I’ll let Xan, the author of the code and fellow Phoenix collaborator, explain away:

The major changes in 2.0 are fixed point calculations to lower the cycle time.

Separate files to easy change remotes or hexapod settings. This will allow the user to simply add the correct remote file and hexapod file to adapt the code for different hardware without having to hack in to the core.

Single leg control to directly control one of the legs. This can be used with or withouth balance mode.

GP Player support. This allows the user to play sequences that are stored inside the SSC. This will need the current GP firmware for the SSC and a bi-directional connection between the BAP and SSC.

Here’s a full list of the new features:

;NEW IN V2.0
; – Moved to fixed point calculations
; – Inverted BodyRotX and BodyRotZ direction
; – Added deadzone for switching gaits
; – Added GP Player
; – SSC version check to enable/disable GP player
; – Controls changed, Check contol file for more information
; – Added separate files for control and configuration functions
; – Solved bug at turn-off sequence
; – Solved bug about legs beeing lift at small travelvalues in 4 steps tripod gait
; – Solved bug about body translate results in rotate when balance is on (Kåre)
; – Sequence for wave gait changed (Kåre)
; – Improved ATan2 function for IK (Kåre)
; – Added option to turn on/off eyes (leds)
; – Moving legs to init position improved
; – Using Indexed values for legs
; – Added single leg control

The software will be uploaded to my Project page.

Lynxmotion will also update the phoenix tutorial. This will include a link to the software as well. I’m sure they will notify us when the work is done.

Xan

And here’s a rather lengthy video demonstrating the new Phoenix code in action!