Changes for page AL5 Programming Tutorial - PS2 & BotBoard II
Last modified by Eric Nantel on 2023/01/20 15:28
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... ... @@ -61,76 +61,76 @@ 61 61 <td > 62 62 <table border="1" bordercolor="#000000" width="250"> 63 63 <tbody><tr> 64 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size=" 1" face="Verdana">Bot Board II64 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size="2" face="Verdana">Bot Board II 65 65 Jumpers</font></td> 66 66 </tr> 67 67 <tr> 68 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Connect</font></td>69 - <td width="115%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">6.0vdc battery to VS</font></td>68 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 69 + <td width="115%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6.0vdc battery to VS</font></td> 70 70 </tr> 71 71 <tr> 72 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Enable</font></td>73 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Speaker</font></td>72 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td> 73 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td> 74 74 </tr> 75 75 <tr> 76 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Connect</font></td>77 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">I/O 4-7 Power Bus to 5vdc</font></td>76 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 77 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 4-7 Power Bus to 5vdc</font></td> 78 78 </tr> 79 79 <tr> 80 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Connect</font></td>81 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">VL to SSC-32's VL</font></td>80 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 81 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VL to SSC-32's VL</font></td> 82 82 </tr> 83 83 </tbody></table><table border="1" bordercolor="#000000" width="250"> 84 84 <tbody><tr> 85 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana"><font size=" 1" face="Verdana">Bot Board </font></font><font size="1" face="Verdana">II </font><font size="2" face="Verdana"><font size="1" face="Verdana">Connections</font></font></td>85 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana"><font size="2" face="Verdana">Bot Board </font></font><font size="2" face="Verdana">II </font><font size="2" face="Verdana"><font size="2" face="Verdana">Connections</font></font></td> 86 86 </tr> 87 87 <tr> 88 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P0</font></td>89 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>90 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P8</font></td>91 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>88 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td> 89 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 90 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P8</font></td> 91 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 92 92 </tr> 93 93 <tr> 94 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P1</font></td>95 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>96 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P9</font></td>97 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Speaker</font></td>94 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td> 95 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 96 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P9</font></td> 97 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td> 98 98 </tr> 99 99 <tr> 100 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P2</font></td>101 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>102 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P10</font></td>103 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">SSC-32 RX</font></td>100 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P2</font></td> 101 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 102 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P10</font></td> 103 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">SSC-32 RX</font></td> 104 104 </tr> 105 105 <tr> 106 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P3</font></td>107 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>108 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P11</font></td>109 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">SSC-32 TX</font></td>106 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P3</font></td> 107 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 108 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P11</font></td> 109 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">SSC-32 TX</font></td> 110 110 </tr> 111 111 <tr> 112 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P4</font></td>113 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>114 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P12</font></td>115 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">PS2 Data</font></td>112 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P4</font></td> 113 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 114 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P12</font></td> 115 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Data</font></td> 116 116 </tr> 117 117 <tr> 118 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P5</font></td>119 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>120 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P13</font></td>121 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">PS2 Command</font></td>118 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P5</font></td> 119 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 120 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P13</font></td> 121 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Command</font></td> 122 122 </tr> 123 123 <tr> 124 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P6</font></td>125 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>126 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P14</font></td>127 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">PS2 Select</font></td>124 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P6</font></td> 125 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 126 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P14</font></td> 127 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Select</font></td> 128 128 </tr> 129 129 <tr> 130 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P7</font></td>131 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>132 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P15</font></td>133 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">PS2 Clock</font></td>130 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P7</font></td> 131 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 132 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P15</font></td> 133 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Clock</font></td> 134 134 </tr> 135 135 </tbody></table> 136 136 </td> ... ... @@ -148,51 +148,51 @@ 148 148 <td > 149 149 <table border="1" bordercolor="#000000" width="250"> 150 150 <tbody><tr> 151 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size=" 1" face="Verdana">SSC-32151 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size="2" face="Verdana">SSC-32 152 152 Jumpers</font></td> 153 153 </tr> 154 154 <tr> 155 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Connect</font></td>156 - <td width="200%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">6.0vdc battery to VS</font></td>155 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 156 + <td width="200%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6.0vdc battery to VS</font></td> 157 157 </tr> 158 158 <tr> 159 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Connect</font></td>160 - <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">9.0vdc battery to VL</font></td>159 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 160 + <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">9.0vdc battery to VL</font></td> 161 161 </tr> 162 162 <tr> 163 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Disconnect</font></td>164 - <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">VL = VS1</font></td>163 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Disconnect</font></td> 164 + <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VL = VS1</font></td> 165 165 </tr> 166 166 <tr> 167 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Enable</font></td>168 - <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">115.2k baud</font></td>167 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td> 168 + <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">115.2k baud</font></td> 169 169 </tr> 170 170 <tr> 171 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Connect</font></td>172 - <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">VL to Bot Board's VL</font></td>171 