Phoenix Bot Board II / BASIC Atom Pro Tutorial

<td valign="top" align="left">Phoenix Bot Board II / BASIC Atom Pro Tutorial.

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Updated 08/10/2010.

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Phoenix code v2.0.

7

Safety first! Wear eye protection and never touch a powered robot!

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Note: This tutorial applies to the SSC-32 v2 with GP

firmware.

Software:

- Basic Micro Studio

- Basic Atom Pro program</td>

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14

Image of Phoenix.</td>

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<tr>

I. Phoenix Configuration: SSC-32 Registers

</td>

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Step 1.

Place the robot on top of a CD spindle or similar to hold the legs off the ground.

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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.

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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.</td>

Figure 1.</td>

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<tr>

</tr>

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<td valign="top" align="left">Step 3.

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Download the 2.04GP Beta firmware or higher. Remove power from the

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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.

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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.

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Click on "Open" and browse to the firmware file you just downloaded.

49

Click on "Begin Update".

</td>

Figure 3.</td>

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</td>

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<td valign="top" align="left">Step 4.

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When the firmware has been successfully updated, click "Ok" then "Exit".

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Now do the "ver" test: type "ver"

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into the terminal then press "Enter". You should see the proper firmware

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version returned.</td>

Figure 4.</td>

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<tr>

</tr>

<tr>

<td valign="top" align="left">Step 5.

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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

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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

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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.</td>

Figure 5.</td>

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</tr>

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<td valign="top" align="left">Step 6.

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From the main screen, click on "Reg" to open the Registers page.

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Click on "Default" to initialize default values.</td>

Figure 6.</td>

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</td>

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<td valign="top" align="left">Refer to this servo channel number guide for the following three steps.

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100

Do the most accurate alignment as possible! The

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robot can only operate as well as as it is aligned. In other words, a poorly aligned robot will walk poorly!

</td>

Servo Channel Numbering.</td>

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<td valign="top" align="left">Step 7.

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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

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the horizontal hip servo horn's screws as shown.

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Do this for servos #00, 04, 08, 16, 20, 24.

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Note, the mouse's scrollwheel or keyboard's arrow keys can be used to make fine adjustments.

</td>

Figure 7.</td>

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<tr>

</tr>

<tr>

<td valign="top" align="left">Step 8.

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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

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ground as shown.

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Do this for servos #01, 05, 09, 17, 21, 25.

</td>

Figure 8.</td>

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<tr>

</td>

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<td valign="top" align="left">Step 9.

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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

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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.

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Do this for servos #02, 06, 10, 18, 22, 26.</td>

Figure 9.</td>

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<tr>

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<tr>

<td valign="top" align="left">Step 10.

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Enable "Initial Pulse Offset", then click "Write" and exit LynxTerm when the write process is finished.

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Note, you can also check "Initial Pulse Width" to automatically enable the servos on power-up as an

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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.

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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.

</td>

Figure 10.</td>

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II. Phoenix Configuration: Bot Board II Installation

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</tr>

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<td valign="top" align="left">Step 11.

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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.</td>

Figure 11.</td>

</tr>

<tr>

</td>

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<td valign="top" rowspan="3" align="left">Step 12.

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Flip the Phoenix over and attach the PS2 cable's receiver socket as shown. Route the rest of the cable up and out the

top.

Step 13.

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.

196

197

Remove the TX and RX jumpers from the lower-right corner of the SSC-32, and plug the unmodified end of the

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cable in. Yellow on TX, red on RX, and black on ground.

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Plug in some extra lengths of 18-24awg wires to VL on the SSC-32, with the 9vdc battery clip. These will be

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used to run power to the Bot Board II.

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See Tables 14-1 through 14-3, and Schematic 14-3 for connection information.</td>

Figure 12.</td>

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Figure 13.</td>

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</td>

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<td valign="top" align="left" rowspan="2">Step 14.

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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

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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.

