Changes for page Phoenix Bot Board II / BASIC Atom Pro Tutorial
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... ... @@ -1,3 +1,1016 @@ 1 1 {{html wiki="false" clean="true"}} 2 - 2 +<body><table border="0" cellpadding="0" cellspacing="0" > 3 + <tbody><tr> 4 + <td valign="top" align="left"><b><font face="Verdana" size="2">Phoenix 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><b><font face="Verdana" size="2">Safety first!</font></b><font face="Verdana" size="1"> Wear eye protection and never touch a powered robot!</font></p> 8 + <p><font face="Verdana" size="2"><b>Note:</b> This tutorial applies to the SSC-32 v2 with GP 9 + firmware.</font></p> 10 + <p><font size="2" face="Verdana"><b>Software:<br> 11 + </b> - Basic Micro Studio<br> 12 + - Basic Atom Pro program</font></p></td> 13 + <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/phoenix-bot-board-ii-tutorial/WebHome/phoen23.jpg" border="2" hspace="10" ><br> 14 + <strong>Image of Phoenix.</strong></font></td> 15 + </tr> 16 + <tr> 17 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 18 + </tr> 19 + <tr> 20 + <td valign="top" align="left" colspan="2"> 21 + <p align="center"><font face="Verdana" size="2"><b>I. Phoenix Configuration: SSC-32 Registers</b></font></p> 22 + </td> 23 + </tr> 24 + <tr> 25 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 26 + </tr> 27 + <tr> 28 + <td valign="top" align="left"> 29 + <p align="left"><font face="Verdana" size="2"><b>Step 1.</b><br> 30 + Place the robot on top of a CD spindle or similar to hold the legs off the ground.</font></p> 31 + <p align="left"><font face="Verdana" size="2">Download and install <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. Connect the SSC-32 to the serial port and apply power. The green LED should light and stay on until it receives a valid 32 + serial command. Run the LynxTerm program.</font></p> 33 + <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 34 + troubleshooting guide</a> if you have difficulties with this.</font></p></td> 35 + <td align="left" valign="top" > 36 + <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/phoenix-bot-board-ii-tutorial/WebHome/phoen22.jpg" border="2" hspace="10" ><br> 37 + Figure 1.</font></p></td> 38 + </tr> 39 + <tr> 40 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 41 + </tr> 42 + <tr> 43 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br> 44 + Download the 2.04GP Beta firmware or higher. Remove power from the 45 + SSC-32, and make sure the baud rate is set to 115.2k. Refer to the manual if you need more information regarding baud rate.</font> 46 + <p><font face="Verdana" size="2">Apply power to the SSC-32 again, make sure it's connected to the PC, and click on "Firmware" along 47 + the bottom of the LynxTerm screen.</font></p> 48 + <p><font face="Verdana" size="2">Click on "Open" and browse to the firmware file you just downloaded.</font></p> 49 + <p><font face="Verdana" size="2">Click on "Begin Update".</font></p> 50 + </td> 51 + <td align="left" valign="top" > 52 + <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/phoenix-bot-board-ii-tutorial/WebHome/reg07.jpg" border="2" hspace="10" ><br> 53 + Figure 3.</font></p></td> 54 + </tr> 55 + <tr> 56 + <td valign="top" align="left" colspan="2"><br class="pb"> 57 + </td> 58 + </tr> 59 + <tr> 60 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 4.</b><br> 61 + When the firmware has been successfully updated, click "Ok" then "Exit".</font> 62 + <p><font face="Verdana" size="2">Now do the "ver" test: type "ver" 63 + into the terminal then press "Enter". You should see the proper firmware 64 + version returned.</font></p></td> 65 + <td align="left" valign="top" > 66 + <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/phoenix-bot-board-ii-tutorial/WebHome/reg08.jpg" border="2" hspace="10" ><br> 67 + Figure 4.</font></p></td> 68 + </tr> 69 + <tr> 70 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 71 + </tr> 72 + <tr> 73 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 5.</b><br> 74 + 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 75 + robot should go to and hold the neutral position, and should resemble figures 7, 8, and 9. If the joints are off by more than 15° you may have 76 + 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 77 + it's aligned, then reattach the servo horn.</font></td> 78 + <td align="left" valign="top" > 79 + <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/phoenix-bot-board-ii-tutorial/WebHome/reg09.jpg" border="2" hspace="10" ><br> 80 + Figure 5.</font></p></td> 81 + </tr> 82 + <tr> 83 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 84 + </tr> 85 + <tr> 86 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 6.</b><br> 87 + From the main screen, click on "Reg" to open the Registers page.</font> 88 + <p><font face="Verdana" size="2">Click on "Default" to initialize default values.</font></p></td> 89 + <td align="left" valign="top" > 90 + <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/phoenix-bot-board-ii-tutorial/WebHome/reg02.jpg" border="2" hspace="10" ><br> 91 + Figure 6.</font></p></td> 92 + </tr> 93 + <tr> 94 + <td valign="top" align="left" colspan="2"><br class="pb"> 95 + </td> 96 + </tr> 97 + <tr> 98 + <td valign="top" align="left"><font face="Verdana" size="2">Refer to this servo channel number guide for the following three steps.</font> 99 + <p> </p> 100 + <p><b><font face="Verdana" size="2" color="#FF0000">Do the most accurate alignment as possible!</font></b><font face="Verdana" size="2"> The 101 + robot can only operate as well as as it is aligned. In other words, a poorly aligned robot will walk poorly!</font></p> 102 + </td> 103 + <td align="left" valign="top" > 104 + <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/phoenix-bot-board-ii-tutorial/WebHome/phoen14.jpg" border="2" hspace="10" ><br> 105 + Servo Channel Numbering.