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 172 + <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VL to Bot Board's VL</font></td> 173 173 </tr> 174 174 </tbody></table><table border="1" bordercolor="#000000" width="250"> 175 175 <tbody><tr> 176 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size=" 1" face="Verdana">SSC-32176 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">SSC-32 177 177 Connections</font></td> 178 178 </tr> 179 179 <tr> 180 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P0</font></td>181 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Base Rotate</font></td>182 - <td width="100" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P3</font></td>183 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Wrist</font></td>180 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td> 181 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate</font></td> 182 + <td width="100" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P3</font></td> 183 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist</font></td> 184 184 </tr> 185 185 <tr> 186 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P1</font></td>187 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Shoulder</font></td>188 - <td width="100" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P4</font></td>189 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper</font></td>186 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td> 187 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Shoulder</font></td> 188 + <td width="100" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P4</font></td> 189 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper</font></td> 190 190 </tr> 191 191 <tr> 192 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P2</font></td>193 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Elbow</font></td>194 - <td width="100" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P5</font></td>195 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">W Rotate</font></td>192 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P2</font></td> 193 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Elbow</font></td> 194 + <td width="100" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P5</font></td> 195 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">W Rotate</font></td> 196 196 </tr> 197 197 </tbody></table></td> 198 198 </tr> ... ... @@ -242,12 +242,12 @@ 242 242 <center> 243 243 </center><table border="1" bordercolor="#000000" width="400"> 244 244 <tbody><tr> 245 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Arm Selection in Program</font></td>245 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Arm Selection in Program</font></td> 246 246 </tr> 247 247 248 248 <tr> 249 249 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"> 250 - <p align="left"><font face="Courier New" size=" 1">;[SETUP]250 + <p align="left"><font face="Courier New" size="2">;[SETUP] 251 251 ;disable(0)/enable(1) the FSR Gripper <br> 252 252 EnableFSR con 0 <br> 253 253 <br> ... ... @@ -288,79 +288,79 @@ 288 288 <td ><div align="center"> 289 289 <table border="1" bordercolor="#000000" width="400"> 290 290 <tbody><tr> 291 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size=" 1" face="Verdana">PS2 Controls</font></td>291 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2 Controls</font></td> 292 292 </tr> 293 293 <tr> 294 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L Joy U</font></td>295 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Up</font></td>296 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R Joy U</font></td>297 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Angle Up</font></td>294 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy U</font></td> 295 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Up</font></td> 296 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy U</font></td> 297 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Angle Up</font></td> 298 298 </tr> 299 299 <tr> 300 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L Joy D</font></td>301 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Down</font></td>302 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R Joy D</font></td>303 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Angle Down</font></td>300 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy D</font></td> 301 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Down</font></td> 302 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy D</font></td> 303 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Angle Down</font></td> 304 304 </tr> 305 305 <tr> 306 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L Joy L</font></td>307 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Back</font></td>308 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R Joy L</font></td>309 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Base Rotate Left</font></td>306 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy L</font></td> 307 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Back</font></td> 308 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy L</font></td> 309 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate Left</font></td> 310 310 </tr> 311 311 <tr> 312 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L Joy R</font></td>313 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Away</font></td>314 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R Joy R</font></td>315 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Base Rotate Right</font></td>312 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy R</font></td> 313 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Away</font></td> 314 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy R</font></td> 315 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate Right</font></td> 316 316 </tr> 317 317 <tr> 318 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L1</font></td>319 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Close</font></td>320 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R1</font></td>321 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Wrist Rotate CW</font></td>318 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L1</font></td> 319 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Close</font></td> 320 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R1</font></td> 321 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CW</font></td> 322 322 </tr> 323 323 <tr> 324 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L2</font></td>325 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Open</font></td>326 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R2</font></td>327 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Wrist Rotate CCW</font></td>324 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L2</font></td> 325 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Open</font></td> 326 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R2</font></td> 327 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CCW</font></td> 328 328 </tr> 329 329 <tr> 330 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L3</font></td>331 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>332 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R3</font></td>333 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>330 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L3</font></td> 331 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 332 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R3</font></td> 333 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 334 334 </tr> 335 335 <tr> 336 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">D-Pad U</font></td>337 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>338 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Tri</font></td>339 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Center Wrist Rotate</font></td>336 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad U</font></td> 337 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 338 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Tri</font></td> 339 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Center Wrist Rotate</font></td> 340 340 </tr> 341 341 <tr> 342 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">D-Pad D</font></td>343 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>344 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">X</font></td>345 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Fully Open Gripper</font></td>342 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad D</font></td> 343 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 344 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">X</font></td> 345 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Fully Open Gripper</font></td> 346 346 </tr> 347 347 <tr> 348 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">D-Pad