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Plug in the PS2 cable as shown in Figure 14-2. Plug in the power wires from the SSC-32 to

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VL.

224

225

Note: Refer only to Figure 14-2 for connection information.

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The cable colors in the picture may be outdated. If your cable's colors do

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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>.

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See Tables 14-1 through 14-3, and Schematic 14-3 for connection information.

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Install the BASIC Atom Pro as shown.

<td >Atom Pro Orientation:</td>

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<tr>

</tr>

</tbody></table>

</td>

Figure 14-1.

</td>

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<tr>

Figure 14-2.</td>

</tr>

<tr>

</td>

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<tr>

Connection Information Tables.<center>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">SSC-32

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Connection Information</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Where</td>

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</tr>

271

<tr>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Jumper installed</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Jumper installed</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Unmodified Servo Cable End</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">TX / RX / GND

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Black wire on GND</td>

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</tr>

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<tr>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">9vdc Battery Clip</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Power Wires</td>

</tr>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Battery Wiring Harness</td>

</tr>

</tbody></table>

</div>

</td>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Bot Board II

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Connection Information</td>

</tr>

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<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Where</td>

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</tr>

311

<tr>

312

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Power Wires</td>

</tr>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Modified Servo Cable End

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Black and Yellow wires</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Pin 10, Black wire toward

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outside of board</td>

320

</tr>

321

<tr>

322

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Modified Servo Cable End

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Red wire</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Pin 11, toward center of board</td>

325

</tr>

326

<tr>

327

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Power jumper for I/O group

12-15</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">PS2 Cable</td>

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O Group 12-15

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(see diagram above)</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td>

Table 14-1

</td>

<td>

Table 14-2

</td>

</tr>

<tr>

</tr>

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<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4">Servo Channels

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and Schematic Label Explanations</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Rear Horizontal Hip</td>

362

363

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Left Rear Horizontal Hip</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Rear Vertical Hip</td>

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369

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Left Rear Vertical Hip</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Rear Knee</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Middle Horizontal Hip</td>

380

381

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Left Middle Horizontal Hip</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Middle Vertical Hip</td>

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387

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Left Middle Vertical Hip</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Middle Knee</td>

392

393

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Left Middle Knee</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Front Horizontal Hip</td>

398

399

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Left Front Horizontal Hip</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Front Vertical Hip</td>

404

405

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Left Front Vertical Hip</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Front Knee</td>

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411

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Left Front Knee</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

Table 14-3

</td>

</tr>

</tbody></table>

</center></td>

</tr>

<tr>

</td>

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<tr>

Schematic - Figure 14-3.

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433

Schematic - Figure 14-3.

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 15.

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.

444

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.</td>

Figure 15.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">For

455

Phoenix or CH3-R with PS2 controller:

456

Step 16. Download the Program

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.

464

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.

</td>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Phoenix BASIC Atom Pro

Program</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Phoenix:

Zip file contains:

<ul>

<li>phoenix_V20.prj</li>

483

<li>phoenix_cfg.bas</li>

484

<li>phoenix_V20.bas</li>

485

<li>phoenix_control_ps2.bas</li>

</ul>

</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">CH3-R

BASIC Atom Pro

Program</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">CH3-R:

Zip file contains:

<ul>

<li>phoenix_V20.prj</li>

501

502

<li>phoenix_V20.bas</li>

503

<li>phoenix_control_ps2.bas</li>

</ul>

</td>

</tr>

</tbody></table>Table 16.

</div>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step 17. Controlling the

516

Robot with PS2 Controller

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.

