Vorpal The Hexapod Gamepad User Guide V3 - Revision history

Vorpalwiki: /* Fun Modes, Single Click */

2020-07-16T15:55:08Z

‎Fun Modes, Single Click

Vorpalwiki: /* Fun Modes, Single Click */

2020-07-16T15:52:17Z

‎Fun Modes, Single Click

Vorpalwiki: /* Walk Modes, Double Click */

2020-07-16T15:46:44Z

‎Walk Modes, Double Click

Vorpalwiki: /* Introduction */

2020-07-16T15:42:53Z

‎Introduction

Vorpalwiki: /* Introduction */

2020-07-16T15:34:25Z

‎Introduction

Vorpalwiki: /* Introduction */

2020-07-16T15:33:46Z

‎Introduction

Vorpalwiki: /* Auto-Detect D-PAD Button Type Function */

2020-07-16T15:30:49Z

‎Auto-Detect D-PAD Button Type Function

Vorpalwiki: /* Auto-Detect D-PAD Button Type */

2020-07-16T15:29:49Z

‎Auto-Detect D-PAD Button Type

Vorpalwiki: /* Format SD Card */

2020-07-16T15:29:28Z

‎Format SD Card

Vorpalwiki: /* Trim Mode */

2020-07-16T15:29:08Z

‎Trim Mode

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 *'''F1: Front Legs Fight'''. This mode puts the back four legs in a stable position and lifts the front two legs off the ground. D-PAD functions allow these front legs to execute sweeping and jabbing punch-like motions. The Auto Ninja mode executes a series of preprogrammed moves designed to dazzle the opponent. The special D-PAD button triggers "auto Ninja" mode in which a complex sequence of pre-programmed, rapid motions take place.
 *'''F2: Front Leg Unison Fight'''. This mode is like Front Leg Fight Mode but both legs move together, allowing more power behind the punches. Like the F1 fun mode, the special D-PAD button executes an auto-Ninja function.
-** NOTE: If the grip arm is installed, turning the robot's potentiometer dial slightly counterclockwise from RC mode will cause F2 to control the grip arm. You may also use this with our own extensions to the robot that put motors on servo controller ports 12 and/or 13.
+** NOTE: If the grip arm is installed, turning the robot's potentiometer dial slightly counterclockwise from RC mode will cause F2 to control the grip arm. You may also use this with your own project extensions to the robot that use additional servos on servo controller ports 12 and/or 13.
 ** If the robot is in grip arm control mode, the D-PAD buttons will move the grip arm up (f), down (b), open the claw (l), close the claw (r), or reset the grip arm to a neutral position (s).
 *'''F3: Swivel and Thrust.''' This mode uses the D-PAD functions to swivel the hips clockwise and counter-clockwise, or thrust the hexapod's body forward and backward using the hips. It can be very useful for Capture the Flag and Joust type competitions. The special D-PAD button returns the hexapod to a standing position.

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 *'''F1: Front Legs Fight'''. This mode puts the back four legs in a stable position and lifts the front two legs off the ground. D-PAD functions allow these front legs to execute sweeping and jabbing punch-like motions. The Auto Ninja mode executes a series of preprogrammed moves designed to dazzle the opponent. The special D-PAD button triggers "auto Ninja" mode in which a complex sequence of pre-programmed, rapid motions take place.
 *'''F2: Front Leg Unison Fight'''. This mode is like Front Leg Fight Mode but both legs move together, allowing more power behind the punches. Like the F1 fun mode, the special D-PAD button executes an auto-Ninja function.
 *'''F3: Swivel and Thrust.''' This mode uses the D-PAD functions to swivel the hips clockwise and counter-clockwise, or thrust the hexapod's body forward and backward using the hips. It can be very useful for Capture the Flag and Joust type competitions. The special D-PAD button returns the hexapod to a standing position.
 *'''F4: Lean.''' In this mode, the entire body leans forward, backward, left or right. The special D-PAD button returns the hexapod to a standing position.

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 *'''W3W3: Quadruped Gait'''. This walk only uses four of the six legs, and keeps the middle legs up in the air, using them for balance.
-*'''W4W4: Sidestep Gait'''. In this gait, the robot never "turns". It moves in different directions by redefining where the front of the robot is. The forward and backward buttons work as usual. However, the left D-PAD button will redefine the front of the robot to be between legs 0 and 1, and the right D-PAD button will define the front of the robot as being between legs 4 and 5. The "special" D-PAD button will further redefine the left and right D-PAD buttons as making the front of the robot between legs 1 and 2 or 3 and 4, respectively. It is similar to a sidestep motion, however instead of a true sidestep which would be movement at a 90 degree angle to the front of the robot, the angles are 60 degrees instead. (It's easier to try it out than to explain using words!)
+*'''W4W4: Sidestep Gait'''. In this gait, the robot never "turns". It moves in different directions by redefining where the front of the robot is. The forward and backward buttons work as usual. However, the left D-PAD button will redefine the front of the robot to be between legs 0 and 1, and the right D-PAD button will define the front of the robot as being between legs 4 and 5. The "special" D-PAD button will further redefine the left and right D-PAD buttons as making the front of the robot between legs 1 and 2 or 3 and 4, respectively, and reversing the meaning of back and front. In other words, the special button pretends the front of the robot is the back and the back is the front. Clicking it a second time brings things back to normal. This mode of walking allows something similar to a sidestep or strafing motion, however instead of a true sidestep (which would be movement at a 90 degree angle to the front of the robot) the angles are 60 degrees instead. I know this all sounds kind of confusing--it's easier to just try it out, you'll see how it works very quickly!
-NOTE: As with single-click walk modes, the D-PAD chooses the direction of walking and the "special" D-PAD button stomps and honks. The only exception is Sidestep mode (W4W4) where the "special" button toggles which legs are considered the front of the robot for the left and right D-PAD buttons.
+NOTE: As with single-click walk modes, the D-PAD chooses the direction of walking and the "special" D-PAD button stomps and honks. The only exception is Sidestep mode (W4W4) where the "special" button toggles whether the front or back of the robot is used to reference other motions.
 ==Dance Modes, Single Click==

