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Eric Nantel 21.1 2 <body><table border="0" cellpadding="0" cellspacing="0" >
3 <tbody><tr>
4 <td valign="top" align="left"><b><font face="Verdana" size="2">A-Pod Bot Board II / BASIC Atom Pro Tutorial.</font></b>
5 <p><b><font face="Verdana" size="2">Updated <!--webbot bot="Timestamp" s-type="EDITED" s-format="%m/%d/%Y" startspan -->08/10/2010<!--webbot bot="Timestamp" i-CheckSum="12501" endspan -->.
6 Phoenix code v2.0.</font></b></p>
7 <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
8 <p><font size="2" face="Verdana"><b>Software:<br>
9 </b>&nbsp; - Basic Micro Studio<br>
Eric Nantel 22.1 10 &nbsp; - Basic Atom Pro program</font></p></td>
Eric Nantel 21.1 11 <td align="center" valign="top" width="320"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apodps2.jpg" border="2" hspace="10" ><br>
12 <strong>Image of A-Pod.</strong></font></td>
13 </tr>
14 <tr>
15 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
16 </tr>
17 <tr>
18 <td valign="top" align="left" colspan="2">
19 <p align="center"><font face="Verdana" size="2"><b>I. SSC-32 Configuration: Registers</b></font></p>
20 </td>
21 </tr>
22 <tr>
23 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
24 </tr>
25 <tr>
26 <td valign="top" align="left">
27 <p align="left"><font face="Verdana" size="2"><b>Step 1.</b><br>
28 Place the robot on top of a CD spindle or similar to hold the legs off the ground.</font></p>
29 <p align="left"><font face="Verdana" size="2">Download and install the latest version of <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. </font></p></td>
30 <td align="left" valign="top" >
31 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod01.jpg" border="2" hspace="10" ><br>
32 Figure 1.</font></p></td>
33 </tr>
34 <tr>
35 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
36 </font></td>
37 </tr>
38 <tr>
39 <td valign="top" align="left"><p><strong><font size="2" face="Verdana, Helvetica, sans-serif">Step 2.</font></strong><br>
40 <font face="Verdana" size="2">Connect the SSC-32 to the PC's serial port. T</font><font size="2" face="Verdana, Helvetica, sans-serif">his can be recognized by the
41 9 pins that stick out.</font><font face="Verdana" size="2"> Apply power, and the green LED should light and stay on until it receives a valid
42 serial command. Run the LynxTerm program. </font></p>
43 <p><font face="Verdana" size="2">To test basic communications, do a "ver" test: type "ver"
44 into the terminal then press "Enter". You should see the proper firmware
45 version returned.</font></p>
46 <p><font size="2" face="Verdana, Helvetica, sans-serif">Please consult the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/serial-usb-serial-port-troubleshooting/" target="_blank">serial
47 troubleshooting guide</a> if you have difficulties with this.</font></p></td>
48 <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/comp.jpg" border="2" hspace="10" ><br>
49 <font size="2">Figure 2.</font></font></td>
50 </tr>
51 <tr>
52 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
53 </tr>
54 <tr>
55 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br>
56 Download the 2-07EGP_A1A.abl firmware or higher. Make sure the baud rate is set to 115.2k before attempting to update. Refer to the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-manual/#aglance">manual</a> if you need more information regarding baud rate.</font>
57 <p><font face="Verdana" size="2">Click on "Firmware" along
58 the bottom of the LynxTerm screen.</font></p>
59 <p><font face="Verdana" size="2">Click on "Open" and browse to the firmware file you just downloaded.</font></p>
60 <p><font face="Verdana" size="2">Make sure the SSC-32 is powered, and click on "Begin Update".</font></p>
61 </td>
62 <td align="left" valign="top" >
63 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg07.jpg" border="2" hspace="10" ><br>
64 Figure 3.</font></p></td>
65 </tr>
66 <tr>
67 <td valign="top" align="left" colspan="2"><br class="pb">
68 </td>
69 </tr>
70 <tr>
71 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 4.</b><br>
72 When the firmware has been successfully updated, click "Ok" then "Exit".</font>
73 <p><font face="Verdana" size="2">Now do another "ver" test: type "ver"
74 into the terminal then press "Enter". You should see a new firmware
75 version returned.</font></p></td>
76 <td align="left" valign="top" >
77 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg08.jpg" border="2" hspace="10" ><br>
78 Figure 4.</font></p></td>
79 </tr>
80 <tr>
81 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
82 </tr>
83 <tr>