522

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.</td>

</tr>

<tr>

</td>

</tr>

<tr>

Button</td>

Function</td>

</tr>

<tr>

Common

Controls</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Start</td>

551

<td bordercolor="#C0C0C0" align="center">Turn robot on/off</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Switch

556

between Walk mode 1 (default) and Walk mode 2</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Toggle

Shift mode</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Toggle

Rotate mode</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Toggle

GP Player mode</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">O Circle</td>

575

<td bordercolor="#C0C0C0" align="center">Toggle

Single Leg mode</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">[] Square</td>

580

<td bordercolor="#C0C0C0" align="center">Toggle

581

Balance mode

582

(Balance mode: Lifts and lowers body along with moving legs.)</td>

583

</tr>

584

<tr>

585

<td bordercolor="#C0C0C0" align="center">/\ Triangle</td>

586

<td bordercolor="#C0C0C0" align="center">Switch

587

between body at 35mm from ground (walking default) and body

588

lowered to ground</td>

</tr>

<tr>

</tr>

<tr>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">D-Pad

600

Left</td>

601

<td bordercolor="#C0C0C0" align="center">Decrease

speed by 50mS</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">D-Pad

606

Right</td>

607

<td bordercolor="#C0C0C0" align="center">Increase

speed by 50mS</td>

</tr>

<tr>

Walk

Mode Controls

(Default is Walk mode 1)</td>

615

</tr>

616

<tr>

617

<td bordercolor="#C0C0C0" align="center">Select</td>

618

<td bordercolor="#C0C0C0" align="center">Change gaits</td>

619

</tr>

620

<tr>

621

<td bordercolor="#C0C0C0" align="center">Left Joystick</td>

622

<td bordercolor="#C0C0C0" align="center">Walk

623

mode 1: Walk/strafe

624

Walk mode 2: Disabled</td>

625

</tr>

626

<tr>

627

<td bordercolor="#C0C0C0" align="center">Right Joystick</td>

628

<td bordercolor="#C0C0C0" align="center">Walk

629

mode 1: Rotate

630

Walk mode 2: Walk/rotate</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Toggle

635

double gait travel speed</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Toggle

640

double gait travel length</td>

641

</tr>

642

</tbody></table></td>

Button</td>

Function</td>

</tr>

<tr>

Shift

Mode Controls

(Special mode)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Turn

Shift mode off</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

664

Joystick</td>

665

<td bordercolor="#C0C0C0" align="center">Shift

body X/Z</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Right

670

Joystick</td>

671

<td bordercolor="#C0C0C0" align="center">Shift

672

and rotate body Y</td>

</tr>

<tr>

Rotate

Mode Controls

(Special mode)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Turn

Rotate mode off</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

687

Joystick</td>

688

<td bordercolor="#C0C0C0" align="center">Rotate

body X/Z</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Right

693

Joystick</td>

694

<td bordercolor="#C0C0C0" align="center">Rotate

body Y</td>

</tr>

<tr>

Single

Leg Mode Controls

(Special mode)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">O

705

Circle</td>

706

<td bordercolor="#C0C0C0" align="center">Turn

707

Single Leg mode off</td>

708

</tr>

709

<tr>

710

<td bordercolor="#C0C0C0" align="center">Select</td>

711

<td bordercolor="#C0C0C0" align="center">Switch

legs</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

716

Joystick</td>

717

<td bordercolor="#C0C0C0" align="center">Move

718

leg X/Z (relative)</td>

719

</tr>

720

<tr>

721

<td bordercolor="#C0C0C0" align="center">Right

722

Joystick</td>

723

<td bordercolor="#C0C0C0" align="center">Move

724

leg Y (absolute)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Hold/release

leg position</td>

</tr>

<tr>

GP

Player Mode Controls

(Special mode; Requires GP firmware in SSC-32)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Turn

740

GP Player mode off</td>

741

</tr>

742

<tr>

743

<td bordercolor="#C0C0C0" align="center">Select</td>

744

<td bordercolor="#C0C0C0" align="center">Switch

sequences</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Start

750

sequences</td>

751

</tr>

752

</tbody></table></td>

</tr>

</tbody></table>

</center>

</div>

PS2 Controls

Table 17.