L</font></td>349 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>350 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Squ</font></td>351 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>348 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad L</font></td> 349 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 350 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Squ</font></td> 351 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 352 352 </tr> 353 353 <tr> 354 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">D-Pad R</font></td>355 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>356 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">O</font></td>357 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>354 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad R</font></td> 355 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 356 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">O</font></td> 357 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 358 358 </tr> 359 359 <tr> 360 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Start</font></td>361 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Enable/Disable Arm</font></td>362 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Select</font></td>363 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>360 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Start</font></td> 361 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Enable/Disable Arm</font></td> 362 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Select</font></td> 363 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 364 364 </tr> 365 365 </tbody></table> 366 366 </div></td> ... ... @@ -394,84 +394,84 @@ 394 394 <font size="2">Configure the Bot Board as illustrated in Table 2. </font></font></td> 395 395 <td align="center" valign="top"><table border="1" bordercolor="#000000" width="250"> 396 396 <tbody><tr> 397 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size=" 1" face="Verdana">Bot Board II397 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size="2" face="Verdana">Bot Board II 398 398 Jumpers</font></td> 399 399 </tr> 400 400 <tr> 401 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Connect</font></td>402 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">6.0vdc battery to VS</font></td>401 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 402 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6.0vdc battery to VS</font></td> 403 403 </tr> 404 404 <tr> 405 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Connect</font></td>406 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">9.0vdc battery to VL</font></td>405 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 406 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">9.0vdc battery to VL</font></td> 407 407 </tr> 408 408 <tr> 409 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Enable</font></td>410 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Speaker</font></td>409 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td> 410 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td> 411 411 </tr> 412 412 <tr> 413 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Connect</font></td>414 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">I/O 0-3 Power Bus to VS</font></td>413 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 414 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 0-3 Power Bus to VS</font></td> 415 415 </tr> 416 416 <tr> 417 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Connect</font></td>418 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">I/O 4-7 Power Bus to VS</font></td>417 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 418 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 4-7 Power Bus to VS</font></td> 419 419 </tr> 420 420 <tr> 421 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Connect</font></td>422 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">I/O 12-15 Power Bus to 5V</font></td>421 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 422 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 12-15 Power Bus to 5V</font></td> 423 423 </tr> 424 424 </tbody></table><table border="1" bordercolor="#000000" width="250"> 425 425 <tbody><tr> 426 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana"><font size=" 1" face="Verdana">Bot Board </font></font><font size="1" face="Verdana">II </font><font size="2" face="Verdana"><font size="1" face="Verdana">Connections</font></font></td>426 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana"><font size="2" face="Verdana">Bot Board </font></font><font size="2" face="Verdana">II </font><font size="2" face="Verdana"><font size="2" face="Verdana">Connections</font></font></td> 427 427 </tr> 428 428 <tr> 429 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P0</font></td>430 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Base</font></td>431 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P8</font></td>432 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>429 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td> 430 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base</font></td> 431 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P8</font></td> 432 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 433 433 </tr> 434 434 <tr> 435 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P1</font></td>436 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Shoulder</font></td>437 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P9</font></td>438 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Speaker</font></td>435 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td> 436 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Shoulder</font></td> 437 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P9</font></td> 438 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td> 439 439 </tr> 440 440 <tr> 441 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P2</font></td>442 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Elbow</font></td>443 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P10</font></td>444 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>441 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P2</font></td> 442 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Elbow</font></td> 443 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P10</font></td> 444 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 445 445 </tr> 446 446 <tr> 447 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P3</font></td>448 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Wrist</font></td>449 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P11</font></td>450 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>447 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P3</font></td> 448 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist</font></td> 449 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P11</font></td> 450 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 451 451 </tr> 452 452 <tr> 453 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P4</font></td>454 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper</font></td>455 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P12</font></td>456 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">PS2 Data</font></td>453 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P4</font></td> 454 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper</font></td> 455 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P12</font></td> 456 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Data</font></td> 457 457 </tr> 458 458 <tr> 459 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P5</font></td>460 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Wrist Rotate</font></td>461 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P13</font></td>462 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">PS2 Command</font></td>459 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P5</font></td> 460 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate</font></td> 461 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P13</font></td> 462 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Command</font></td> 463 463 </tr> 464 464 <tr> 465 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P6</font></td>466 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>467 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P14</font></td>468 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">PS2 Select</font></td>465 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P6</font></td> 466 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 467 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P14</font></td> 468 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Select</font></td> 469 469 </tr> 470 470 <tr> 471 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P7</font></td>472 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>473 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">P15</font></td>474 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">PS2 Clock</font></td>471 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P7</font></td> 472 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 473 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P15</font></td> 474 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Clock</font></td> 475 475 </tr> 476 476 </tbody></table> 477 477 <font size="2" face="Verdana">Table 2.