84 <td valign="top" align="left"><p><font face="Verdana" size="2"><b>Step 5.</b><br>
85 Place the robot in a position as close to neutral as possible. Click on "All=1500" in the bottom right portion of the screen. Your
86 robot should go to and hold the neutral position, and should resemble figures 7 through 13. If the joints are off by more than 15° you may have
87 made an error in assembly. To correct this, remove the center screw from the round servo horn, pull the servo horn off the servo, rotate until
88 it's aligned, then reattach the servo horn.</font></p>
89 <p><font face="Verdana" size="2"><b>Caution!</b> You are about to power up the servos. When this is done immediately make sure all of the moving parts are not tangled or hung up and no joints are positioned beyond their range of motion. If anything looks wrong, power down and look for mechanical problems with the build. This is bot has long, apendeges. You must periodically allow the servos to cool down if left on for more then 5 minutes at a time. Take care with the vertical servos, especially the head and tail. They should be monitored to prevent overheating during the calibration.</font> </p></td>
90 <td align="left" valign="top" >
91 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg09.jpg" border="2" hspace="10" ><br>
92 Figure 5.</font></p></td>
93 </tr>
94 <tr>
95 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
96 </tr>
97 <tr>
98 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 6.</b><br>
99 From the main screen, click on "Reg" to open the Registers page.</font>
100 <p><font face="Verdana" size="2">Click on "Default" to initialize default values.</font></p></td>
101 <td align="left" valign="top" >
102 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg02.jpg" border="2" hspace="10" ><br>
103 Figure 6.</font></p></td>
104 </tr>
105 <tr>
106 <td valign="top" align="left" colspan="2"><br class="pb">
107 </td>
108 </tr>
109 <tr>
110 <td valign="top" align="left"><font face="Verdana" size="2">Refer to this servo channel number guide for the following configuration steps.</font>
111 <p><b><font face="Verdana" size="2" color="#FF0000">Do the most accurate alignment as possible!</font></b><font face="Verdana" size="2"> The
112 robot can only operate as well as as it is aligned. In other words, a poorly aligned robot will walk poorly!</font></p>
113 </td>
114 <td align="left" valign="top" >
115 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apodpins.jpg" border="2" hspace="10" ><br>
116 Servo Channel Numbering.</font></p></td>
117 </tr>
118 <tr>
119 <td valign="top" align="left" colspan="3"><font face="Verdana" size="2">&nbsp;</font></td>
120 </tr>
121 <tr>
122 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 7.</b><br>
123 You need to adjust the robot's horizontal hip servos. Select servo #04, then adjust the "Offset" slider until the leg is perpendicular to the robot's chassis as shown.</font>
124 <p><font face="Verdana" size="2">Do this for servos #04 and 20.</font></p>
125 <p><font face="Verdana" size="2">Note, the mouse's scrollwheel or keyboard's arrow keys can be used to make fine adjustments.</font></p></td>
126 <td align="left" valign="top"><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod06.jpg" alt="" hspace="10" border="2"><br>
127 Figure 7.</font></p></td>
128 </tr>
129 <tr>
130 <td valign="top" align="left" colspan="3"><font face="Verdana" size="2">&nbsp;</font></td>
131 </tr>
132 <tr>
133 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 8.</b><br>
134 You need to adjust the robot's remaining horizontal hip servos. Select servo #00, then adjust the "Offset" slider until the tibia is at a 45° angle from the robot's chassis as shown.</font>
135 <p><font face="Verdana" size="2">Do this for servos #00, 08, 16, 24.</font></p>
136 <p><font face="Verdana" size="2">Note, the mouse's scrollwheel or keyboard's arrow keys can be used to make fine adjustments.</font></p></td>
137 <td align="left" valign="top"><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod07.jpg" alt="" hspace="10" border="2"><br>
138 Figure 8.</font></p></td>
139 </tr>
140 <tr>
141 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
142 </tr>
143 <tr>
144 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 9.</b><br>
145 Now adjust the robot's vertical hip servos. Select servo #1, then adjust the "Offset" slider until the robot's femur is parallel to the
146 ground as shown.</font>
147 <p><font face="Verdana" size="2">Do this for servos #01, 05, 09, 17, 21, 25.</font></p>
148 </td>
149 <td align="left" valign="top" >
150 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod08.jpg" border="2" hspace="10" ><br>
