in case anyone was interested in how the encoders and motors repeate on the legs moving:
this info is sent back on the terminal screen when moving the legs, I added the should be lines so you know where the motor was told to go
Leg Control Jan 17,2018 evening
*** Motors at rest & right/left leg & hip encoders reset
>display encoders and speeds
Encoder Right UpperAnkle_M1:0 UpperKnee_M2:0 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:0 UpperKnee_M2:0 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:0 Rgh_M2:0 Sp_M1:0 Sp_M2:0 BatV:11.90
Switches Right Hip=1 Kne=1023 Ank=1023 Left Hip=1 Kne=1023 Ank=1023
>current in motors
*** Current RghAnk= 16ma RghKne=60ma LftAnk= 5ma LftKne=0ma LftHip= 0ma RghHip=5ma
>gyros on feet
Gyro Left R:-1 P:-1 Y:50 AnkleRotCnt=95
Gyro Right R:0 P:-9 Y:97 AnkleRotCnt=90
>errors from roboclaw boards address 80, 81, 82
... RoboClaw buffers (128 means no commands in buffers, not that command is finished
... RoboClaw controller errors 80=0 81=0 82=0
80=128&128 128 dec or 80 hex means no commands in buffers on motor controller bd.
81=128&128
82=128&128
>walk 5 steps
****** Step=1
*** take a step Encoders should all be 0
Encoder Right UpperAnkle_M1:0 UpperKnee_M2:0 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:0 UpperKnee_M2:0 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:0 Rgh_M2:0 Sp_M1:0 Sp_M2:0 BatV:12.00
Switches Right Hip=1 Kne=1023 Ank=1023 Left Hip=1 Kne=1023 Ank=1023
*** ankle rotation right=32 left=153
*** bend right knee & ankle a little leaning legs to right side
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2001 UpperKnee_M2:1809 Sp_M1:-2 Sp_M2:1
ankle should be -2000 knee should be 1800 with speeds at 0
Encoder Left UpperAnkle_M1:0 UpperKnee_M2:0 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:0 Rgh_M2:0 Sp_M1:0 Sp_M2:0 BatV:11.90
*** ankle left pushes down forcing legs over to right side
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2001 UpperKnee_M2:1809 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:2991 UpperKnee_M2:0 Sp_M1:2 Sp_M2:0
ankle should be 3000 with speed at 0
Encoder Hips Left_M1:0 Rgh_M2:0 Sp_M1:0 Sp_M2:0 BatV:11.90
*** lift left leg, bend knee & ankle, rotating left hip forward
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2001 UpperKnee_M2:1809 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-4009 UpperKnee_M2:4509 Sp_M1:-2 Sp_M2:0
ankle should be -4000 knee should be 4500 with speeds at 0
Encoder Hips Left_M1:-390 Rgh_M2:0 Sp_M1:0 Sp_M2:0 BatV:12.00
*** straighten left knee and ankle down
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2001 UpperKnee_M2:1809 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-999 UpperKnee_M2:1507 Sp_M1:1 Sp_M2:2
ankle should be -1000 knee should be 1500 with speeds at 0
Encoder Hips Left_M1:-390 Rgh_M2:0 Sp_M1:0 Sp_M2:0 BatV:12.00
hip left should be -400 with speeds at 0
*** ankle rotation right=150 left=35
*** bend left ankle to shift weight forward
*** straighten right leg a little pushing over on left foot
...waiting for motors stopped
Encoder Right UpperAnkle_M1:2499 UpperKnee_M2:92 Sp_M1:3 Sp_M2:0
ankle should be 2500 knee should be 100 with speeds at 0
Encoder Left UpperAnkle_M1:-1496 UpperKnee_M2:1507 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:-390 Rgh_M2:0 Sp_M1:0 Sp_M2:0 BatV:11.90
*** lift right leg rotating right hip forward
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1997 UpperKnee_M2:1996 Sp_M1:-2 Sp_M2:-2
ankle should be -2000 knee should be 2000 with speeds at 0
Encoder Left UpperAnkle_M1:-1496 UpperKnee_M2:1507 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:390 Rgh_M2:589 Sp_M1:0 Sp_M2:0 BatV:11.90
hip right should be 600 with speeds at 0
*** straighten legs & hips home
*** ankle rotation right= 90 left=95
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-6 UpperKnee_M2:9 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-8 UpperKnee_M2:7 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:10 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:12.00
all encoders should be back to 0 with speeds at 0
*** Step Done
****** Step=2
*** take a step
Encoder Right UpperAnkle_M1:-6 UpperKnee_M2:9 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-8 UpperKnee_M2:7 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:10 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:12.00
*** ankle rotation right=32 left=153
*** bend right knee & ankle a little leaning legs to right side
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2000 UpperKnee_M2:1800 Sp_M1:-2 Sp_M2:1
Encoder Left UpperAnkle_M1:-8 UpperKnee_M2:7 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:10 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:11.90
