FlyPT 6DOF/Stewart/Hexapod Interface for linear and rotating actuators

Hmmm, maybe a bug in the code. I will take a look today

@Thanos & @Gabor Pittner,
I think I found the problem.

When you put <0> or <255>, I convert this to a byte.
Thanos board expects 16 bit (2 byte values) for the axis, so when the 7 and 8th axis are send, it receives only one byte for each axis on the last string I told you.
So we are missing two bytes (the board expects 20).

Try this:

<255><255><Axis1a><Axis2a><Axis3a><Axis4a><Axis5a><Axis6a><0><0><0><0><10><13> <<<< Correct string but in wrong order, see first page of thread!

It should now work.

Sorry, because I didn't look as I should.
For starting I didn't see Axis1b and Axis2b. I don't send those values right now, but I can start passing them directly from Simtools (maybe in next version).
Then I forgot it has to be 16 bits values on the axis...

"It works with Hexapod interface", you mean your rig moves when you are moving the force in the "pose" section of hexapod, right? I see that you have not activated the Simtool red button in the interface. Maybe you need to set it on just to activate the transfert. Just a wild guess.

Are you using AsciiCodes to transmit the byte codes? Here a piece of the code that I use on the latest AMC1280USB interface plugin:

InterfaceOutput = CStr(AsciiCodes(255)) & CStr(AsciiCodes(255)) & "<" & MyForm._InterfaceSettings._Axis1 & "><" & MyForm._InterfaceSettings._Axis2 & "><" & MyForm._InterfaceSettings._Axis3 & "><" & MyForm._InterfaceSettings._Axis4 & "><" & MyForm._InterfaceSettings._Axis5 & "><" & MyForm._InterfaceSettings._Axis6 & "><" & MyForm._InterfaceSettings._Axis7 & "><" & MyForm._InterfaceSettings._Axis8 & ">" & CStr(AsciiCodes(10)) & CStr(AsciiCodes(13))


Also make sure you this part of the code is like this. It prevents simtools sending 255 values on initialization of the interface.

Code:

Private Function GetOutPut(ByVal InputPercent As Double, ByVal BitsNeeded As String) As String
        Dim OutPut As Double = 0
        Dim FinalOutput As String = ""

        'Bits
        Select Case BitsNeeded
            Case "8"
                'Positives are one higher - then we add the bottom amount
                '128 + 127 = 255 8bit
                If InputPercent > 0 Then
                    OutPut = (InputPercent * 127) + 127 '(used to be OutPut = (InputPercent * 128) + 127 , but we -1 for new AMC fix)
                ElseIf InputPercent < 0 Then
                    OutPut = 127 - (InputPercent * -127)
                Else
                    'middle
                    OutPut = 127
                End If
            Case "16"
                '65535
                If InputPercent > 0 Then
                    OutPut = (InputPercent * 32767) + 32767 '(used to be OutPut = (InputPercent * 32768) + 32767 , but we -1 for new AMC fix)
                ElseIf InputPercent < 0 Then
                    OutPut = 32767 - (InputPercent * -32767)
                Else
                    OutPut = 32767
                End If
        End Select
 'Convert to an integer
        OutPut = Math.Round(OutPut, 0)

        'get output as binary
        FinalOutput = GetChr(OutPut)

        'output same number of char's always
        If CInt(BitsNeeded) > 8 Then
            If FinalOutput.Length = 1 Then
                FinalOutput = CStr(AsciiCodes(0)) & FinalOutput
            End If
        End If
        If CInt(BitsNeeded) > 16 Then
            If FinalOutput.Length = 2 Then
                FinalOutput = CStr(AsciiCodes(0)) & FinalOutput
            End If
        End If
        If CInt(BitsNeeded) > 24 Then
            If FinalOutput.Length = 3 Then
                FinalOutput = CStr(AsciiCodes(0)) & FinalOutput
            End If
        End If

        Return FinalOutput
    End Function

Thanks
Thanos

Yes it works now, but wrong motors order The first actuator on the AMC board is the front left and the second is the front right. But I can not find the correct order yet
Anyway it works fine but all motion are mixed
I tried this
<255><255><Axis6a><Axis1a><Axis2a><Axis3a><Axis4a><Axis5a><0><0><0><0><10><13>
its almost good

I'm generating a byte array (in this case 20 bytes) and send it at once.
I was sending this (look at debug textbox over 3d visualization):



But as you can see the zero in axis1b and axis2b are just one byte.
So it was missing an extra byte for each I had only 18 bytes in that image. With the new string it sends the 20.

Firstly I want to move the rig with sliders of FlyPT, I talked about another interface made by @hexpod that works for me.

Good!
I think you can change the order of the axis.
The AMC board uses the first axis as number one, second as number two and so on.
Just put your correct order.
But you should not repeat axis! And you are sending 8 axis!
Use:
<255><255><Axis1a><Axis2a><Axis3a><Axis4a><Axis5a><Axis6a><0><0><0><0><10><13> <<<< Correct string but in wrong order, see first page of thread!

The 4 zeros at the end represent axis1b and axis2b. In this interface, I don't pass those axis and I think you don't need them for your rig.
I don't know for what Thanos uses them. Maybe for vibration, that idea of mixing vibe and motion.

The order is wrong because of the numbering is not same... I used Ian's numbering on Hexpod plugin to have one common order for all software so users don't have to rewire their hardware for each software... Here is the standard order of the actuators:

In this interface it's:

So correct string should be:

<255><255><Axis3a><Axis4a><Axis5a><Axis6a><Axis1a><Axis2a><0><0><0><0><10><13> <<<< CORRECT STRING!

Thanks for the clarification. I could not find anywhere this assignment order...

Im getting confused with axis order...

My error.
When I made the rig, took a look at the forum and saw some rigs with that order, so decided to make everything based on that.
It's not even described on the badly written manual on this thread.
I will update the first posts with this info

Try the last string I posted:
<255><255><Axis3a><Axis4a><Axis5a><Axis6a><Axis1a><Axis2a><0><0><0><0><10><13>

It works this way

You still have the X and Y axis swapped.
Sway is swapped with surge and roll with pitch.
Witch one is your #1 actuator? The one connected to the AMC board?
Should be like this (for your rig):

Ok, this could happen if he is counting the order of actuators counter-clockwise...

In this case the motion cues are up side down inverted

Yes, maybe the order the actuators/controllers are connected to the board.

My first actuator is front left and the second is front right. You marked them #4 #5
And the others are clockwise. 3 4 and 5 6
Should I rewire them on AMC board?

Maybe to be less confusing and since you are using the AMC, use that order, the one I posted in the picture.
If you use that order, just use the last string I gave you for connection.
If you want to keep that connection, I can see take a look a make you the string. Give me a minute...