151 Figure 9.</font></p></td>
152 </tr>
153 <tr>
154 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
155 </tr>
156 <tr>
157 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br>
158 Now adjust the robot's knee servos. Select servo #2, then adjust the "Offset" slider until the tip of the robot's foot is directly
159 underneath the knee servo pivot point. From the servo's pivot point to the tip of the foot should be perpendicular to the ground as shown.</font>
160 <p><font face="Verdana" size="2">Do this for servos #02, 06, 10, 18, 22, 26.</font></p></td>
161 <td align="left" valign="top" ><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod09.jpg" alt="" hspace="10" border="2"><br>
162 Figure 10.</font></p></td>
163 </tr>
164 <tr>
165 <td valign="top" align="left" colspan="2"><br class="pb"></td>
166 </tr>
167 <tr>
168 <td valign="top" align="left"><p><font face="Verdana" size="2"><b>Step 11.</b><br>
169 Now adjust the robot's mandible servos. Adjust #13 and #14 until the mandibles are level with the ground, both from the front and side.</font></p></td>
170 <td align="left" valign="top" ><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod10.jpg" alt="" hspace="10" border="2"><br>
171 Figure 11.</font></p></td>
172 </tr>
173 <tr>
174 <td valign="top" align="left" colspan="2"><br class="pb"></td>
175 </tr>
176 <tr>
177 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 12.</b><br>
178 Now adjust the remaining mandible servos. Adjust servo #12 until the mandibles are inline with the chassis. Adjust the two gripper servos (#28 and #29) so that they just barely touch each other, as shown. It is important for the gripper servos to not be straining against each other.</font></td>
179 <td align="left" valign="top" ><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod11.jpg" alt="" hspace="10" border="2"><br>
180 Figure 12.</font></p></td>
181 </tr>
182 <tr>
183 <td valign="top" align="left" colspan="2"><br class="pb"></td>
184 </tr>
185 <tr>
186 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 13.</b><br>
187 Now for the robot's abdomen servos. Adjust #30 until the abdomen is inline with the chassis. Adjust #31 until the abdomen is parallel to the ground.</font></td>
188 <td align="left" valign="top" ><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod12.jpg" alt="" hspace="10" border="2"><br>
189 Figure 13.</font></p></td>
190 </tr>
191 <tr>
192 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
193 </tr>
194 <tr>
195 <td valign="top" align="left" colspan="2">
196 <p align="center"><font face="Verdana" size="2"><b>II. Bot Board II Configuration</b></font></p>
197 </td>
198 </tr>
199 <tr>
200 <td valign="top" align="left" colspan="2"><br class="pb">
201 </td>
202 </tr>
203 <tr>
204 <td valign="top" rowspan="3" align="left"><p><font face="Verdana" size="2"><b>Step 14.</b><br>
205 To connect the Bot Board II to the SSC-32, you will need to modify a 12" servo extender cable. Remove the header pins from the cable so you
206 have two female ends. Then use an exacto knife to gently pry the tab up to pull the red wire free on one end. Cover the exposed female connector
207 with heat shrink to avoid accidental shorts.</font>
208 </p>
209 <p><font face="Verdana" size="2">Remove the TX and RX jumpers from the lower-right corner of the SSC-32, and plug the unmodified end of the
210 cable in. Yellow on TX, red on RX, and black on ground.</font></p>
211 <p><font face="Verdana" size="2">Plug in some extra lengths of 18-24awg wires to VL on the SSC-32, with the 9vdc battery clip. These will be
212 used to run power to the Bot Board II.</font></p>
213 <p><font face="Verdana" size="2">See Tables 15-2 through 15-4, and the schematic below for connection information.</font></p></td>
214
215 </tr>
216 <tr>
217 <td align="left" valign="top" >
218 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/scmod01.jpg" border="2" hspace="10" ><br>
219 Figure 14.</font></p></td>
220 </tr>
221 <tr>
222
223 </tr>
224 <tr>
225 <td valign="top" align="left" colspan="2"><br>
226 </td>
227 </tr>
228 <tr>
229 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 15.</b><br>
230 Plug the modified end of the servo to the Bot Board II. The yellow and black part goes on pin 10 with
231 the black wire toward the outside of the Bot Board II. Plug the red wire in on Pin 11, on the header pin nearest the center of the Bot Board II.</font>
232 <p><font face="Verdana" size="2">Plug in the PS2 cable as shown in Figure 15-1. Plug in the power wires from the SSC-32 to
233 VL.</font></p>
234 <p>
235 <font face="Verdana" size="2">Note: Refer only to Figure 15-1 for connection information.
236 The cable colors in the picture may be outdated. If your cable's colors do
Eric Nantel 23.1 237 not match the diagram, you can find a complete listing of possible colors <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/bot-board-ii/#aglance">here</a>.</font></p>
Eric Nantel 21.1 238 <p><font face="Verdana" size="2">See Tables 15-2 through 15-4, and the schematic below for connection information.</font></p>
239 <p><font face="Verdana" size="2">Install the BASIC Atom Pro as shown.</font></p>
240 <table border="0" >
241 <tbody><tr>
242 <td ><font face="Verdana" size="2"><b>Atom Pro Orientation:<br>
243 <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/aproinst.gif" ></b></font></td>
244 <td align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/wire08s.gif" border="2" hspace="10"><br>
245 Figure 15-1.</font></td>
246 </tr>
247 </tbody></table>
248 </td>
249 </tr>
250 <tr>
251 <td valign="top" align="left" colspan="2"><br class="pb">
252 </td>
253 </tr>
254 <tr>
255 <td valign="top" align="left" colspan="2">
256 <p align="center"><font face="Verdana" size="2"><b>Connection Information Tables.</b></font></p><center>
257 <table border="0">
258 <tbody><tr>
259 <td valign="top">
260 <div align="center">
261 <table border="1" bordercolor="#000000" >
262 <tbody><tr>
263 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">SSC-32
264 Connection Information</font></b></td>
265 </tr>
266 <tr>
Eric Nantel 22.1 267 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>What</b></font></td>
268 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Where</b></font></td>
Eric Nantel 21.1 269 </tr>
270 <tr>
Eric Nantel 22.1 271 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Jumper installed</font></td>
272 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VS1=VS2</font></td>
Eric Nantel 21.1 273 </tr>
274 <tr>
Eric Nantel 22.1 275 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Jumper installed</font></td>
276 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">38.4 Baud Rate</font></td>
Eric Nantel 21.1 277 </tr>
278 <tr>
Eric Nantel 22.1 279 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Unmodified Servo Cable End</font></td>
280 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">TX / RX / GND<br>
Eric Nantel 21.1 281 Black wire on GND</font></td>
282 </tr>
283 <tr>
Eric Nantel 22.1 284 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">9vdc Battery Clip</font></td>
285 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VL</font></td>
Eric Nantel 21.1 286 </tr>
287 <tr>
Eric Nantel 22.1 288 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Power Wires</font></td>
289 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VL to BBII's VL</font></td>
Eric Nantel 21.1 290 </tr>
291 <tr>
Eric Nantel 22.1 292 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Battery Wiring Harness</font></td>
293 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VS1</font></td>
Eric Nantel 21.1 294 </tr>
295 </tbody></table>
296 </div>
297 </td>
Eric Nantel 22.1 298 <td rowspan="2" valign="top"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 21.1 299 <td valign="top">
300 <div align="center">
301 <table border="1" bordercolor="#000000" >
302 <tbody><tr>
303 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">Bot Board II
304 Connection Information</font></b></td>
305 </tr>
306 <tr>
Eric Nantel 22.1 307 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>What</b></font></td>
308 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Where</b></font></td>
Eric Nantel 21.1 309 </tr>
310 <tr>
Eric Nantel 22.1 311 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Power Wires</font></td>
312 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">SSC-32's VL to VL</font></td>
Eric Nantel 21.1 313 </tr>
314 <tr>
Eric Nantel 22.1 315 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Modified Servo Cable End<br>
Eric Nantel 21.1 316 Black and Yellow wires</font></td>
Eric Nantel 22.1 317 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Pin 10, Black wire toward
Eric Nantel 21.1 318 outside of board</font></td>
319 </tr>
320 <tr>
Eric Nantel 22.1 321 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Modified Servo Cable End<br>
Eric Nantel 21.1 322 Red wire</font></td>
Eric Nantel 22.1 323 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Pin 11, toward center of board</font></td>
Eric Nantel 21.1 324 </tr>
325 <tr>
Eric Nantel 22.1 326 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Power jumper for I/O group
Eric Nantel 21.1 327 12-15</font></td>
Eric Nantel 22.1 328 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">5vdc</font></td>
Eric Nantel 21.1 329 </tr>
330 <tr>
Eric Nantel 22.1 331 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">PS2 Cable</font></td>
332 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Group 12-15<br>
Eric Nantel 21.1 333 (see diagram above)</font></td>
334 </tr>
335 </tbody></table>
336 </div>
337 </td>
338 </tr>
339 <tr>
340 <td>
341 <p align="center"><font face="Verdana" size="2">Table 15-2</font></p>
342 </td>
343 <td>
344 <p align="center"><font face="Verdana" size="2">Table 15-3</font></p>
345 </td>
346 </tr>
347 <tr>
Eric Nantel 22.1 348 <td colspan="3"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 21.1 349 </tr>
350 <tr>
351 <td colspan="3">
352 <div align="center">
353 <table border="1" bordercolor="#000000" >
354 <tbody><tr>
355 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="6"><b><font face="Verdana" size="2">Servo Channels
356 and Schematic Label Explanations</font></b></td>
357 </tr>
358 <tr>
Eric Nantel 22.1 359 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RRH</b> / 00</font></td>
360 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Horizontal Hip</font></td>
361 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LRH</b> / 16</font></td>
362 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Horizontal Hip</font></td>
363 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RM</b> / 28</font></td>
364 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Mandible</font></td>
Eric Nantel 21.1 365 </tr>
366 <tr>
Eric Nantel 22.1 367 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RRV</b> / 01</font></td>
368 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Vertical Hip</font></td>
369 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LRV</b> / 17</font></td>
370 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Vertical Hip</font></td>
371 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LM</b> / 29</font></td>
372 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Mandible</font></td>
Eric Nantel 21.1 373 </tr>
374 <tr>
Eric Nantel 22.1 375 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RRK</b> / 02</font></td>
376 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Knee</font></td>
377 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LRK</b> / 18</font></td>
378 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Knee</font></td>
379 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>AP </b>/ 30</font></td>
380 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Abdomen Pan</font></td>
Eric Nantel 21.1 381 </tr>
382 <tr>
Eric Nantel 22.1 383 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RMH</b> / 04</font></td>
384 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Middle Horizontal Hip</font></td>
385 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LMH</b> / 20</font></td>
386 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Horizontal Hip</font></td>
387 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>AT</b> / 31</font></td>
388 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Abdomen Tilt</font></td>
Eric Nantel 21.1 389 </tr>
390 <tr>
Eric Nantel 22.1 391 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RMV</b> / 05</font></td>
392 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Middle Vertical Hip</font></td>
393 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LMV</b> / 21</font></td>
394 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Vertical Hip</font></td>
395 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>HP</b> / 12</font></td>
396 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Mandible Pan</font></td>
Eric Nantel 21.1 397 </tr>
398 <tr>
Eric Nantel 22.1 399 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RMK</b> / 06</font></td>
400 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Middle Knee</font></td>
401 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LMK</b> / 22</font></td>
402 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Knee</font></td>
403 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>HR</b> / 13</font></td>
404 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Mandible Rotate</font></td>
Eric Nantel 21.1 405 </tr>
406 <tr>
Eric Nantel 22.1 407 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RFH</b> / 08</font></td>
408 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Horizontal Hip</font></td>
409 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LFH</b> / 24</font></td>
410 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Horizontal Hip</font></td>
411 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>HT</b> / 14</font></td>
412 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Mandible Tilt</font></td>
Eric Nantel 21.1 413 </tr>
414 <tr>
Eric Nantel 22.1 415 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RFV</b> / 09</font></td>
416 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Vertical Hip</font></td>
417 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LFV</b> / 25</font></td>
418 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Vertical Hip</font></td>
Eric Nantel 21.1 419 <td colspan="2" rowspan="2" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">&nbsp;</td>
420 </tr>
421 <tr>
Eric Nantel 22.1 422 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RFK</b> / 10</font></td>
423 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Knee</font></td>
424 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LFK</b> / 26</font></td>
425 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Knee</font></td>
Eric Nantel 21.1 426 </tr>
427 </tbody></table>
428 </div>
429 </td>
430 </tr>
431 <tr>
432 <td colspan="3">
433 <p align="center"><font face="Verdana" size="2">Table 15-4</font></p>
434 </td>
435 </tr>
436 </tbody></table>
437 </center></td>
438 </tr>
439 <tr>
440 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
441 </font></td>
442 </tr>
443 <tr>
444 <td valign="top" align="left" colspan="2">
445 <p align="center"><font face="Verdana" size="2"><b>Schematic.<br>
446 </b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apodsch01.png" border="0" hspace="10" ></font></p>
447 <p align="center"><font face="Verdana" size="2"><b>Schematic.</b></font></p>
448 </td>
449 </tr>
450
451 <tr>
452 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;<a name="programs"></a></font></td>
453 </tr>
454 <tr>
455 <td valign="top" align="left"><p><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">Step 16. Download the Program</font></strong><font size="2"><br>
Eric Nantel 22.1 456 </font><font size="2" face="Verdana, Helvetica, sans-serif">Download the Basic Micro Studio.
Eric Nantel 21.1 457 Install and run the IDE to allow programming the chip.</font></font></p>
458 <p><font face="Verdana, Helvetica, sans-serif"><font size="2">Download the .zip file, and unzip it. Open the .prj file in Studio
459 (File-&gt;Open-&gt;*.prj), and verify that the files listed in the
460 Workspace are in the order shown in Table 16. Install the PS2 controller receiver into
461 the PS2 cable on the robot, make sure your PS2 controller is turned on, and
462 then apply power to the robot. Program the Atom Pro. If all is well, you will hear
463 a beep after power up. Press Start and the legs should snap to position. At this point, if you properly calibrated the
464 servo offsets, the legs should be perfectly aligned.</font></font></p>
465 <p><font size="2" face="Verdana, Helvetica, sans-serif">Note: The software switches the controller to analog mode. However, some controllers may need to be put
466 into analog mode manually. If you hear a continuous beeping, the PS2 controller is not connected to the Atom properly
467 or is not functioning. If you hear beeping, you can try pressing Reset on the Bot Board II. You can also test the controller with a Playstation
468 2 to verify that it is working.</font></p>
469 </td>
470 <td valign="top" align="center">
471 <div align="center">
472 <table border="1" bordercolor="#000000" >
473 <tbody><tr>
474 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">A-Pod BASIC Atom Pro
475 Program</font></b></td>
476 </tr>
477 <tr>
Eric Nantel 22.1 478 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>Phoenix:</b><br>
479 <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apodps2.zip">apodps2.zip</a></font></td>
480 <td align="left" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><p><font face="Verdana" size="2">Zip file contains:</font></p>
Eric Nantel 21.1 481 <ul>
Eric Nantel 22.1 482 <li><font face="Verdana" size="2">apod_ps2.prj</font></li>
483 <li><font face="Verdana" size="2">Phoenix_Config_3DOFAPod.bas</font></li>
484 <li><font face="Verdana" size="2">Phoenix_Control_ps2.bas</font></li>
485 <li><font face="Verdana" size="2">Phoenix_Core.bas</font></li>
486 <li><font face="Verdana" size="2">Phoenix_Driver_SSC-32.bas</font></li>
Eric Nantel 21.1 487 </ul></td>
488 </tr>
489 </tbody></table>
490 <font size="2" face="Verdana, Helvetica, sans-serif">Table 16.</font>
491 </div>
492 </td>
493 </tr>
494 <tr>
495 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
496 </tr>
497 <tr>
498 <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana, Helvetica, sans-serif">Step 17. Controlling the
499 Robot with PS2 Controller</font></b><font size="2" face="Verdana, Helvetica, sans-serif"><br>
500 The default is Walking
501 mode 1. Use the Left joystick to move the robot around without
502 turning (this is called "translation"), and the Right joystick rotates the robot as it moves. Up and Down on the D-Pad increases or