</font></td> ... ... @@ -506,11 +506,11 @@ 506 506 <center> 507 507 </center><table border="1" bordercolor="#000000" width="400"> 508 508 <tbody><tr> 509 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Arm Selection in Program</font></td>509 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Arm Selection in Program</font></td> 510 510 </tr> 511 511 512 512 <tr> 513 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><p align="left"><font face="Courier New" size=" 1">;[SETUP]513 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><p align="left"><font face="Courier New" size="2">;[SETUP] 514 514 ;disable(0)/enable(1) the FSR Gripper <br> 515 515 EnableFSR con 0 <br> 516 516 <br> ... ... @@ -547,79 +547,79 @@ 547 547 <td ><div align="center"> 548 548 <table border="1" bordercolor="#000000" width="400"> 549 549 <tbody><tr> 550 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size=" 1" face="Verdana">PS2 Controls</font></td>550 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2 Controls</font></td> 551 551 </tr> 552 552 <tr> 553 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L Joy U</font></td>554 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Up</font></td>555 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R Joy U</font></td>556 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Angle Up</font></td>553 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy U</font></td> 554 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Up</font></td> 555 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy U</font></td> 556 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Angle Up</font></td> 557 557 </tr> 558 558 <tr> 559 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L Joy D</font></td>560 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Down</font></td>561 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R Joy D</font></td>562 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Angle Down</font></td>559 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy D</font></td> 560 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Down</font></td> 561 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy D</font></td> 562 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Angle Down</font></td> 563 563 </tr> 564 564 <tr> 565 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L Joy L</font></td>566 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Back</font></td>567 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R Joy L</font></td>568 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Base Rotate Left</font></td>565 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy L</font></td> 566 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Back</font></td> 567 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy L</font></td> 568 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate Left</font></td> 569 569 </tr> 570 570 <tr> 571 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L Joy R</font></td>572 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Away</font></td>573 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R Joy R</font></td>574 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Base Rotate Right</font></td>571 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy R</font></td> 572 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Away</font></td> 573 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy R</font></td> 574 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate Right</font></td> 575 575 </tr> 576 576 <tr> 577 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L1</font></td>578 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Close</font></td>579 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R1</font></td>580 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Wrist Rotate CW</font></td>577 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L1</font></td> 578 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Close</font></td> 579 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R1</font></td> 580 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CW</font></td> 581 581 </tr> 582 582 <tr> 583 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L2</font></td>584 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Gripper Open</font></td>585 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R2</font></td>586 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Wrist Rotate CCW</font></td>583 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L2</font></td> 584 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Open</font></td> 585 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R2</font></td> 586 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CCW</font></td> 587 587 </tr> 588 588 <tr> 589 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">L3</font></td>590 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>591 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">R3</font></td>592 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>589 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L3</font></td> 590 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 591 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R3</font></td> 592 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 593 593 </tr> 594 594 <tr> 595 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">D-Pad U</font></td>596 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>597 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Tri</font></td>598 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Center Wrist Rotate</font></td>595 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad U</font></td> 596 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 597 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Tri</font></td> 598 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Center Wrist Rotate</font></td> 599 599 </tr> 600 600 <tr> 601 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">D-Pad D</font></td>602 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>603 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">X</font></td>604 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Fully Open Gripper</font></td>601 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad D</font></td> 602 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 603 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">X</font></td> 604 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Fully Open Gripper</font></td> 605 605 </tr> 606 606 <tr> 607 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">D-Pad L</font></td>608 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>609 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Squ</font></td>610 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>607 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad L</font></td> 608 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 609 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Squ</font></td> 610 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 611 611 </tr> 612 612 <tr> 613 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">D-Pad R</font></td>614 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>615 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">O</font></td>616 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>613 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad R</font></td> 614 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 615 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">O</font></td> 616 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 617 617 </tr> 618 618 <tr> 619 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Start</font></td>620 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">Enable/Disable Arm</font></td>621 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size=" 1" face="Verdana">Select</font></td>622 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size=" 1" face="Verdana">N/A</font></td>619 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Start</font></td> 620 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Enable/Disable Arm</font></td> 621 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Select</font></td> 622 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 623 623 </tr> 624 624 </tbody></table> 625 625 </div></td>