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 The Vorpal Hexapod Gamepad has many features to let you control your hexapod, including:
 * A range of 10 to 15 meters (30 to 50 feet) if batteries are fully charged.
-* Select one of twenty-four (24) different pre-programmed movement modes, which then modify the functions on the yellow D-PAD buttons.
+* Select one of twenty-four (24) different pre-programmed movement modes, which then modify the functions on the five D-PAD buttons, for a total of 120 built-in leg motions.
 * Record and later play back a sequence of hexapod motions.
 * Tether the gamepad to a computer using a USB cord, then use the MIT Scratch system to control the hexapod using a program you write.
 * Upload Scratch-programmed leg motions onto the gamepad, then use them as new movement modes of your own design by long-clicking on mode buttons.
 * Adjust the servo motor positions using [[Vorpal The Hexapod Trim Mode Guide|Trim Mode]]
-* Reformat the SD Card installed in the gamepad
+* Reformat the SD Card installed in the gamepad (typically needed only if the SD Card gets corrupted or you wish to simply erase everything on it).
 Although it seems like a lot to take in, everything is organized in major groups of functions and we have found that even small children can be successfully controlling the hexapod in under a minute, with very little explanation.  After practicing for just a short time, you will be flipping through different modes and controlling the hexapod like a pro!
-This article will explain all of these functions one by one and step by step, but for most functions it's also perfectly reasonable to just pick up the controller and experiment to learn what each button does!
+This article will explain all of these functions one by one and step by step, but for most functions it's also perfectly reasonable (and fun) to just pick up the controller and experiment to learn what each button does, once you learn the basic concept!
 =General Care of the Gamepad=

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 This article is the user guide for the Vorpal Gamepad with V3 software installed. For instructions on the robot, see [[Vorpal The Hexapod User Guide]].
-The V3 software was released on July 15, 2020 and installed on all our kits after that date. Before that date, our releases included V2 software. The user guide for V2 is here: [Vorpal The Hexapod Gamepad User Guide, V2]. You can upgrade to V3 by following the instructions here: [Vorpal The Hexapod: Flashing The Arduino Code].
+The V3 software was released on July 15, 2020 and installed on all our kits after that date. Before that date, our releases included V2 software. The user guide for V2 is here: [[Vorpal The Hexapod Gamepad User Guide, V2]]. You can upgrade to V3 by following the instructions here: [[Vorpal The Hexapod: Flashing The Arduino Code]].
 The Vorpal Hexapod Gamepad has many features to let you control your hexapod, including:

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 # Count to 10 slowly, then release the D-PAD Special button.
-The Gamepad's D-PAD should work properly after following this sequence. Again, you typically only need to do this once after building the Gamepad. You may need to do it again perhaps after swapping to a new D-PAD module if you repair the Gamepad, or if you boot the gamepad with very weak batteries sometimes the EEPROM settings get corrupted.
+The Gamepad's D-PAD should work properly after following this sequence. Again, you typically only need to do this once after building the Gamepad. You may need to do it again perhaps after swapping to a new D-PAD module if you repair the Gamepad, or if you boot the gamepad with very weak batteries sometimes the EEPROM settings get corrupted. Swap to fresh batteries then use this function to reformat the EEPROM so it works again. Always use fresh batteries to avoid this issue!
 {{Vorpal Quick Links}}

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 # Reboot the gamepad (turn it off then back on).
-= Auto-Detect D-PAD Button Type =
+== Auto-Detect D-PAD Button Type Function ==
 Manufacturers of the D-PAD modules that we use in our project have two different output formats for the data that comes out of the D-PAD module. Unfortunately there is no way to tell by looking at the module which kind of output it provides.

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 This is a specialized function that you only need to do once after building the robot (or again after swapping a motor), so it is describe in a separate wiki page: [[Vorpal The Hexapod Trim Mode Guide]].
-= Format SD Card =
+== Format SD Card Function ==
 The gamepad can format the SD card that's in the SD card slot. This is useful because Arduino's SD library requires the card be formatted a certain way and most operating systems won't use the right method for small sized cards.

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 If this happens, simply press R2 (Play/Pause) and then erase the accidental recording using R4 (hold for 4 seconds).
-= Trim Mode =
+= Special Gamepad Boot Functions =
 The gamepad can also be used to make fine adjustments to the servo positions so they are perfectly aligned (within a fraction of a degree). This is important, as it ensures all the servos are equally bearing the weight of the robot, and makes the robot walk straighter and generally perform better.