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Eric Nantel 26.1 2 <body><table border="0" cellpadding="0" cellspacing="0" >
3 <tbody><tr>
4 <td valign="top" align="left"><b><font face="Verdana" size="2">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>
Eric Nantel 27.1 7 <p><b><font face="Verdana" size="2">Safety first!</font></b><font face="Verdana" size="2"> Wear eye protection and never touch a powered robot!</font></p>
Eric Nantel 26.1 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>&nbsp; - Basic Micro Studio<br>
12 &nbsp; - 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">&nbsp;</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">&nbsp;</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">&nbsp;</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">&nbsp;</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">&nbsp;</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>&nbsp;</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">&nbsp;</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">&nbsp;</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">&nbsp;</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">&nbsp;</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">&nbsp;</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">&nbsp;</font></p>
191 <p><font face="Verdana" size="2">&nbsp;</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">&nbsp;</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
Eric Nantel 28.1 227 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 26.1 228 <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 &nbsp;</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>
Eric Nantel 27.1 268 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>What</b></font></td>
269 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Where</b></font></td>
Eric Nantel 26.1 270 </tr>
271 <tr>
Eric Nantel 27.1 272 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Jumper installed</font></td>
273 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VS1=VS2</font></td>
Eric Nantel 26.1 274 </tr>
275 <tr>
Eric Nantel 27.1 276 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Jumper installed</font></td>
277 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">38.4 Baud Rate</font></td>
Eric Nantel 26.1 278 </tr>
279 <tr>
Eric Nantel 27.1 280 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Unmodified Servo Cable End</font></td>
281 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">TX / RX / GND<br>
Eric Nantel 26.1 282 Black wire on GND</font></td>
283 </tr>
284 <tr>
Eric Nantel 27.1 285 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">9vdc Battery Clip</font></td>
286 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VL</font></td>
Eric Nantel 26.1 287 </tr>
288 <tr>
Eric Nantel 27.1 289 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Power Wires</font></td>
290 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VL to BBII's VL</font></td>
Eric Nantel 26.1 291 </tr>
292 <tr>
Eric Nantel 27.1 293 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Battery Wiring Harness</font></td>
294 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VS1</font></td>
Eric Nantel 26.1 295 </tr>
296 </tbody></table>
297 </div>
298 </td>
Eric Nantel 27.1 299 <td rowspan="2" valign="top"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 26.1 300 <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>
Eric Nantel 27.1 308 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>What</b></font></td>
309 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Where</b></font></td>
Eric Nantel 26.1 310 </tr>
311 <tr>
Eric Nantel 27.1 312 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Power Wires</font></td>
313 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">SSC-32's VL to VL</font></td>
Eric Nantel 26.1 314 </tr>
315 <tr>
Eric Nantel 27.1 316 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Modified Servo Cable End<br>
Eric Nantel 26.1 317 Black and Yellow wires</font></td>
Eric Nantel 27.1 318 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Pin 10, Black wire toward
Eric Nantel 26.1 319 outside of board</font></td>
320 </tr>
321 <tr>
Eric Nantel 27.1 322 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Modified Servo Cable End<br>
Eric Nantel 26.1 323 Red wire</font></td>
Eric Nantel 27.1 324 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Pin 11, toward center of board</font></td>
Eric Nantel 26.1 325 </tr>
326 <tr>
Eric Nantel 27.1 327 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Power jumper for I/O group
Eric Nantel 26.1 328 12-15</font></td>
Eric Nantel 27.1 329 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">5vdc</font></td>
Eric Nantel 26.1 330 </tr>
331 <tr>
Eric Nantel 27.1 332 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">PS2 Cable</font></td>
333 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Group 12-15<br>
Eric Nantel 26.1 334 (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>
Eric Nantel 27.1 349 <td colspan="3"><font face="Verdana" size="2">&nbsp;</font></td>
Eric Nantel 26.1 350 </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>
Eric Nantel 27.1 360 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RRH</b> / 00</font></td>
361 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Horizontal Hip</font></td>
362 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LRH</b> / 16</font></td>
363 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Horizontal Hip</font></td>
Eric Nantel 26.1 364 </tr>
365 <tr>
Eric Nantel 27.1 366 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RRV</b> / 01</font></td>
