Serial protocol/schema clarification about insectrobotsimulation

[Fedefeo]

Hi Peter, I am also at this stage and would love any help from you.
I have already built the hexapod and done most of the wiring (although not sure if it's correct) and am stuck.
I have not had much luck contacting Kris, so if we are able to help each other that would be amazing....
let me know your thoughts.
BTW, I am a product designer but not much of a Software guy. So baby talk, please :)

[peterfelts]

Hi @Fedefeo, I'd be happy to help. What are you currently stuck on?

[peterfelts]

@Fedefeo, I spent more time on this and I think that I have an understanding of what @neuroprod was doing here. The remote control reads the values of the joysticks and buttons and sends a series of 19 bytes out over the wire. Here is the protocol that I've been able to reverse from the (mostly) undocumented code:

He's reading the A-to-D values from the joysticks as 16-bit integers which get split in to two bytes when serialized into this protocol.

I've got my build pretty much working now. It's cool to see it move around on my workbench. :)

[neuroprod]

Sorry for the late reply, but yes, @peterfelts is correct, i send the 16 bit analog input in 2 bytes, (check the anloginput.h)
so the remote just sends raw data of its state.
The InsectRobotSimulationApp.cpp sends the motor data (from the computer simulation) but for that to work you need the insectrobotUSB.ino flashed to the robot (this is what i used to test it first, all the IK was running on the computer at this point).
If you use the remote, you need the insectrobot.ino, it gets the joistick data, does his own IK and controles the motors