*** ankle left pushes down forcing legs over to right side
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2000 UpperKnee_M2:1800 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:3000 UpperKnee_M2:7 Sp_M1:2 Sp_M2:0
Encoder Hips Left_M1:10 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:12.00
*** lift left leg, bend knee & ankle, rotating left hip forward
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2000 UpperKnee_M2:1800 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-3991 UpperKnee_M2:4505 Sp_M1:2 Sp_M2:0
Encoder Hips Left_M1:-388 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:11.90
*** straighten left knee and ankle down
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2000 UpperKnee_M2:1800 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-1001 UpperKnee_M2:1491 Sp_M1:0 Sp_M2:-2
Encoder Hips Left_M1:-388 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:11.90
*** ankle rotation right=150 left=35
*** bend left ankle to shift weight forward
*** straighten right leg a little pushing over on left foot
...waiting for motors stopped
Encoder Right UpperAnkle_M1:2501 UpperKnee_M2:94 Sp_M1:3 Sp_M2:0
Encoder Left UpperAnkle_M1:-1508 UpperKnee_M2:1491 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:-388 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:11.90
*** lift right leg rotating right hip forward
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1992 UpperKnee_M2:1994 Sp_M1:-2 Sp_M2:0
Encoder Left UpperAnkle_M1:-1508 UpperKnee_M2:1491 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:390 Rgh_M2:590 Sp_M1:0 Sp_M2:0 BatV:11.90
*** straighten legs & hips home
*** ankle rotation right= 90 left=95
...waiting for motors stopped
Encoder Right UpperAnkle_M1:3 UpperKnee_M2:-3 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:8 UpperKnee_M2:9 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:12 Rgh_M2:11 Sp_M1:0 Sp_M2:0 BatV:11.90
*** Step Done
****** Step=3
*** take a step
Encoder Right UpperAnkle_M1:3 UpperKnee_M2:-3 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:8 UpperKnee_M2:9 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:12 Rgh_M2:11 Sp_M1:0 Sp_M2:0 BatV:11.80
*** ankle rotation right=32 left=153
*** bend right knee & ankle a little leaning legs to right side
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1991 UpperKnee_M2:1803 Sp_M1:-3 Sp_M2:2
Encoder Left UpperAnkle_M1:8 UpperKnee_M2:9 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:12 Rgh_M2:11 Sp_M1:0 Sp_M2:0 BatV:11.90
*** ankle left pushes down forcing legs over to right side
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1991 UpperKnee_M2:1803 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:2995 UpperKnee_M2:9 Sp_M1:1 Sp_M2:0
Encoder Hips Left_M1:12 Rgh_M2:11 Sp_M1:0 Sp_M2:0 BatV:11.90
*** lift left leg, bend knee & ankle, rotating left hip forward
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1991 UpperKnee_M2:1803 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-3999 UpperKnee_M2:4499 Sp_M1:2 Sp_M2:0
Encoder Hips Left_M1:-389 Rgh_M2:11 Sp_M1:0 Sp_M2:0 BatV:11.90
*** straighten left knee and ankle down
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1991 UpperKnee_M2:1803 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-1003 UpperKnee_M2:1499 Sp_M1:0 Sp_M2:-1
Encoder Hips Left_M1:-389 Rgh_M2:11 Sp_M1:0 Sp_M2:0 BatV:11.90
*** ankle rotation right=150 left=35
*** bend left ankle to shift weight forward
*** straighten right leg a little pushing over on left foot
...waiting for motors stopped
Encoder Right UpperAnkle_M1:2500 UpperKnee_M2:91 Sp_M1:3 Sp_M2:0
Encoder Left UpperAnkle_M1:-1507 UpperKnee_M2:1499 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:-389 Rgh_M2:11 Sp_M1:0 Sp_M2:0 BatV:11.80
*** lift right leg rotating right hip forward
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1991 UpperKnee_M2:1999 Sp_M1:0 Sp_M2:2
Encoder Left UpperAnkle_M1:-1507 UpperKnee_M2:1499 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:388 Rgh_M2:590 Sp_M1:0 Sp_M2:0 BatV:11.80
*** straighten legs & hips home
*** ankle rotation right= 90 left=95
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-3 UpperKnee_M2:9 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-2 UpperKnee_M2:1 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:12 Rgh_M2:12 Sp_M1:0 Sp_M2:0 BatV:11.90
*** Step Done
****** Step=4
*** take a step
Encoder Right UpperAnkle_M1:-3 UpperKnee_M2:9 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-2 UpperKnee_M2:1 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:12 Rgh_M2:12 Sp_M1:0 Sp_M2:0 BatV:11.90
*** ankle rotation right=32 left=153
*** bend right knee & ankle a little leaning legs to right side
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1999 UpperKnee_M2:1808 Sp_M1:-2 Sp_M2:2