367 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Vertical Hip</font></td>
368 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LRV</b> / 17</font></td>
369 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Vertical Hip</font></td>
Eric Nantel 26.1 370 </tr>
371 <tr>
Eric Nantel 27.1 372 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RRK</b> / 02</font></td>
373 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Knee</font></td>
374 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LRK</b> / 18</font></td>
375 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Knee</font></td>
Eric Nantel 26.1 376 </tr>
377 <tr>
Eric Nantel 27.1 378 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RMH</b> / 04</font></td>
379 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Middle Horizontal Hip</font></td>
380 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LMH</b> / 20</font></td>
381 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Horizontal Hip</font></td>
Eric Nantel 26.1 382 </tr>
383 <tr>
Eric Nantel 27.1 384 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RMV</b> / 05</font></td>
385 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Middle Vertical Hip</font></td>
386 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LMV</b> / 21</font></td>
387 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Vertical Hip</font></td>
Eric Nantel 26.1 388 </tr>
389 <tr>
Eric Nantel 27.1 390 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RMK</b> / 06</font></td>
391 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Middle Knee</font></td>
392 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LMK</b> / 22</font></td>
393 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Knee</font></td>
Eric Nantel 26.1 394 </tr>
395 <tr>
Eric Nantel 27.1 396 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RFH</b> / 08</font></td>
397 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Horizontal Hip</font></td>
398 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LFH</b> / 24</font></td>
399 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Horizontal Hip</font></td>
Eric Nantel 26.1 400 </tr>
401 <tr>
Eric Nantel 27.1 402 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RFV</b> / 09</font></td>
403 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Vertical Hip</font></td>
404 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LFV</b> / 25</font></td>
405 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Vertical Hip</font></td>
Eric Nantel 26.1 406 </tr>
407 <tr>
Eric Nantel 27.1 408 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RFK</b> / 10</font></td>
409 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Knee</font></td>
410 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LFK</b> / 26</font></td>
411 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Knee</font></td>
Eric Nantel 26.1 412 </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">&nbsp;<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-&gt;Open-&gt;*.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>
Eric Nantel 27.1 477 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>Phoenix:</b><br>
Eric Nantel 28.1 478 <a href="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/phoe2ps2.zip">phoe2ps2.zip</a></font></td>
Eric Nantel 26.1 479 <td align="left" bordercolor="#C0C0C0" bgcolor="#FFFFFF">
Eric Nantel 27.1 480 <p><font face="Verdana" size="2">Zip file contains:</font></p>
Eric Nantel 26.1 481 <ul>
Eric Nantel 27.1 482 <li><font face="Verdana" size="2">phoenix_V20.prj</font></li>
483 <li><font face="Verdana" size="2">phoenix_cfg.bas</font></li>
484 <li><font face="Verdana" size="2">phoenix_V20.bas</font></li>
485 <li><font face="Verdana" size="2">phoenix_control_ps2.bas</font></li>
Eric Nantel 26.1 486 </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>
Eric Nantel 27.1 495 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>CH3-R:</b><br>
Eric Nantel 28.1 496 <a href="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/ch3r2ps2.zip">ch3r2ps2.zip</a></font></td>
Eric Nantel 26.1 497 <td align="left" bordercolor="#C0C0C0" bgcolor="#FFFFFF">
Eric Nantel 27.1 498 <p><font face="Verdana" size="2">Zip file contains:</font></p>
Eric Nantel 26.1 499 <ul>
Eric Nantel 27.1 500 <li><font face="Verdana" size="2">phoenix_V20.prj</font></li>
501 <li><font face="Verdana" size="2">ch3-r_cfg.bas</font></li>
502 <li><font face="Verdana" size="2">phoenix_V20.bas</font></li>
503 <li><font face="Verdana" size="2">phoenix_control_ps2.bas</font></li>
Eric Nantel 26.1 504 </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">&nbsp;</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">
Eric Nantel 27.1 540 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
Eric Nantel 26.1 541 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 27.1 542 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Function</font></p></td>
Eric Nantel 26.1 543 </tr>
544 <tr>
545 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 27.1 546 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Common
Eric Nantel 26.1 547 Controls</b></font></p></td>
548 </tr>
549 <tr>
Eric Nantel 27.1 550 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Start</font></td>
551 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn robot on/off</font></td>
Eric Nantel 26.1 552 </tr>
553 <tr>
Eric Nantel 27.1 554 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R3</font></td>
555 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