503 decreases the height of the body. The Triangle button puts the body at 35mm from the ground. The Triangle swaps between a walking stance and a 'resting' position. </font>
504 <p><font size="2" face="Verdana, Helvetica, sans-serif">There are two special "body moves" functions that are triggered by pressing
505 Circle, or X. While in one of these modes, the hexapod does not
506 walk. The joysticks and some buttons change function depending on which mode is toggled on; see
507 Table 17 for details.</font></p></td>
508 </tr>
509 <tr>
510 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
511 </font></td>
512 </tr>
513 <tr>
514 <td valign="top" align="left" colspan="2">
515 <div align="center">
516 <center>
517 <table border="0">
518 <tbody><tr>
519 <td valign="top"> <table border="1" bordercolor="#000000">
520 <tbody><tr>
521 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 22.1 522 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
Eric Nantel 21.1 523 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 22.1 524 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Function</font></p></td>
Eric Nantel 21.1 525 </tr>
526 <tr>
527 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 22.1 528 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Common
Eric Nantel 21.1 529 Controls</b></font></p></td>
530 </tr>
531 <tr>
Eric Nantel 22.1 532 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Start</font></td>
533 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn robot on/off</font></td>
Eric Nantel 21.1 534 </tr>
535 <tr>
Eric Nantel 22.1 536 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R3</font></td>
537 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle full/half head rotation range</font></td>
Eric Nantel 21.1 538 </tr>
539 <tr>
Eric Nantel 22.1 540 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L1</font></td>
541 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Open Mandibles</font></td>
Eric Nantel 21.1 542 </tr>
543 <tr>
Eric Nantel 22.1 544 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L2</font></td>
545 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Close Mandibles</font></td>
Eric Nantel 21.1 546 </tr>
547 <tr>
Eric Nantel 22.1 548 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L2 + D-Pad left</font></td>
549 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Decrease gripper torque</font></td>
Eric Nantel 21.1 550 </tr>
551 <tr>
Eric Nantel 22.1 552 <td h align="center" bordercolor="#C0C0C0"><font size="2" face="Verdana, Helvetica, sans-serif">L2 + D-Pad right</font></td>
553 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Increase gripper torque</font></td>
Eric Nantel 21.1 554 </tr>
555 <tr>
Eric Nantel 22.1 556 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O Circle</font></td>
557 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle Rotate mode</font></td>
Eric Nantel 21.1 558 </tr>
559 <tr>
Eric Nantel 22.1 560 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X Cross</font></td>
561 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle Shift mode</font></td>
Eric Nantel 21.1 562 </tr>
563 <tr>
Eric Nantel 22.1 564 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">[] Square</font></td>
565 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 21.1 566 Balance mode<br>
567 (Balance mode: Lifts and lowers body along with moving legs.)</font></td>
568 </tr>
569 <tr>
Eric Nantel 22.1 570 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><u>/\</u> Triangle</font></td>
571 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
Eric Nantel 21.1 572 between body at 35mm from ground (walking default) and body
573 lowered to ground</font></td>
574 </tr>
575 <tr>
Eric Nantel 22.1 576 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad Up</font></td>
577 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body up 10mm</font></td>
Eric Nantel 21.1 578 </tr>
579 <tr>
Eric Nantel 22.1 580 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad Down</font></td>
581 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body down 10mm</font></td>
Eric Nantel 21.1 582 </tr>
583 <tr>
Eric Nantel 22.1 584 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad
Eric Nantel 21.1 585 Left</font></td>
Eric Nantel 22.1 586 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Decrease
Eric Nantel 21.1 587 speed by 50mS</font></td>
588 </tr>
589 <tr>
Eric Nantel 22.1 590 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad
Eric Nantel 21.1 591 Right</font></td>
Eric Nantel 22.1 592 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Increase
Eric Nantel 21.1 593 speed by 50mS</font></td>
594 </tr>
595 <tr>
596 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 22.1 597 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Walk
Eric Nantel 21.1 598 Mode Controls</b><br>
