leg interference (hitting each other) during commands

Hexy Questions, Problems and Suggestions
#1

My kickstarted hexy arrived Saturday, I built it last night and today I got a little time to play around with it.

After getting the proper versions of the tools installed, and uploading servotor 2.0 to the board I finally started PoMoCo (1.0) up. The legs return to zero when I “Set Zero” it, and individually controlling the servos has each servo at a joint moving in the same direction as the rest and at the correct wiring location on the servotor board.

Next I tried telling my Hexy to “Get Up”. Things started to go horribly wrong. Rather than moving as I expected and the RF leg caught it self on the RM leg while the RM leg got caught up on the RR leg. The foot/thigh joint would come down onto the side thigh plate of the more rear leg. The servos continued attempting to move and started breaking. The RF and RM thigh servos broke. I haven’t taken it apart enough to fully diagnose the failure but I expect it’s an internal servo gear rather than a stripped horn since there is no visible damage. Combined with a prematurely failed LF foot servo failure full movement is not an option until my replacement servos (already ordered) arrive. I don’t want to install them until I know everything is all set though.

Any suggestions on how to start to debug what’s going on? This happened with both 5xAA NiMh (Tenergy 2000mAh LSD) and 4xAA alkaline batteries. I switched packs to see if it was an over/undervolt issue but behavior is the same.

I’d love to see a video naming each predefined move, it appears like the RF and RR hips of my hexy move opposite to the way this hexy moves (the thighs may have moved correctly and I didn’t check the feet) just past the 1:15 mark
youtube.com/watch?v=_C9J1GD1Rbo#t=1m15s

#2

have you tried setting the offsets in PoMoCo?
github.com/ArcBotics/Hexy/wiki/PoMoCo

#3

I used PoMoCo to test each servo’s motion. When I press setzero each leg points straight out from the body as I would expect a centered servo. There is a slight amount of tuning still to be done to some servos but each are centered within couple increments near 1500. When I enable each servo one by one in PoMoCo and adjust the slider left/right the correct joint moves for each servo number and each joint moves in a consistent direction (all hip servos rotate clockwise when I move it’s slider to the left in PoMoCo for example). The wave and typing moves appear to work correctly (for the LF and RF legs not as sure about the correct middle and rear leg positioning for those moves).

I didn’t try many other moves before the servos failed and I’m now a little hesitant to try more moves since the failed servos left the thigh and foot pieces extended and likely to catch up on other legs again.

#4

Ask and it will be done, that just happens to be my video and i just added what you asked.

youtube.com/watch?v=_C9J1GD1Rbo#t

#5

It’s amazing what a little step by step debug will do. Despite repeatedly going over the servo wiring diagram ( guide-images.makeprojects.org/ig … kUJlb.huge ) I had the right side hip and ankle servos reversed. I kept starting on the left side where the ankles were the low number in each group and just repeated that on the right rather than actually wiring them up correctly with the ankle servos as the higher number on the right. :blush: