you have the ability to use USB Host stuff and we do have host code support for example to use joysticks and the like. Plus some Bluetooth including PS3 and PS4 controllers..
What other sensors do you wish to use?
Again there are many that have supported by the Teensy.
But then the question is what else? Example things like camera inputs and the like. Some that work.
Then once you get a lot of the basics working there are lots of other stuff that you want to consider, like, do you want self navigation, mapping capabilities, ...
Hope that helps some.
As mentioned I have been plying around with hexapods for many years starting off with the Lynxmotion set of hexapods that originally we did all of the basic hexapod code using a Basic Atom Pro (ran a version of basic...), with a lot of the RC servo control handled by a servo controller board (SSC-32). Later we converted to an AVR board using the same processor as the Arduino UNO to control the hexapod... Later I converted the code to work with a Teensy 3.2 and beyond. Later I/We got away from doing much with RC servos and mostly used Dynamixel Servos by Robotis. Currently I am participating with a group of people to get code working using the New Lynxmotion LSS servos and we are mostly using Teensy 4.1. So far I have not made much progress on this as I spend most of my time trying to help/play up here as much as I can.
I have code projects up on github, where are all probably in some form of neglect. Like:
https://github.com/KurtE/Arduino_Phoenix_Parts - sort of a mix and match project where you can have different servo controllers, IO controllers and start from there
https://github.com/KurtE/Phantom_Phoenix - started from the above, but specific to the older Trossen Dynamixel servos mostly with their Arbotix commander controller
https://github.com/KurtE/Open_CM_CR_Arduino_Sketches - Bits and pieces of above but converted to Robotis OpenCM or OpenCR stuff, but in addition I may have a Teensy version up there using the Robotis libraries instead.
There are also other bits and versions up there as well where I converted most of the code run on boards such as RPI, Odroid, UP, ...
The real question is what is you really want to do? What components are wanting to use...
Things like what motors, linear activators, or servos are you wanting to use?
Again I started off with RC servos based Robots by Lynxmotion http://www.lynxmotion.com/c-3-hexapods.aspx
Mostly used HiTec HS-645 servos. Many of these hexapods were designed by the member @zenta.
With these you need to generate an accurate width pulse for each of the servos maybe 50 times per second. We can do that with Teensy, but there are some limitations. Sometimes easier with dedicated servo controller.
Later to ones by Trossen like: https://www.trossenrobotics.com/phantomx-ax-hexapod.aspx
Which use smart servos by Robotis. With these they are controlled by a Half duplex Serial setup, which can be done directly by Teensy or you can and I often add some external components to convert the signal from 3.3v to 5v. These servos allow you to get feedback like there current position, voltage, torque... I have another version of the same Hexapod that is using some of their newer servos. They can use the same setup, although wires are different and they typically use what Robotis says are Protocol 2 versus the older AX servos which are Protocol 1...
Lynxmotion LSS - Are again Serial, but full duplex... Again I use external circuit to convert 3.3v to 5v TTL signal to servos.
Do you want some form of remote control? If so what?
With Teensy, I have done this earlier with XBee based setup, like again the Trossen Arbotix commander. With T3.6 and T4.x you have the ability to use USB Host stuff and we do have host code support for example to use joysticks and the like. Plus some Bluetooth including PS3 and PS4 controllers..
What other sensors do you wish to use?
Again there are many that have supported by the Teensy.
But then the question is what else? Example things like camera inputs and the like. Some that work.
Then once you get a lot of the basics working there are lots of other stuff that you want to consider, like, do you want self navigation, mapping capabilities, ...
Hope that helps some.
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