599 (Default is Walk mode 1)</font></p></td>
600 </tr>
601 <tr>
Eric Nantel 22.1 602 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
603 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Change gaits</font></td>
Eric Nantel 21.1 604 </tr>
605 <tr>
Eric Nantel 22.1 606 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left Joystick</font></td>
607 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walk
Eric Nantel 21.1 608 mode 1: Walk/strafe<br>
609 Walk mode 2: Disabled</font></td>
610 </tr>
611 <tr>
Eric Nantel 22.1 612 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right Joystick</font></td>
613 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walk
Eric Nantel 21.1 614 mode 1: Rotate<br>
615 Walk mode 2: Walk/rotate</font></td>
616 </tr>
617 <tr>
Eric Nantel 22.1 618 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R1</font></td>
619 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 21.1 620 double gait travel height</font></td>
621 </tr>
622 <tr>
Eric Nantel 22.1 623 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
624 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 21.1 625 double gait travel length</font></td>
626 </tr>
627 </tbody></table></td>
628 <td valign="top">&nbsp;</td>
629 <td valign="top"> <table border="1" bordercolor="#000000">
630 <tbody><tr>
631 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 22.1 632 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
Eric Nantel 21.1 633 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 22.1 634 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Function</font></p></td>
Eric Nantel 21.1 635 </tr>
636 <tr>
637 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 22.1 638 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Shift
Eric Nantel 21.1 639 Mode Controls<br>
640 </b>(Special mode)</font></p></td>
641 </tr>
642 <tr>
Eric Nantel 22.1 643 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L1</font></td>
644 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 21.1 645 Shift mode off</font></td>
646 </tr>
647 <tr>
Eric Nantel 22.1 648 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 21.1 649 Joystick</font></td>
Eric Nantel 22.1 650 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Shift
Eric Nantel 21.1 651 body X/Z</font></td>
652 </tr>
653 <tr>
Eric Nantel 22.1 654 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 21.1 655 Joystick</font></td>
Eric Nantel 22.1 656 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Shift
Eric Nantel 21.1 657 and rotate body Y</font></td>
658 </tr>
659 <tr>
660 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 22.1 661 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Rotate Mode Controls<br>
Eric Nantel 21.1 662 </b>(Special mode)</font></p></td>
663 </tr>
664 <tr>
Eric Nantel 22.1 665 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O Circle</font></td>
666 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 21.1 667 Rotate mode off</font></td>
668 </tr>
669 <tr>
Eric Nantel 22.1 670 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 21.1 671 Joystick</font></td>
Eric Nantel 22.1 672 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Rotate
Eric Nantel 21.1 673 Y/Translate Z</font></td>
674 </tr>
675 <tr>
Eric Nantel 22.1 676 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 21.1 677 Joystick</font></td>
Eric Nantel 22.1 678 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Rotate Z/X </font></td>
Eric Nantel 21.1 679 </tr>
680 <tr>
Eric Nantel 22.1 681 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
682 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Cycle rotate function (Head tracking, fixed head, head only)</font></td>
Eric Nantel 21.1 683 </tr>
684 <tr>
Eric Nantel 22.1 685 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R1</font></td>
686 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move center of rotation to head (when held)</font></td>
Eric Nantel 21.1 687 </tr>
688 <tr>
Eric Nantel 22.1 689 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
690 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move center of rotation to tail (when held)</font></td>
Eric Nantel 21.1 691 </tr>
692 <tr>
Eric Nantel 22.1 693 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L3</font></td>
694 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Reset body rotations</font></td>
Eric Nantel 21.1 695 </tr>
696 </tbody></table></td>
697 </tr>
698 </tbody></table>
699 </center>
700 </div>
701 <div align="center">
702 <font size="2" face="Verdana, Helvetica, sans-serif"><b>PS2 Controls</b><br>
703 Table 17.</font>
704 </div>
705 </td>
706 </tr>
707 </tbody></table>
708 </body>
Eric Nantel 1.1 709 {{/html}}
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