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1 {{html wiki="false" clean="true"}}
2 <body><table border="0" cellpadding="0" cellspacing="0" >
3 <tbody><tr>
4 <td valign="top" align="left"><b><font face="Verdana" size="2">PS2
5 Biped BRAT Tutorial.</font></b>
6 <p><b><font face="Verdana" size="2">Updated
7 <!-- #BeginDate format:Am3 -->12/20/2011<!-- #EndDate -->
8 </font></b></p>
9 <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
10 <p><font face="Verdana" size="2"><b>Note:</b> This tutorial uses the Bot Board II, BASIC Atom Pro 28,
11 and a wireless PS2 controller/receiver.</font></p>
12 <p><font face="Verdana" size="2"><b>Software:</b><br>
13 &nbsp;&nbsp;- BASIC Micro Studio<br>
14 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/bratosf3.zip">BRAT Servo Offset Finder Program</a>
15 (09/17/09)<br>
16 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/pbrat1-2.zip">PS2 Control Code</a>
17 (09/17/09)</font></p></td>
18 <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-bipeds/brat-biped-ps2/WebHome/brat00.jpg" border="2" hspace="10" ><br>
19 <strong>Image of Biped BRAT.</strong></font></td>
20 </tr>
21 <tr>
22 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
23 </tr>
24 <tr>
25 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 1.</b><br>
26 Make sure your servos are plugged into the appropriate channels, as shown in Table 1.</font>
27 <p><font face="Verdana" size="2">*Note, P9 is used by the speaker, so we can't plug a servo in there.</font></p></td>
28 <td align="left" valign="top" >
29 <div align="center">
30 <center>
31 <table border="1" bordercolor="#FFFFFF" >
32 <tbody><tr>
33 <td >
34 <div align="center">
35 <table border="1" bordercolor="#000000" >
36 <tbody><tr>
37 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Bot Board I/O</b></font></td>
38 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Connection</b></font></td>
39 </tr>
40 <tr>
41 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P4</font></td>
42 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Ankle</font></td>
43 </tr>
44 <tr>
45 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P5</font></td>
46 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Knee</font></td>
47 </tr>
48 <tr>
49 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P6</font></td>
50 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Hip</font></td>
51 </tr>
52 <tr>
53 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P7</font></td>
54 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Ankle</font></td>
55 </tr>
56 <tr>
57 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P8</font></td>
58 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Knee</font></td>
59 </tr>
60
61 <tr>
62 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P10</font></td>
63 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Hip</font></td>
64 </tr>
65 </tbody></table>
66 </div></td>
67 </tr>
68 <tr>
69 <td bordercolor="#FFFFFF">
70 <p align="center"><font face="Verdana" size="2">Table 1.</font></p></td>
71 </tr>
72 </tbody></table>
73 </center></div>
74 </td>
75 </tr>
76 <tr>
77 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
78 </tr>
79 <tr>
80 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 2.</b><br>
81 Make sure the Bot Board's jumpers are set according to Table 2.</font>
82 <p><font face="Verdana" size="2">Refer to Figure 2 for help with jumper settings.</font></p>
83 <p><font face="Verdana" size="2">*Note, the VS to AX0 jumper enables the program to monitor the servo battery voltage. When the battery is low,
84 the robot can beep in warning.</font></p></td>
85 <td align="left" valign="top" >
86 <div align="center">
87 <center>
88 <table border="1" bordercolor="#FFFFFF" >
89 <tbody><tr>
90 <td >
91 <div align="center">
92 <table border="1" bordercolor="#000000" >
93 <tbody><tr>
94 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="2"><b>Bot Board II
95 Jumper Settings</b></font></td>
96 </tr>
97 <tr>
98 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
99 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">A, B, and C buttons</font></td>
100 </tr>
101 <tr>
102 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">VS</font></td>
103 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Groups 4-7 and 8-11</font></td>
104 </tr>
105 <tr>
106 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
107 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">SPKEN (Speaker Enable)</font></td>
108 </tr>
109 <tr>
110 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
111 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VS (Servo Voltage) to AX0 (P16)</font></td>
112 </tr>
113 </tbody></table>
114 </div></td>
115 </tr>
116 <tr>
117 <td bordercolor="#FFFFFF">
118 <p align="center"><font face="Verdana" size="2">Table 2.</font></p></td>
119 </tr>
120 </tbody></table>
121 </center></div>
122 </td>
123 </tr>
124 <tr>
125 <td valign="top" align="left" colspan="2"><br class="pb">
126 </td>
127 </tr>
128 <tr>
129 <td valign="top" align="left" colspan="2">
130 <p align="center"><font face="Verdana" size="2">&nbsp;<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/ps2brat1.gif" border="0" hspace="10" ><br>
131 Figure 2.</font></p>
132 </td>
133 </tr>
134 <tr>
135 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
136 </tr>
137 <tr>
138 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br>
139 Download and install BASIC Micro Studio. Download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/bratosf3.zip">BRAT Servo Offset Finder program</a>, and load it into the IDE.</font>