Eric Nantel 26.1 556 between Walk mode 1 (default) and Walk mode 2</font></td>
557 </tr>
558 <tr>
Eric Nantel 27.1 559 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L1</font></td>
560 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 26.1 561 Shift mode</font></td>
562 </tr>
563 <tr>
Eric Nantel 27.1 564 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L2</font></td>
565 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 26.1 566 Rotate mode</font></td>
567 </tr>
568 <tr>
Eric Nantel 27.1 569 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X</font></td>
570 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 26.1 571 GP Player mode</font></td>
572 </tr>
573 <tr>
Eric Nantel 27.1 574 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O Circle</font></td>
575 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 26.1 576 Single Leg mode</font></td>
577 </tr>
578 <tr>
Eric Nantel 27.1 579 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">[] Square</font></td>
580 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 26.1 581 Balance mode<br>
582 (Balance mode: Lifts and lowers body along with moving legs.)</font></td>
583 </tr>
584 <tr>
Eric Nantel 27.1 585 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><u>/\</u> Triangle</font></td>
586 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
Eric Nantel 26.1 587 between body at 35mm from ground (walking default) and body
588 lowered to ground</font></td>
589 </tr>
590 <tr>
Eric Nantel 27.1 591 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad Up</font></td>
592 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body up 10mm</font></td>
Eric Nantel 26.1 593 </tr>
594 <tr>
Eric Nantel 27.1 595 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad Down</font></td>
596 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body down 10mm</font></td>
Eric Nantel 26.1 597 </tr>
598 <tr>
Eric Nantel 27.1 599 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad
Eric Nantel 26.1 600 Left</font></td>
Eric Nantel 27.1 601 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Decrease
Eric Nantel 26.1 602 speed by 50mS</font></td>
603 </tr>
604 <tr>
Eric Nantel 27.1 605 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad
Eric Nantel 26.1 606 Right</font></td>
Eric Nantel 27.1 607 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Increase
Eric Nantel 26.1 608 speed by 50mS</font></td>
609 </tr>
610 <tr>
611 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 27.1 612 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Walk
Eric Nantel 26.1 613 Mode Controls</b><br>
614 (Default is Walk mode 1)</font></p></td>
615 </tr>
616 <tr>
Eric Nantel 27.1 617 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
618 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Change gaits</font></td>
Eric Nantel 26.1 619 </tr>
620 <tr>
Eric Nantel 27.1 621 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left Joystick</font></td>
622 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walk
Eric Nantel 26.1 623 mode 1: Walk/strafe<br>
624 Walk mode 2: Disabled</font></td>
625 </tr>
626 <tr>
Eric Nantel 27.1 627 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right Joystick</font></td>
628 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walk
Eric Nantel 26.1 629 mode 1: Rotate<br>
630 Walk mode 2: Walk/rotate</font></td>
631 </tr>
632 <tr>
Eric Nantel 27.1 633 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R1</font></td>
634 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 26.1 635 double gait travel speed</font></td>
636 </tr>
637 <tr>
Eric Nantel 27.1 638 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
639 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 26.1 640 double gait travel length</font></td>
641 </tr>
642 </tbody></table></td>
643 <td valign="top">&nbsp;</td>
644 <td valign="top"> <table border="1" bordercolor="#000000">
645 <tbody><tr>
646 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 27.1 647 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
Eric Nantel 26.1 648 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 27.1 649 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Function</font></p></td>
Eric Nantel 26.1 650 </tr>
651 <tr>
652 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 27.1 653 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Shift
Eric Nantel 26.1 654 Mode Controls<br>
655 </b>(Special mode)</font></p></td>
656 </tr>
657 <tr>
Eric Nantel 27.1 658 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L1</font></td>
659 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 26.1 660 Shift mode off</font></td>
661 </tr>
662 <tr>
Eric Nantel 27.1 663 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 26.1 664 Joystick</font></td>
Eric Nantel 27.1 665 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Shift
Eric Nantel 26.1 666 body X/Z</font></td>
667 </tr>
668 <tr>
Eric Nantel 27.1 669 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 26.1 670 Joystick</font></td>
Eric Nantel 27.1 671 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Shift
Eric Nantel 26.1 672 and rotate body Y</font></td>
673 </tr>
674 <tr>
675 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 27.1 676 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Rotate
Eric Nantel 26.1 677 Mode Controls<br>
678 </b>(Special mode)</font></p></td>
679 </tr>
680 <tr>
Eric Nantel 27.1 681 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L2</font></td>
682 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 26.1 683 Rotate mode off</font></td>
684 </tr>
685 <tr>
Eric Nantel 27.1 686 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 26.1 687 Joystick</font></td>