</font></p></td> 106 + </tr> 107 + <tr> 108 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 109 + </tr> 110 + <tr> 111 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 7.</b><br> 112 + You need to adjust the robot's horizontal hip servos. Select servo #0, then adjust the "Offset" slider until the tibia is in line with 113 + the horizontal hip servo horn's screws as shown.</font> 114 + <p><font face="Verdana" size="2">Do this for servos #00, 04, 08, 16, 20, 24.</font></p> 115 + <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> 116 + </td> 117 + <td align="left" valign="top" > 118 + <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/phoenix-bot-board-ii-tutorial/WebHome/phoen17.jpg" border="2" hspace="10" ><br> 119 + Figure 7.</font></p></td> 120 + </tr> 121 + <tr> 122 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 123 + </tr> 124 + <tr> 125 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 8.</b><br> 126 + Now adjust the robot's vertical hip servo. Select servo #1, then adjust the "Offset" slider until the robot's femur is parallel to the 127 + ground as shown.</font> 128 + <p><font face="Verdana" size="2">Do this for servos #01, 05, 09, 17, 21, 25.</font></p> 129 + </td> 130 + <td align="left" valign="top" > 131 + <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/phoenix-bot-board-ii-tutorial/WebHome/phoen15.jpg" border="2" hspace="10" ><br> 132 + Figure 8.</font></p></td> 133 + </tr> 134 + <tr> 135 + <td valign="top" align="left" colspan="2"><br class="pb"> 136 + </td> 137 + </tr> 138 + <tr> 139 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 9.</b><br> 140 + Now adjust the robot's knee servo. Select servo #2, then adjust the "Offset" slider until the tip of the robot's foot is directly 141 + 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> 142 + <p><font face="Verdana" size="2">Do this for servos #02, 06, 10, 18, 22, 26.</font></p></td> 143 + <td align="left" valign="top" > 144 + <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/phoenix-bot-board-ii-tutorial/WebHome/phoen16.jpg" border="2" hspace="10" ><br> 145 + Figure 9.</font></p></td> 146 + </tr> 147 + <tr> 148 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 149 + </tr> 150 + <tr> 151 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br> 152 + Enable "Initial Pulse Offset", then click "Write" and exit LynxTerm when the write process is finished.</font> 153 + <p><font face="Verdana" size="2">Note, you can also check "Initial Pulse Width" to automatically enable the servos on power-up as an 154 + option. If you do, make sure you "Write" to save the changes. The next section of this tutorial allows Sequencer to enable the servos 155 + instead.</font></p> 156 + <p><font face="Verdana" size="2">This completes the Phoenix configuration process for the SSC-32 registers. Now, whenever the robot is turned 157 + on, the servos will automatically be aligned and/or enabled.</font></p> 158 + </td> 159 + <td align="left" valign="top" > 160 + <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/phoenix-bot-board-ii-tutorial/WebHome/reg04.jpg" border="2" hspace="10" ><br> 161 + Figure 10.</font></p></td> 162 + </tr> 163 + <tr> 164 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 165 + </tr> 166 + <tr> 167 + <td valign="top" align="left" colspan="2"> 168 + <p align="center"><font face="Verdana" size="2"><b>II. Phoenix Configuration: Bot Board II Installation</b></font></p> 169 + </td> 170 + </tr> 171 + <tr> 172 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 173 + </tr> 174 + <tr> 175 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 11.</b><br> 176 + Remove a screw holding the SSC-32's standoffs onto the Phoenix chassis. Replace the screw with the 3/8" M/F standoff as shown. Be careful 177 + to not over tighten! Repeat for the remaining three screws.</font></td> 178 + <td align="left" valign="top" > 179 + <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/phoenix-bot-board-ii-tutorial/WebHome/phoen20.jpg" border="2" hspace="10" ><br> 180 + Figure 11.</font></p></td> 181 + </tr> 182 + <tr> 183 + <td valign="top" align="left" colspan="2"><br class="pb"> 184 + </td> 185 + </tr> 186 + <tr> 187 + <td valign="top" rowspan="3" align="left"><font face="Verdana" size="2"><b>Step 12.</b><br> 188 + Flip the Phoenix over and attach the PS2 cable's receiver socket as shown. Route the rest of the cable up and out the 189 + top.</font> 190 + <p><font face="Verdana" size="2"> </font></p> 191 + <p><font face="Verdana" size="2"> </font></p> 192 + <p><font face="Verdana" size="2"><b>Step 13.</b><br> 193 + To connect the Bot Board II to the SSC-32, you will need to modify a 6" servo extender cable. Remove the header pins from the cable so you 194 + 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 195 + with heat shrink to avoid accidental shorts.</font> 196 + </p> 197 + <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 198 + cable in. Yellow on TX, red on RX, and black on ground.</font></p> 199 + <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 200 + used to run power to the Bot Board II.</font></p> 201 + <p><font face="Verdana" size="2">See Tables 14-1 through 14-3, and Schematic 14-3 for connection information.</font></p></td> 202 + <td align="left" valign="top" > 203 + <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/phoenix-bot-board-ii-tutorial/WebHome/phoen19.jpg" border="2" hspace="10" ><br> 204 + Figure 12.</font></p></td> 205 + </tr> 206 + <tr> 207 + <td valign="top" align="left"><font face="Verdana" size="2"> </font></td> 208 + </tr> 209 + <tr> 210 + <td align="left" valign="top" > 211 + <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/phoenix-bot-board-ii-tutorial/WebHome/scmod01.jpg" border="2" hspace="10" ><br> 212 + Figure 13.