Encoder Left UpperAnkle_M1:-2 UpperKnee_M2:1 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:12 Rgh_M2:12 Sp_M1:0 Sp_M2:0 BatV:11.90
*** ankle left pushes down forcing legs over to right side
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1999 UpperKnee_M2:1808 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:2995 UpperKnee_M2:1 Sp_M1:2 Sp_M2:0
Encoder Hips Left_M1:12 Rgh_M2:12 Sp_M1:0 Sp_M2:0 BatV:11.90
*** lift left leg, bend knee & ankle, rotating left hip forward
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1999 UpperKnee_M2:1808 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-3991 UpperKnee_M2:4504 Sp_M1:-2 Sp_M2:0
Encoder Hips Left_M1:-390 Rgh_M2:12 Sp_M1:0 Sp_M2:0 BatV:12.00
*** straighten left knee and ankle down
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1999 UpperKnee_M2:1808 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-1005 UpperKnee_M2:1495 Sp_M1:2 Sp_M2:0
Encoder Hips Left_M1:-390 Rgh_M2:12 Sp_M1:0 Sp_M2:0 BatV:12.00
*** ankle rotation right=150 left=35
*** bend left ankle to shift weight forward
*** straighten right leg a little pushing over on left foot
...waiting for motors stopped
Encoder Right UpperAnkle_M1:2501 UpperKnee_M2:104 Sp_M1:-2 Sp_M2:0
Encoder Left UpperAnkle_M1:-1492 UpperKnee_M2:1495 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:-390 Rgh_M2:12 Sp_M1:0 Sp_M2:0 BatV:11.90
*** lift right leg rotating right hip forward
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1997 UpperKnee_M2:2002 Sp_M1:-2 Sp_M2:0
Encoder Left UpperAnkle_M1:-1492 UpperKnee_M2:1495 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:389 Rgh_M2:590 Sp_M1:0 Sp_M2:0 BatV:11.80
*** straighten legs & hips home
*** ankle rotation right= 90 left=95
...waiting for motors stopped
Encoder Right UpperAnkle_M1:0 UpperKnee_M2:-1 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-3 UpperKnee_M2:8 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:11 Rgh_M2:11 Sp_M1:0 Sp_M2:0 BatV:11.90
*** Step Done
****** Step=5
*** take a step
Encoder Right UpperAnkle_M1:0 UpperKnee_M2:-1 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-3 UpperKnee_M2:8 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:11 Rgh_M2:11 Sp_M1:0 Sp_M2:0 BatV:12.00
*** ankle rotation right=32 left=153
*** bend right knee & ankle a little leaning legs to right side
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2000 UpperKnee_M2:1804 Sp_M1:-2 Sp_M2:3
Encoder Left UpperAnkle_M1:-3 UpperKnee_M2:8 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:11 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:12.00
*** ankle left pushes down forcing legs over to right side
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2000 UpperKnee_M2:1804 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:2995 UpperKnee_M2:8 Sp_M1:2 Sp_M2:0
Encoder Hips Left_M1:10 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:12.00
*** lift left leg, bend knee & ankle, rotating left hip forward
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2000 UpperKnee_M2:1804 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-4007 UpperKnee_M2:4499 Sp_M1:2 Sp_M2:0
Encoder Hips Left_M1:-388 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:11.90
*** straighten left knee and ankle down
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-2000 UpperKnee_M2:1804 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:-1002 UpperKnee_M2:1500 Sp_M1:2 Sp_M2:0
Encoder Hips Left_M1:-388 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:12.00
*** ankle rotation right=150 left=35
*** bend left ankle to shift weight forward
*** straighten right leg a little pushing over on left foot
...waiting for motors stopped
Encoder Right UpperAnkle_M1:2490 UpperKnee_M2:93 Sp_M1:3 Sp_M2:0
Encoder Left UpperAnkle_M1:-1497 UpperKnee_M2:1500 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:-388 Rgh_M2:10 Sp_M1:0 Sp_M2:0 BatV:11.80
*** lift right leg rotating right hip forward
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-1995 UpperKnee_M2:2000 Sp_M1:-2 Sp_M2:0
Encoder Left UpperAnkle_M1:-1497 UpperKnee_M2:1500 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:389 Rgh_M2:590 Sp_M1:0 Sp_M2:0 BatV:11.90
*** straighten legs & hips home
*** ankle rotation right= 90 left=95
...waiting for motors stopped
Encoder Right UpperAnkle_M1:-3 UpperKnee_M2:-6 Sp_M1:0 Sp_M2:0
Encoder Left UpperAnkle_M1:3 UpperKnee_M2:4 Sp_M1:0 Sp_M2:0
Encoder Hips Left_M1:9 Rgh_M2:11 Sp_M1:0 Sp_M2:0 BatV:11.90
*** Step Done
*** Motors at rest
The leg parts are in Autodesk Inventor and I would be happy to share them, but this is very much a work in progress. Could be IGES, STEP, or STL