The Phoenix Code is a unofficial firmware for the PhantomX Hexapod that has a wide variety of gaits and movements not available in the stock NUKE firmware. This code is a community collaboration led by Kurt Eckhardt (KurtE)with the help of Xan and Zenta. The code is based off of Xan’s original code for Lynxmotion Phoenix.
This guide will run you through the history, features, configuration, installation and control of the Phoenix code. Check out this video for a demo of the code in action!
The code for putting the Phoenix code on your Hexapod is available here. Keep in mind that this is a work in progress and may require some hardware modification of your Hexapod, so proceed at your own risk.
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
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!
We’ve been a bit quiet on the blog front as we are getting ready for Robogames 2009 in a little over a week and are furiously working away to finish up projects for demonstration. Our video production crew has been keeping busy also, and just finished up some new demonstration videos for the Phoenix Hexapod, showcasing its numerous features. This Hexapod continues to be one of our most popular sellers, definitely check it out!
We’ve learned something over the past year: Roboticists from Norway can make some really awesome hexapods. We first met Phoenix Hexapod creator Kåre Halvorsen (who goes by Zenta on our forums) when he entered his amazing creation in our Project Contest. Needless to say, he won by a landslide vote. He went on to work with Lynxmotion and Jeroen Janssen (who goes by Xan on our forums) to develop a kit based version of his Phoenix with complete wireless PS2 control!
We are now proud to carry the Phoenix Hexapod Comprehensive Kit! This kit contains everything you need to build your very own wireless controlled Phoenix Hexapod. It even comes pre-programmed with Xan’s Wireless PS2 controller program. Words can’t describe how amazing this robot is, you really have to see it in action so check out the video below!
We’ve put together a PhantomX Hexapod Phoenix Code Getting Started Guide. 