</font></p></td> 213 + </tr> 214 + <tr> 215 + <td valign="top" align="left" colspan="2"><br class="pb"> 216 + </td> 217 + </tr> 218 + <tr> 219 + <td valign="top" align="left" rowspan="2"><font face="Verdana" size="2"><b>Step 14.</b><br> 220 + Install the Bot Board II, using 1/4" socket head screws. Plug the modified end of the servo The yellow and black part goes on pin 10 with 221 + 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> 222 + <p><font face="Verdana" size="2">Plug in the PS2 cable as shown in Figure 14-2. Plug in the power wires from the SSC-32 to 223 + VL.</font></p> 224 + <p> 225 + <font face="Verdana" size="2">Note: Refer only to Figure 14-2 for connection information. 226 + The cable colors in the picture may be outdated. If your cable's colors do 227 + not match the diagram, you can find a complete listing of possible colors <a href="http://www.lynxmotion.com/images/html/build151.htm#aglance">here</a>.</font></p> 228 + <p><font face="Verdana" size="2">See Tables 14-1 through 14-3, and Schematic 14-3 for connection information.</font></p> 229 + <p><font face="Verdana" size="2">Install the BASIC Atom Pro as shown.</font></p> 230 + <table border="0" > 231 + <tbody><tr> 232 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td> 233 + <td ><font size="2" face="Verdana"><b>Atom Pro Orientation:</b></font></td> 234 + </tr> 235 + <tr> 236 + <td ><font face="Verdana" size="2"><b><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/phoenix-bot-board-ii-tutorial/WebHome/4250hscs.gif" ></b></font></td> 237 + <td ><font face="Verdana" size="2"><b><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/phoenix-bot-board-ii-tutorial/WebHome/aproinst.gif" ></b></font></td> 238 + </tr> 239 + </tbody></table> 240 + </td> 241 + <td align="left" valign="top" > 242 + <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/phoenix-bot-board-ii-tutorial/WebHome/phoen21.jpg" border="2" hspace="10" ><br> 243 + Figure 14-1.<br> 244 + </font></p></td> 245 + </tr> 246 + <tr> 247 + <td align="left" valign="top" > 248 + <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/phoenix-bot-board-ii-tutorial/WebHome/wire08s.gif" border="2" hspace="10"><br> 249 + Figure 14-2.</font></p></td> 250 + </tr> 251 + <tr> 252 + <td valign="top" align="left" colspan="2"><br class="pb"> 253 + </td> 254 + </tr> 255 + <tr> 256 + <td valign="top" align="left" colspan="2"> 257 + <p align="center"><font face="Verdana" size="2"><b>Connection Information Tables.</b></font></p><center> 258 + <table border="0"> 259 + <tbody><tr> 260 + <td valign="top"> 261 + <div align="center"> 262 + <table border="1" bordercolor="#000000" > 263 + <tbody><tr> 264 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">SSC-32 265 + Connection Information</font></b></td> 266 + </tr> 267 + <tr> 268 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>What</b></font></td> 269 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Where</b></font></td> 270 + </tr> 271 + <tr> 272 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Jumper installed</font></td> 273 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">VS1=VS2</font></td> 274 + </tr> 275 + <tr> 276 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Jumper installed</font></td> 277 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">38.4 Baud Rate</font></td> 278 + </tr> 279 + <tr> 280 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Unmodified Servo Cable End</font></td> 281 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">TX / RX / GND<br> 282 + Black wire on GND</font></td> 283 + </tr> 284 + <tr> 285 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">9vdc Battery Clip</font></td> 286 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">VL</font></td> 287 + </tr> 288 + <tr> 289 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Power Wires</font></td> 290 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">VL to BBII's VL</font></td> 291 + </tr> 292 + <tr> 293 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Battery Wiring Harness</font></td> 294 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">VS1</font></td> 295 + </tr> 296 + </tbody></table> 297 + </div> 298 + </td> 299 + <td rowspan="2" valign="top"><font face="Verdana" size="1"> </font></td> 300 + <td valign="top"> 301 + <div align="center"> 302 + <table border="1" bordercolor="#000000" > 303 + <tbody><tr> 304 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">Bot Board II 305 + Connection Information</font></b></td> 306 + </tr> 307 + <tr> 308 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>What</b></font></td> 309 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Where</b></font></td> 310 + </tr> 311 + <tr> 312 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Power Wires</font></td> 313 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">SSC-32's VL to VL</font></td> 314 + </tr> 315 + <tr> 316 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Modified Servo Cable End<br> 317 + Black and Yellow wires</font></td> 318 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Pin 10, Black wire toward 319 + outside of board</font></td> 320 + </tr> 321 + <tr> 322 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Modified Servo Cable End<br> 323 + Red wire</font></td> 324 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Pin 11, toward center of board</font></td> 325 + </tr> 326 + <tr> 327 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Power jumper for I/O group 328 + 12-15</font></td> 329 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">5vdc</font></td> 330 + </tr> 331 + <tr> 332 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">PS2 Cable</font></td> 333 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">I/O Group 12-15<br> 334 + (see diagram above)</font></td> 335 + </tr> 336 + </tbody></table> 337 + </div> 338 + </td> 339 + </tr> 340 + <tr> 341 + <td> 342 + <p align="center"><font