In SX Microcontrollers, SX/B Compiler and SX-Key Tool, kgracey wrote:

George,

Kind of like you get caught up in the hardware and put two SXs on one board, I do the same designing two-servo walking robots. I've built so many Toddler style robots that I'm starting to wonder if I'll ever get to put the same effort into the code. When I finally get to writing some code I do just enough to prove that my mechanics could be better, then I'm back to the shop to refine the design and do it all over again. So, take advice from somebody with the same disorder, who knows the right direction but sometimes can't get there himself:

1. Build this Toddler SX28/52 with one processor at a time. 
2. Program the SX28 to manage the walking routines. This is a challenge with the Toddler since it has 34 movements which must be linked together. Try to port some of the existing Toddler code to the SX, making adjustments for syntax and constants. Create a routine for forward, back, left and right, ending with both feet squarely on the ground (so linking movements isn't a problem at first).
3. When the SX is walking the Toddler, then try to incorporate a serial communication scheme to the structure using the ISR (you may want to manage the servos from an ISR - this is something others on the group should answer). The serial routine would have a fixed baud rate and simple command set (i.e., F, B, R, L). Then try to use a BASIC Stamp as a master. Once it's working switch it over to the SX48.

This could be a good approach if you break it into small, manageable pieces. Don't spend too much time worrying about what the ultimate hardware connections will look like at first.  

Ken Gracey
Parallax, Inc.

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