Eric Nantel 27.1 688 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Rotate
Eric Nantel 26.1 689 body X/Z</font></td>
690 </tr>
691 <tr>
Eric Nantel 27.1 692 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 26.1 693 Joystick</font></td>
Eric Nantel 27.1 694 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Rotate
Eric Nantel 26.1 695 body Y</font></td>
696 </tr>
697 <tr>
698 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 27.1 699 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Single
Eric Nantel 26.1 700 Leg Mode Controls<br>
701 </b>(Special mode)</font></p></td>
702 </tr>
703 <tr>
Eric Nantel 27.1 704 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O
Eric Nantel 26.1 705 Circle</font></td>
Eric Nantel 27.1 706 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 26.1 707 Single Leg mode off</font></td>
708 </tr>
709 <tr>
Eric Nantel 27.1 710 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
711 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
Eric Nantel 26.1 712 legs</font></td>
713 </tr>
714 <tr>
Eric Nantel 27.1 715 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 26.1 716 Joystick</font></td>
Eric Nantel 27.1 717 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move
Eric Nantel 26.1 718 leg X/Z (relative)</font></td>
719 </tr>
720 <tr>
Eric Nantel 27.1 721 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 26.1 722 Joystick</font></td>
Eric Nantel 27.1 723 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move
Eric Nantel 26.1 724 leg Y (absolute)</font></td>
725 </tr>
726 <tr>
Eric Nantel 27.1 727 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
728 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Hold/release
Eric Nantel 26.1 729 leg position</font></td>
730 </tr>
731 <tr>
732 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 27.1 733 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>GP
Eric Nantel 26.1 734 Player Mode Controls</b><br>
735 (Special mode; Requires GP firmware in SSC-32)</font></p></td>
736 </tr>
737 <tr>
Eric Nantel 27.1 738 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X</font></td>
739 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 26.1 740 GP Player mode off</font></td>
741 </tr>
742 <tr>
Eric Nantel 27.1 743 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
744 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
Eric Nantel 26.1 745 sequences</font></td>
746 </tr>
747 <tr>
Eric Nantel 27.1 748 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
749 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Start
Eric Nantel 26.1 750 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&amp;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-&gt;Open-&gt;*.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>
Eric Nantel 27.1 790 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>Phoenix:</b><br>
Eric Nantel 28.1 791 <a href="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/phoe2diy.zip">phoe2diy.zip</a></font></td>
Eric Nantel 26.1 792 <td align="left" bordercolor="#C0C0C0" bgcolor="#FFFFFF">
Eric Nantel 27.1 793 <p><font face="Verdana" size="2">Zip file contains:</font></p>
Eric Nantel 26.1 794 <ul>
Eric Nantel 27.1 795 <li><font face="Verdana" size="2">phoenix_V20.prj</font></li>
796 <li><font face="Verdana" size="2">phoenix_cfg.bas</font></li>
797 <li><font face="Verdana" size="2">phoenix_V20.bas</font></li>
798 <li><font face="Verdana" size="2">phoenix_control_diy-rc.bas</font></li>
Eric Nantel 26.1 799 </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>
Eric Nantel 27.1 808 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>CH3-R:</b><br>
Eric Nantel 28.1 809 <a href="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/ch3r2diy.zip">ch3r2diy.zip</a></font></td>
Eric Nantel 26.1 810 <td align="left" bordercolor="#C0C0C0" bgcolor="#FFFFFF">
Eric Nantel 27.1 811 <p><font face="Verdana" size="2">Zip file contains:</font></p>
Eric Nantel 26.1 812 <ul>
Eric Nantel 27.1 813 <li><font face="Verdana" size="2">phoenix_V20.prj</font></li>
814 <li><font face="Verdana" size="2">ch3-r_cfg.bas</font></li>
815 <li><font face="Verdana" size="2">phoenix_V20.bas</font></li>
816 <li><font face="Verdana" size="2">phoenix_control_diy-rc.bas</font></li>
Eric Nantel 26.1 817 </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">&nbsp;</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.&nbsp;</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">&nbsp;</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">
Eric Nantel 27.1 851 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
Eric Nantel 26.1 852 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 27.1 853 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Function</font></p></td>
Eric Nantel 26.1 854 </tr>
855 <tr>
856 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 27.1 857 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Common
Eric Nantel 26.1 858 Controls</b></font></p></td>
859 </tr>
860 <tr>
Eric Nantel 27.1 861 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">0</font></td>
862 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn robot on/off</font></td>
Eric Nantel 26.1 863 </tr>
864 <tr>
Eric Nantel 27.1 865 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">A</font></td>
866 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walk
Eric Nantel 26.1 867 mode</font></td>
868 </tr>
869 <tr>
Eric Nantel 27.1 870 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">B</font></td>
871 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Translate
Eric Nantel 26.1 872 mode</font></td>