face="Verdana" size="2">Table 14-1</font></p> 343 + </td> 344 + <td> 345 + <p align="center"><font face="Verdana" size="2">Table 14-2</font></p> 346 + </td> 347 + </tr> 348 + <tr> 349 + <td colspan="3"><font face="Verdana" size="1"> </font></td> 350 + </tr> 351 + <tr> 352 + <td colspan="3"> 353 + <div align="center"> 354 + <table border="1" bordercolor="#000000" > 355 + <tbody><tr> 356 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><b><font face="Verdana" size="2">Servo Channels 357 + and Schematic Label Explanations</font></b></td> 358 + </tr> 359 + <tr> 360 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>RRH</b> / 00</font></td> 361 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Rear Horizontal Hip</font></td> 362 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>LRH</b> / 16</font></td> 363 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Rear Horizontal Hip</font></td> 364 + </tr> 365 + <tr> 366 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>RRV</b> / 01</font></td> 367 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Rear Vertical Hip</font></td> 368 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>LRV</b> / 17</font></td> 369 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Rear Vertical Hip</font></td> 370 + </tr> 371 + <tr> 372 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>RRK</b> / 02</font></td> 373 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Rear Knee</font></td> 374 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>LRK</b> / 18</font></td> 375 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Rear Knee</font></td> 376 + </tr> 377 + <tr> 378 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>RMH</b> / 04</font></td> 379 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Middle Horizontal Hip</font></td> 380 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>LMH</b> / 20</font></td> 381 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Middle Horizontal Hip</font></td> 382 + </tr> 383 + <tr> 384 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>RMV</b> / 05</font></td> 385 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Middle Vertical Hip</font></td> 386 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>LMV</b> / 21</font></td> 387 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Middle Vertical Hip</font></td> 388 + </tr> 389 + <tr> 390 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>RMK</b> / 06</font></td> 391 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Middle Knee</font></td> 392 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>LMK</b> / 22</font></td> 393 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Middle Knee</font></td> 394 + </tr> 395 + <tr> 396 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>RFH</b> / 08</font></td> 397 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Front Horizontal Hip</font></td> 398 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>LFH</b> / 24</font></td> 399 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Front Horizontal Hip</font></td> 400 + </tr> 401 + <tr> 402 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>RFV</b> / 09</font></td> 403 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Front Vertical Hip</font></td> 404 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>LFV</b> / 25</font></td> 405 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Front Vertical Hip</font></td> 406 + </tr> 407 + <tr> 408 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>RFK</b> / 10</font></td> 409 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Front Knee</font></td> 410 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>LFK</b> / 26</font></td> 411 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Front Knee</font></td> 412 + </tr> 413 + </tbody></table> 414 + </div> 415 + </td> 416 + </tr> 417 + <tr> 418 + <td colspan="3"> 419 + <p align="center"><font face="Verdana" size="2">Table 14-3</font></p> 420 + </td> 421 + </tr> 422 + </tbody></table> 423 + </center></td> 424 + </tr> 425 + <tr> 426 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb"> 427 + </font></td> 428 + </tr> 429 + <tr> 430 + <td valign="top" align="left" colspan="2"> 431 + <p align="center"><font face="Verdana" size="2"><b>Schematic - Figure 14-3.<br> 432 + </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/phoenix-bot-board-ii-tutorial/WebHome/phoesch1.gif" border="0" hspace="10" ></font></p> 433 + <p align="center"><font face="Verdana" size="2"><b>Schematic - Figure 14-3.</b></font></p> 434 + </td> 435 + </tr> 436 + <tr> 437 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb"> 438 + </font></td> 439 + </tr> 440 + <tr> 441 + <td valign="top" align="left"><strong><font size="2" face="Verdana, Helvetica, sans-serif">Step 15.</font></strong><font size="2" face="Verdana, Helvetica, sans-serif"><br> 442 + Download the Basic Micro Studio from (<a href="http://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl">here</a>). 443 + Install and run the IDE to allow programming the chip.</font> 444 + <p><font size="2" face="Verdana, Helvetica, sans-serif">Connect the serial data cable to the PC's serial port. This can be recognized by having 445 + 9 pins that stick out. Connect the other end of the serial data cable to the Bot Board's DB9 port. Note, you can also use a BAFO BF-810 or 446 + IOGear USB-to-Serial adaptor.</font></p></td> 447 + <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/phoenix-bot-board-ii-tutorial/WebHome/comp.jpg" border="2" hspace="10" ><br> 448 + <font size="2">Figure 15.