140 <p><font face="Verdana" size="2">Program the Atom Pro, and follow these instructions to find your robot's offsets.</font></p>
141 <ul>
142 <li><font face="Verdana" size="2">Press A to decrease the servo offset by 5us.</font></li>
143 <li><font face="Verdana" size="2">Press C to increase the servo offset by 5us.</font></li>
144 <li><font face="Verdana" size="2">Press B to change which servo is being manipulated, and to
145 save your offsets. The order of the
146 program is shown in Figure 3.</font></li>
147 </ul>
148 <p><font face="Verdana" size="2">Note, if you have the Speaker enabled, when you press the B button you will hear a short tone. The tone will
149 raise in pitch when you change from servo to servo, and will lower in pitch and be longer when you get back to Start.</font></p></td>
150 <td align="left" valign="top" >
151 <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-bipeds/brat-biped-ps2/WebHome/bratosf3.jpg" border="2" hspace="10" ><br>
152 Figure 3.</font></p></td>
153 </tr>
154 <tr>
155 <td valign="top" align="left" colspan="2"><br class="pb">
156 </td>
157 </tr>
158 <tr>
159 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
160 4.</b><br>
161 Place the robot in a position as close to neutral as possible, and turn it on. Your robot should go to and hold the neutral position, and should
162 resemble figures 4-1 through 4-3. If the joints are off by more than 15° you may have made an error in assembly. To correct this, remove the
163 center screw from the round servo horn, pull the servo horn off the servo, rotate until it's aligned, then reattach the servo horn.</font>
164 <p><font face="Verdana" size="2">Use the A, B, and C buttons to straighten the BRAT as shown in Figures
165 4-1, 4-2, and 4-3.</font></p>
166 <p><font face="Verdana" size="2">Note, if you are building the robot with HS-422 servos, you will notice the hip servos oscillate if the robot
167 is lifted off the ground. This is normal, and is due to the lower power servo. When the robot is walking, the effects are minimal. Using a
168 voltage that is higher than 6vdc will make the oscillations worse. When building a robot with more powerful servos such as HS-475,
169 HS-485, or HS-645, you
170 will not see this effect.</font></p>
171 <p><b><font face="Verdana" size="2">After you've cycled through the servos
172 and adjusted them to match Figures 4-1 through 4-3, pressing the B button
173 again will save your offset values to the Atom Pro's EEPROM.</font></b></p>
174 </td>
175 <td align="left" valign="top" >
176 <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-bipeds/brat-biped-ps2/WebHome/brat10.jpg" border="2" hspace="10" ><br>
177 Figure 4-1.</font></p></td>
178 </tr>
179 <tr>
180 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
181 </tr>
182 <tr>
183 <td valign="top" align="left">
184 <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-bipeds/brat-biped-ps2/WebHome/brat07.jpg" border="2" hspace="10" ><br>
185 Figure 4-2.</font></p>
186 </td>
187 <td align="left" valign="top" >
188 <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-bipeds/brat-biped-ps2/WebHome/brat04.jpg" border="2" hspace="10" ><br>
189 Figure 4-3.</font></p></td>
190 </tr>
191 <tr>
192 <td valign="top" align="left" colspan="2"><br class="pb">
193 </td>
194 </tr>
195 <tr>
196 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step
197 5.</b><br>
198 Download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/pbrat1-2.zip">PS2 BRAT Code</a>, load it into the
199 IDE, and program your BRAT.</font>
200 </td>
201 </tr>
202 <tr>
203 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
204 </tr>
205 <tr>
206 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
207 6.</b><br>
208 Now you need to create the PS2 cable to hook up PS2 control. <b>Repeat
209 this step</b> on one side of both 6" servo extender cables.</font>
210 <p><font face="Verdana" size="2">1. Use an exacto knife to <b>carefully</b>
211 pry the black tabs up and slip the wires out of the black housing.</font></p>
212 <p><font face="Verdana" size="2">2. Remove the black housing completely
213 and set aside.</font></p>
214 <p><font face="Verdana" size="2">3. Cover the header pin receptacles with
215 1/2" of heat shrink.</font></p>
216 </td>
217 <td align="left" valign="top" >
218 <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/ps2c01.jpg" border="2" hspace="10" ><br>
219 Figure 6.</font></p></td>
220 </tr>
221 <tr>
222 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
223 </tr>
224 <tr>
225 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
226 7.</b><br>
227 Plug the cables in to the Bot Board II as shown.&nbsp;</font><br>
228 <div align="center">
229 <center>
230 <font face="Verdana" size="2">
231 </font><table border="1" bordercolor="#FFFFFF" >
232 <tbody><tr>
233 <td >
234 <div align="center">
235 <font face="Verdana" size="2">
236 </font><font face="Verdana" size="2">
237 </font><font face="Verdana" size="2">
238 </font><table border="1" bordercolor="#000000" >
239 <tbody><tr>
240 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><b><font face="Verdana" size="2">Bot Board II
241 </font></b><b><font face="Verdana" size="2">Connections</font></b></td>
242 </tr>
243 <tr>
244 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" rowspan="3"><font face="Verdana" size="2">Cable
245 1</font><font face="Verdana" size="2"></font>
246 </td>
247
