Maker Factory MF-4992453, Operating Instructions Manual, Page: 45 / 68

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Calibrating legs with PC
If you are using Windows, you can use the "Terminal" program. The programme is
located in the "Terminal" folder.
If you are using MAC OS or Linux, you can skip this part and continue with the section
"Leg calibration with the Arduino IDE".
• Start the programme with the file "Terminal.exe" and perform the calibration. Elevate
the robot upwards so that the legs can move freely in the air. A stable box can, for
example, serve for the elevation.
• Connect the Hexapod Robot Board (connector "PRG-M") to your computer as al-
ready done when installing the firmware.
• Connect the battery to the Hexapod Robot Board.
• Start the programme "Terminal.exe".
• Now select the serial port (same port as for programming). To do this, click on "Select
Port". If more than one device is displayed, simply unplug the motherboard and plug
it back into the USB port. The device which then disappeared briefly is the correct
one.
• Select 38400 Baud under "Baud rate".
• Click on "Connect". The robot appears in the terminal window, as shown in Figure 71.
• Click on "Servo offset mode" in the upper left corner to enter the calibration mode.
• The robot will now "wobble" with the servo selected for adjustment.
• By clicking on "+" and "-" several times, you can adjust the selected servo exactly in
small steps.
• Once you have finished setting the servo, you can click on "Next" to set the next servo until you have set all 18 servos. You can also select a specific leg by
clicking on the "Leg RR", "Leg RM", "Leg RF", "Leg LR", "Leg LM" and "Leg LF" buttons.
• Once all servos have been set, click on "Exit". The programme now asks whether the settings should be saved. Click on "Yes" to save the settings or "No"
to discard the settings.
• With "Clear Terminal" you can delete the contents of the terminal window.
Calibrating legs with the Arduino IDE
If you are using a MAC or Linux, you cannot use the "Terminal" programme (only suit-
able for Windows). However, you can still adjust the legs by using another terminal
programme of your choice.
The easiest way is to use the Arduino Terminal. You can invoke this in the Arduino IDE.
The figure shows the Arduino terminal after the terminal has connected to the robot
board.
Proceed as follows:
• Connect the Hexapod Robot Board (connector "PRG-M") to your computer as al-
ready done when installing the firmware.
• Connect the battery to the Hexapod Robot Board.
• Start the terminal program.
• If you are using a terminal other than the Arduino terminal, select the serial port
(same port as for programming).
• Select a baud rate of 38400 baud. No LF and CR or "No line encoding" in the Arduino
terminal.
• Connect the terminal to the robot. The robot appears in the terminal window, as
shown in Figure 72. Please note: The Arduino terminal connects immediately after
opening!
• Press the "RESET-M" button on the Hexapod Robot Board once. This is not necessary when using the Arduino terminal.
Figure 71
Figure 72