</font></font></td> 449 + </tr> 450 + <tr> 451 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"> <a name="programs"></a></font></td> 452 + </tr> 453 + <tr> 454 + <td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">For 455 + Phoenix or CH3-R with PS2 controller:</font></strong></font> 456 + <p><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">Step 16. Download the Program</font></strong><font size="2"><br> 457 + Download the .zip file, and unzip it. Open the .prj file in Studio 458 + (File->Open->*.prj), and verify that the files listed in the 459 + Workspace are in the order shown in Table 16. Install the PS2 controller receiver into 460 + the PS2 cable on the robot, make sure your PS2 controller is turned on, and 461 + then apply power to the robot. Program the Atom Pro. If all is well, you will hear 462 + a beep after power up. Press Start and the legs should snap to position. At this point, if you properly calibrated the 463 + servo offsets, the legs should be perfectly aligned.</font></font></p> 464 + <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 465 + into analog mode manually. If you hear a continuous beeping, the PS2 controller is not connected to the Atom properly 466 + 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 467 + 2 to verify that it is working.</font></p> 468 + </td> 469 + <td valign="top" align="center"> 470 + <div align="center"> 471 + <table border="1" bordercolor="#000000" > 472 + <tbody><tr> 473 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">Phoenix BASIC Atom Pro 474 + Program</font></b></td> 475 + </tr> 476 + <tr> 477 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>Phoenix:</b><br> 478 + <a href="http://www.lynxmotion.com/images/files/phoe2ps2.zip">phoe2ps2.zip</a></font></td> 479 + <td align="left" bordercolor="#C0C0C0" bgcolor="#FFFFFF"> 480 + <p><font face="Verdana" size="1">Zip file contains:</font></p> 481 + <ul> 482 + <li><font face="Verdana" size="1">phoenix_V20.prj</font></li> 483 + <li><font face="Verdana" size="1">phoenix_cfg.bas</font></li> 484 + <li><font face="Verdana" size="1">phoenix_V20.bas</font></li> 485 + <li><font face="Verdana" size="1">phoenix_control_ps2.bas</font></li> 486 + </ul> 487 + </td> 488 + </tr> 489 + <tr> 490 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">CH3-R 491 + BASIC Atom Pro 492 + Program</font></b></td> 493 + </tr> 494 + <tr> 495 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>CH3-R:</b><br> 496 + <a href="http://www.lynxmotion.com/images/files/ch3r2ps2.zip">ch3r2ps2.zip</a></font></td> 497 + <td align="left" bordercolor="#C0C0C0" bgcolor="#FFFFFF"> 498 + <p><font face="Verdana" size="1">Zip file contains:</font></p> 499 + <ul> 500 + <li><font face="Verdana" size="1">phoenix_V20.prj</font></li> 501 + <li><font face="Verdana" size="1">ch3-r_cfg.bas</font></li> 502 + <li><font face="Verdana" size="1">phoenix_V20.bas</font></li> 503 + <li><font face="Verdana" size="1">phoenix_control_ps2.bas</font></li> 504 + </ul> 505 + </td> 506 + </tr> 507 + </tbody></table><font size="2" face="Verdana, Helvetica, sans-serif">Table 16.</font> 508 + </div> 509 + </td> 510 + </tr> 511 + <tr> 512 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td> 513 + </tr> 514 + <tr> 515 + <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana, Helvetica, sans-serif">Step 17. Controlling the 516 + Robot with PS2 Controller</font></b><font size="2" face="Verdana, Helvetica, sans-serif"><br> 517 + The default is Walking 518 + mode 1. Use the Left joystick to move the robot around without 519 + turning (this is called "translation"), and the Right joystick rotates the robot as it moves. Up and Down on the D-Pad increases or 520 + decreases the height of the body. The Triangle button puts the body at 35mm from the ground. The Circle button puts the body onto the floor in a 521 + 'resting' position. Press Triangle or Up on the D-Pad to raise the body.</font> 522 + <p><font size="2" face="Verdana, Helvetica, sans-serif">There are four special "body moves" functions that are triggered by pressing 523 + L1, L2, Circle, or X. While in one of these modes, the hexapod does not 524 + walk. The joysticks and some buttons change function depending on which mode is toggled on; see 525 + Table 17 for details.</font></p></td> 526 + </tr> 527 + <tr> 528 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb"> 529 + </font></td> 530 + </tr> 531 + <tr> 532 + <td valign="top" align="left" colspan="2"> 533 + <div align="center"> 534 + <center> 535 + <table border="0"> 536 + <tbody><tr> 537 + <td valign="top"> <table border="1" bordercolor="#000000"> 538 + <tbody><tr> 539 + <td bordercolor="#808080" bgcolor="#C0C0C0"> 540 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Button</font></p></td> 541 + <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"> 542 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Function</font></p></td> 543 + </tr> 544 + <tr> 545 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"> 546 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><b>Common 547 + Controls</b></font></p></td> 548 + </tr> 549 + <tr> 550 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Start</font></td> 551 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Turn robot on/off</font></td> 552 + </tr> 553 + <tr> 554 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">R3</font></td> 555 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Switch 556 + between Walk mode 1 (default) and Walk mode 2</font></td> 557 + </tr> 558 + <tr> 559 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">L1</font></td> 560 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Toggle 561 + Shift mode</font></td> 562 + </tr> 563 + <tr> 564 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">L2</font></td> 565 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Toggle 566 + Rotate mode</font></td> 567 + </tr> 568 + <tr> 569 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">X</font></td> 570 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Toggle 571 + GP Player mode</font></td> 572 + </tr> 573 + <tr> 574 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">O Circle</font></td> 575 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Toggle 576 + Single Leg mode</font></td> 577 + </tr> 578 + <tr> 579 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">[] Square</font></td> 580 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Toggle 581 + Balance mode<br> 582 + (Balance mode: Lifts and lowers body along with moving legs.)