248 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Black</font></td>
249 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">P12</font></td>
250 </tr>
251 <tr>
252 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Red</font></td>
253 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">P13</font></td>
254 </tr>
255 <tr>
256 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Yellow</font></td>
257 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">P14</font></td>
258 </tr>
259 <tr>
260 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" rowspan="3"><font face="Verdana" size="2">Cable
261 2</font></td>
262 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Black</font></td>
263 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">GND</font></td>
264 </tr>
265 <tr>
266 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Red</font></td>
267 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">5vdc</font></td>
268 </tr>
269 <tr>
270 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Yellow</font></td>
271 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">P15</font></td>
272 </tr>
273 <tr>
274 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font face="Verdana" size="2"><b>Bot Board II
275 Jumper Settings</b></font></td>
276
277 </tr>
278 <tr>
279 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Disable</font></td>
280 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF" colspan="2"><font face="Verdana" size="2">A, B, and C buttons</font></td>
281
282 </tr>
283 <tr>
284 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">5v</font></td>
285 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF" colspan="2"><font face="Verdana" size="2">I/O Group
286 12-15</font></td>
287
288 </tr>
289 </tbody></table>
290 </div></td>
291 </tr>
292 <tr>
293 <td bordercolor="#FFFFFF">
294 <p align="center"><font face="Verdana" size="2">Table 7.</font></p></td>
295 </tr>
296 </tbody></table>
297 </center></div></td>
298 <td align="left" valign="top" >
299 <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-bipeds/brat-biped-ps2/WebHome/ps2c02.jpg" border="2" hspace="10" ><br>
300 Figure 7.</font></p></td>
301 </tr>
302 <tr>
303 <td valign="top" align="left" colspan="2"><br class="pb">
304 </td>
305 </tr>
306 <tr>
307 <td valign="top" align="left" colspan="2">
308 <p align="center"><font face="Verdana" size="2">&nbsp;<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/ps2brat2.gif" border="0"><br>
309 Figure 7.</font></p>
310 </td>
311 </tr>
312 <tr>
313 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
314 </tr>
315 <tr>
316 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
317 8.</b><br>
318 The PS2 control commands are shown in Table 8.</font></td>
319 <td align="left" valign="top" >
320 <div align="center">
321 <center>
322 <table border="1" bordercolor="#FFFFFF" >
323 <tbody><tr>
324 <td >
325 <div align="center">
326 <table border="1" bordercolor="#000000" >
327 <tbody><tr>
328 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>PS2
329 Button</b></font></td>
330 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Command</b></font></td>
331 </tr>
332 <tr>
333 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Left
334 Joystick Forward/Back</font></td>
335 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Walk
336 forward/backward</font></td>
337 </tr>
338 <tr>
339
340 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Left
341 Joystick Left/Right</font></td>
342 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Turn
343 in place left/right</font></td>
344 </tr>
345 <tr>
346 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">X</font></td>
347 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Return
348 robot to home position</font></td>
349 </tr>
350 <tr>
351 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><u>/\</u></font></td>
352 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Headbutt</font></td>
353 </tr>
354 <tr>
355 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">L1</font></td>
356 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Kick
357 with left leg</font></td>
358 </tr>
359 <tr>
360 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">R1</font></td>
361 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Kick
362 with right leg</font></td>
363 </tr>
364 <tr>
365 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">D-pad
366 Up</font></td>
367 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Get
368 up from face-down position</font></td>
369 </tr>
370 <tr>
371 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">D-pad
372 Down</font></td>
373 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Get
374 up from back-down position</font></td>
375 </tr>
376 <tr>
377 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Start</font></td>
378 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Enable/Disable
379 robot's standby "rest" mode (enabled by default)</font></td>
380 </tr>
381 <tr>
382 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Select</font></td>
383 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Changes
384 stride length</font></td>
385 </tr>
386 </tbody></table>
387 </div></td>
388 </tr>
389 <tr>
390 <td bordercolor="#FFFFFF">
391 <p align="center"><font face="Verdana" size="2">Table 8.</font></p></td>
392 </tr>
393 </tbody></table>
394 </center></div>
395 </td>
396 </tr>
397 </tbody></table>
398 </body>
399 {{/html}}

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