</div>

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">For

769

Phoenix or CH3-R with DIY controller:

770

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>.

773

Step

774

18. Download the Program

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.

</td>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Phoenix BASIC Atom Pro

Program</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Phoenix:

Zip file contains:

<ul>

<li>phoenix_V20.prj</li>

796

<li>phoenix_cfg.bas</li>

797

<li>phoenix_V20.bas</li>

798

<li>phoenix_control_diy-rc.bas</li>

</ul>

</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">CH3-R

BASIC Atom Pro

Program</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">CH3-R:

Zip file contains:

<ul>

<li>phoenix_V20.prj</li>

814

815

<li>phoenix_V20.bas</li>

816

<li>phoenix_control_diy-rc.bas</li>

</ul>

</td>

</tr>

</tbody></table>Table 18.

</div>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step

829

19. Controlling the

830

Robot with DIY Controller

831

Use the Left joystick to control the body height and rotation. The Right

832

joystick handles walking and strafing.

833

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.</td>

</tr>

<tr>

</tr>

<tr>

Button</td>

Function</td>

</tr>

<tr>

Common

Controls</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Turn robot on/off</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Walk

mode</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Translate

mode</td>

</tr>

<tr>

Rotate mode</td>

</tr>

<tr>

Single Leg mode</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Toggle

887

Balance mode

888

(Balance mode: Lifts and lowers body along with moving legs.)</td>

889

</tr>

890

<tr>

891

<td bordercolor="#C0C0C0" align="center">Left

892

Slider</td>

893

<td bordercolor="#C0C0C0" align="center">Speed</td>

894

</tr>

895

<tr>

896

<td bordercolor="#C0C0C0" align="center">Right

897

Slider</td>

898

<td bordercolor="#C0C0C0" align="center">Leg

Lift height</td>

</tr>

<tr>

Walk

Mode Controls</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Switch

gaits</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left Joystick</td>

913

<td bordercolor="#C0C0C0" align="center">Body

height/rotate</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Right Joystick</td>

918

<td bordercolor="#C0C0C0" align="center">Walk/strafe</td>

919

</tr>

920

</tbody></table></td>

Button</td>

Function</td>

</tr>

<tr>

Translate

Mode Controls

(Special mode)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Turn

938

Translate mode off</td>

939

</tr>

940

<tr>

941

<td bordercolor="#C0C0C0" align="center">Left

942

Joystick</td>

943

<td bordercolor="#C0C0C0" align="center">Body

944

height / Rotate body Y</td>

945

</tr>

946

<tr>

947

<td bordercolor="#C0C0C0" align="center">Right

948

Joystick</td>

949

<td bordercolor="#C0C0C0" align="center">Translate

body X/Z</td>

</tr>

<tr>

Rotate

Mode Controls

(Special mode)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Turn

Rotate mode off</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

965

Joystick</td>

966

<td bordercolor="#C0C0C0" align="center">Body

967

height / Rotate body Y</td>

968

</tr>

969

<tr>

970

<td bordercolor="#C0C0C0" align="center">Right

971

Joystick</td>

972

<td bordercolor="#C0C0C0" align="center">Rotate

body X/Z</td>

</tr>

<tr>

Single

Leg Mode Controls

(Special mode)</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Turn

984

Single Leg mode off</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Switch

legs</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Left

993

Joystick</td>

994

<td bordercolor="#C0C0C0" align="center">Move

tars Y</td>

</tr>

<tr>

<td bordercolor="#C0C0C0" align="center">Right

999

Joystick</td>

1000

<td bordercolor="#C0C0C0" align="center">Move

1001

tars X/Z</td>

1002

</tr>

1003

</tbody></table></td>

</tr>

</tbody></table>

</center>

</div>

DIY Controls

Table 19.

</div>

</td>

</tr>

</tbody></table>

</body>

Wiki source code of Phoenix Bot Board II / BASIC Atom Pro Tutorial

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