</font></td> 583 + </tr> 584 + <tr> 585 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><u>/\</u> Triangle</font></td> 586 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Switch 587 + between body at 35mm from ground (walking default) and body 588 + lowered to ground</font></td> 589 + </tr> 590 + <tr> 591 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">D-Pad Up</font></td> 592 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Body up 10mm</font></td> 593 + </tr> 594 + <tr> 595 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">D-Pad Down</font></td> 596 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Body down 10mm</font></td> 597 + </tr> 598 + <tr> 599 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">D-Pad 600 + Left</font></td> 601 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Decrease 602 + speed by 50mS</font></td> 603 + </tr> 604 + <tr> 605 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">D-Pad 606 + Right</font></td> 607 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Increase 608 + speed by 50mS</font></td> 609 + </tr> 610 + <tr> 611 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"> 612 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><b>Walk 613 + Mode Controls</b><br> 614 + (Default is Walk mode 1)</font></p></td> 615 + </tr> 616 + <tr> 617 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Select</font></td> 618 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Change gaits</font></td> 619 + </tr> 620 + <tr> 621 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Left Joystick</font></td> 622 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Walk 623 + mode 1: Walk/strafe<br> 624 + Walk mode 2: Disabled</font></td> 625 + </tr> 626 + <tr> 627 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Right Joystick</font></td> 628 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Walk 629 + mode 1: Rotate<br> 630 + Walk mode 2: Walk/rotate</font></td> 631 + </tr> 632 + <tr> 633 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">R1</font></td> 634 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Toggle 635 + double gait travel speed</font></td> 636 + </tr> 637 + <tr> 638 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">R2</font></td> 639 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Toggle 640 + double gait travel length</font></td> 641 + </tr> 642 + </tbody></table></td> 643 + <td valign="top"> </td> 644 + <td valign="top"> <table border="1" bordercolor="#000000"> 645 + <tbody><tr> 646 + <td bordercolor="#808080" bgcolor="#C0C0C0"> 647 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Button</font></p></td> 648 + <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"> 649 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Function</font></p></td> 650 + </tr> 651 + <tr> 652 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"> 653 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><b>Shift 654 + Mode Controls<br> 655 + </b>(Special mode)</font></p></td> 656 + </tr> 657 + <tr> 658 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">L1</font></td> 659 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Turn 660 + Shift mode off</font></td> 661 + </tr> 662 + <tr> 663 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Left 664 + Joystick</font></td> 665 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Shift 666 + body X/Z</font></td> 667 + </tr> 668 + <tr> 669 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Right 670 + Joystick</font></td> 671 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Shift 672 + and rotate body Y</font></td> 673 + </tr> 674 + <tr> 675 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"> 676 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><b>Rotate 677 + Mode Controls<br> 678 + </b>(Special mode)</font></p></td> 679 + </tr> 680 + <tr> 681 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">L2</font></td> 682 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Turn 683 + Rotate mode off</font></td> 684 + </tr> 685 + <tr> 686 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Left 687 + Joystick</font></td> 688 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Rotate 689 + body X/Z</font></td> 690 + </tr> 691 + <tr> 692 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Right 693 + Joystick</font></td> 694 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Rotate 695 + body Y</font></td> 696 + </tr> 697 + <tr> 698 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"> 699 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><b>Single 700 + Leg Mode Controls<br> 701 + </b>(Special mode)</font></p></td> 702 + </tr> 703 + <tr> 704 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">O 705 + Circle</font></td> 706 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Turn 707 + Single Leg mode off</font></td> 708 + </tr> 709 + <tr> 710 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Select</font></td> 711 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Switch 712 + legs</font></td> 713 + </tr> 714 + <tr> 715 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Left 716 + Joystick</font></td> 717 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Move 718 + leg X/Z (relative)</font></td> 719 + </tr> 720 + <tr> 721 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Right 722 + Joystick</font></td> 723 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Move 724 + leg Y (absolute)</font></td> 725 + </tr> 726 + <tr> 727 