873 </tr>
874 <tr>
Eric Nantel 27.1 875 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">C</font></td>
876 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">
Eric Nantel 26.1 877 Rotate mode</font></td>
878 </tr>
879 <tr>
Eric Nantel 27.1 880 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D</font></td>
881 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">
Eric Nantel 26.1 882 Single Leg mode</font></td>
883 </tr>
884 <tr>
Eric Nantel 27.1 885 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">E</font></td>
886 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 26.1 887 Balance mode<br>
888 (Balance mode: Lifts and lowers body along with moving legs.)</font></td>
889 </tr>
890 <tr>
Eric Nantel 27.1 891 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 26.1 892 Slider</font></td>
Eric Nantel 27.1 893 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Speed</font></td>
Eric Nantel 26.1 894 </tr>
895 <tr>
Eric Nantel 27.1 896 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 26.1 897 Slider</font></td>
Eric Nantel 27.1 898 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Leg
Eric Nantel 26.1 899 Lift height</font></td>
900 </tr>
901 <tr>
902 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 27.1 903 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Walk
Eric Nantel 26.1 904 Mode Controls</b></font></p></td>
905 </tr>
906 <tr>
Eric Nantel 27.1 907 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1-8</font></td>
908 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
Eric Nantel 26.1 909 gaits</font></td>
910 </tr>
911 <tr>
Eric Nantel 27.1 912 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left Joystick</font></td>
913 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body
Eric Nantel 26.1 914 height/rotate</font></td>
915 </tr>
916 <tr>
Eric Nantel 27.1 917 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right Joystick</font></td>
918 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walk/strafe</font></td>
Eric Nantel 26.1 919 </tr>
920 </tbody></table></td>
921 <td valign="top">&nbsp;</td>
922 <td valign="top"> <table border="1" bordercolor="#000000">
923 <tbody><tr>
924 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 27.1 925 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
Eric Nantel 26.1 926 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 27.1 927 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Function</font></p></td>
Eric Nantel 26.1 928 </tr>
929 <tr>
930 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 27.1 931 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Translate
Eric Nantel 26.1 932 Mode Controls<br>
933 </b>(Special mode)</font></p></td>
934 </tr>
935 <tr>
Eric Nantel 27.1 936 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">B</font></td>
937 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 26.1 938 Translate mode off</font></td>
939 </tr>
940 <tr>
Eric Nantel 27.1 941 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 26.1 942 Joystick</font></td>
Eric Nantel 27.1 943 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body
Eric Nantel 26.1 944 height / Rotate body Y</font></td>
945 </tr>
946 <tr>
Eric Nantel 27.1 947 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 26.1 948 Joystick</font></td>
Eric Nantel 27.1 949 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Translate
Eric Nantel 26.1 950 body X/Z</font></td>
951 </tr>
952 <tr>
953 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 27.1 954 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Rotate
Eric Nantel 26.1 955 Mode Controls<br>
956 </b>(Special mode)</font></p></td>
957 </tr>
958 <tr>
Eric Nantel 27.1 959 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">C</font></td>
960 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 26.1 961 Rotate mode off</font></td>
962 </tr>
963 <tr>
Eric Nantel 27.1 964 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 26.1 965 Joystick</font></td>
Eric Nantel 27.1 966 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body
Eric Nantel 26.1 967 height / Rotate body Y</font></td>
968 </tr>
969 <tr>
Eric Nantel 27.1 970 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 26.1 971 Joystick</font></td>
Eric Nantel 27.1 972 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Rotate
Eric Nantel 26.1 973 body X/Z</font></td>
974 </tr>
975 <tr>
976 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
Eric Nantel 27.1 977 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Single
Eric Nantel 26.1 978 Leg Mode Controls<br>
979 </b>(Special mode)</font></p></td>
980 </tr>
981 <tr>
Eric Nantel 27.1 982 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D</font></td>
983 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 26.1 984 Single Leg mode off</font></td>
985 </tr>
986 <tr>
Eric Nantel 27.1 987 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1-6</font></td>
988 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
Eric Nantel 26.1 989 legs</font></td>
990 </tr>
991 <tr>
Eric Nantel 27.1 992 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 26.1 993 Joystick</font></td>
Eric Nantel 27.1 994 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move
Eric Nantel 26.1 995 tars Y</font></td>
996 </tr>
997 <tr>
Eric Nantel 27.1 998 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 26.1 999 Joystick</font></td>
Eric Nantel 27.1 1000 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move
Eric Nantel 26.1 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>
Eric Nantel 1.1 1016 {{/html}}

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