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">R2</font></td> 728 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Hold/release 729 + leg position</font></td> 730 + </tr> 731 + <tr> 732 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"> 733 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><b>GP 734 + Player Mode Controls</b><br> 735 + (Special mode; Requires GP firmware in SSC-32)</font></p></td> 736 + </tr> 737 + <tr> 738 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">X</font></td> 739 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Turn 740 + GP Player mode off</font></td> 741 + </tr> 742 + <tr> 743 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Select</font></td> 744 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Switch 745 + sequences</font></td> 746 + </tr> 747 + <tr> 748 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">R2</font></td> 749 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Start 750 + sequences</font></td> 751 + </tr> 752 + </tbody></table></td> 753 + </tr> 754 + </tbody></table> 755 + </center> 756 + </div> 757 + <div align="center"> 758 + <font size="2" face="Verdana, Helvetica, sans-serif"><b>PS2 Controls</b><br> 759 + Table 17.</font> 760 + </div> 761 + </td> 762 + </tr> 763 + <tr> 764 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb"> 765 + </font></td> 766 + </tr> 767 + <tr> 768 + <td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">For 769 + Phoenix or CH3-R with DIY controller:</font></strong></font> 770 + <p><font size="2" face="Verdana, Helvetica, sans-serif">Information 771 + on the DIY controller is located <a href="http://www.lynxmotion.net/viewtopic.php?f=21&t=4399" target="_blank">on 772 + our forum</a>.</font></p> 773 + <p><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">Step 774 + 18. Download the Program</font></strong><font size="2"><br> 775 + Download the .zip file, and unzip it. Open the .prj file in Studio 776 + (File->Open->*.prj), and verify that the files listed in the 777 + Workspace are in the order shown in Table 18. Program the Atom Pro. Install the PS2 controller receiver into 778 + the PS2 cable on the robot, and apply power. If all is well, you will hear 779 + a beep after power up. Press Start and the legs should snap to position. At this point, if you properly calibrated the 780 + servo offsets, the legs should be perfectly aligned. Remove power to the robot.</font></font></p> 781 + </td> 782 + <td valign="top" align="center"> 783 + <div align="center"> 784 + <table border="1" bordercolor="#000000" > 785 + <tbody><tr> 786 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">Phoenix BASIC Atom Pro 787 + Program</font></b></td> 788 + </tr> 789 + <tr> 790 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>Phoenix:</b><br> 791 + <a href="http://www.lynxmotion.com/images/files/phoe2diy.zip">phoe2diy.zip</a></font></td> 792 + <td align="left" bordercolor="#C0C0C0" bgcolor="#FFFFFF"> 793 + <p><font face="Verdana" size="1">Zip file contains:</font></p> 794 + <ul> 795 + <li><font face="Verdana" size="1">phoenix_V20.prj</font></li> 796 + <li><font face="Verdana" size="1">phoenix_cfg.bas</font></li> 797 + <li><font face="Verdana" size="1">phoenix_V20.bas</font></li> 798 + <li><font face="Verdana" size="1">phoenix_control_diy-rc.bas</font></li> 799 + </ul> 800 + </td> 801 + </tr> 802 + <tr> 803 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">CH3-R 804 + BASIC Atom Pro 805 + Program</font></b></td> 806 + </tr> 807 + <tr> 808 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1"><b>CH3-R:</b><br> 809 + <a href="http://www.lynxmotion.com/images/files/ch3r2diy.zip">ch3r2diy.zip</a></font></td> 810 + <td align="left" bordercolor="#C0C0C0" bgcolor="#FFFFFF"> 811 + <p><font face="Verdana" size="1">Zip file contains:</font></p> 812 + <ul> 813 + <li><font face="Verdana" size="1">phoenix_V20.prj</font></li> 814 + <li><font face="Verdana" size="1">ch3-r_cfg.bas</font></li> 815 + <li><font face="Verdana" size="1">phoenix_V20.bas</font></li> 816 + <li><font face="Verdana" size="1">phoenix_control_diy-rc.bas</font></li> 817 + </ul> 818 + </td> 819 + </tr> 820 + </tbody></table><font size="2" face="Verdana, Helvetica, sans-serif">Table 18.</font> 821 + </div> 822 + </td> 823 + </tr> 824 + <tr> 825 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td> 826 + </tr> 827 + <tr> 828 + <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana, Helvetica, sans-serif">Step 829 + 19. Controlling the 830 + Robot with DIY Controller</font></b><font size="2" face="Verdana, Helvetica, sans-serif"><br> 831 + Use the Left joystick to control the body height and rotation. The Right 832 + joystick handles walking and strafing. </font> 833 + <p><font size="2" face="Verdana, Helvetica, sans-serif">There are four special "body moves" functions that are triggered by pressing 834 + B, C, or D. While in one of these modes, the hexapod does not 835 + walk. The joysticks and some buttons change function depending on which mode is 836 + turned on; see 837 + Table 19 for details. Press A to go back to normal Walking mode.</font></p></td> 838 + </tr> 839 + <tr> 840 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td> 841 + </tr> 842 + <tr> 843 + <td valign="top" align="left" colspan="2"> 844 + <div align="center"> 845 + <center> 846 + <table border="0"> 847 + <tbody><tr> 848 + <td valign="top"> <table border="1" bordercolor="#000000"> 849 + <tbody><tr> 850 + <td bordercolor="#808080" bgcolor="#C0C0C0"> 851 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Button</font></p></td> 852 + <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"> 853 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Function</font></p></td> 854 + </tr> 855 + <tr> 856 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"> 857 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><b>Common 858 + Controls</b></font></p></td> 859 + </tr> 860 + <tr> 861 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">0</font></td> 862 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Turn robot on/off</font></td> 863 + </tr> 864 + <tr> 865 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">A</font></td> 866 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Walk 867 + mode</font></td> 868 + </tr> 869 + <tr> 870 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">B</font></td> 871 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Translate 872 + mode</font></td> 873 + </tr> 874 + <tr> 875 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">C</font></td> 876 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif"> 877 + Rotate mode</font></td> 878 + </tr> 879 + <tr> 880 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">D</font></td> 881 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif"> 882 + Single Leg mode</font></td> 883 + </tr> 884 + <tr> 885 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">E</font></td> 886 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Toggle 887 + Balance mode<br> 888 + (Balance mode: Lifts and lowers body along with moving legs.)</font></td> 889 + </tr> 890 + <tr> 891 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Left 892 + Slider</font></td> 893 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Speed</font></td> 894 + </tr> 895 + <tr> 896 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Right 897 + Slider</font></td> 898 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Leg 899 + Lift height</font></td> 900 + </tr> 901 + <tr> 902 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"> 903 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><b>Walk 904 + Mode Controls</b></font></p></td> 905 + </tr> 906 + <tr> 907 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">1-8</font></td> 908 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Switch 909 + gaits</font></td> 910 + </tr> 911 + <tr> 912 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Left Joystick</font></td> 913 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Body 914 + height/rotate</font></td> 915 + </tr> 916 + <tr> 917 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Right Joystick</font></td> 918 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Walk/strafe</font></td> 919 + </tr> 920 + </tbody></table></td> 921 + <td valign="top"> </td> 922 + <td valign="top"> <table border="1" bordercolor="#000000"> 923 + <tbody><tr> 924 + <td bordercolor="#808080" bgcolor="#C0C0C0"> 925 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Button</font></p></td> 926 + <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"> 927 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Function</font></p></td> 928 + </tr> 929 + <tr> 930 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"> 931 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><b>Translate 932 + Mode Controls<br> 933 + </b>(Special mode)</font></p></td> 934 + </tr> 935 + <tr> 936 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">B</font></td> 937 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Turn 938 + Translate mode off</font></td> 939 + </tr> 940 + <tr> 941 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Left 942 + Joystick</font></td> 943 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Body 944 + height / Rotate body Y</font></td> 945 + </tr> 946 + <tr> 947 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Right 948 + Joystick</font></td> 949 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Translate 950 + body X/Z</font></td> 951 + </tr> 952 + <tr> 953 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"> 954 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><b>Rotate 955 + Mode Controls<br> 956 + </b>(Special mode)</font></p></td> 957 + </tr> 958 + <tr> 959 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">C</font></td> 960 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Turn 961 + Rotate mode off</font></td> 962 + </tr> 963 + <tr> 964 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Left 965 + Joystick</font></td> 966 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Body 967 + height / Rotate body Y</font></td> 968 + </tr> 969 + <tr> 970 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Right 971 + Joystick</font></td> 972 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Rotate 973 + body X/Z</font></td> 974 + </tr> 975 + <tr> 976 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"> 977 + <p align="center"><font size="1" face="Verdana, Helvetica, sans-serif"><b>Single 978 + Leg Mode Controls<br> 979 + </b>(Special mode)</font></p></td> 980 + </tr> 981 + <tr> 982 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">D</font></td> 983 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Turn 984 + Single Leg mode off</font></td> 985 + </tr> 986 + <tr> 987 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">1-6</font></td> 988 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Switch 989 + legs</font></td> 990 + </tr> 991 + <tr> 992 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Left 993 + Joystick</font></td> 994 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Move 995 + tars Y</font></td> 996 + </tr> 997 + <tr> 998 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Right 999 + Joystick</font></td> 1000 + <td bordercolor="#C0C0C0" align="center"><font size="1" face="Verdana, Helvetica, sans-serif">Move 1001 + tars X/Z</font></td> 1002 + </tr> 1003 + </tbody></table></td> 1004 + </tr> 1005 + </tbody></table> 1006 + </center> 1007 + </div> 1008 + <div align="center"> 1009 + <font size="2" face="Verdana, Helvetica, sans-serif"><b>DIY Controls</b><br> 1010 + Table 19.</font> 1011 + </div> 1012 + </td> 1013 + </tr> 1014 +</tbody></table> 1015 +</body> 3 3 {{/html}}