Wiki source code of Quadruped QBK-02 Symmetric Robot Kit Assembly Instructions Rev. 1
Last modified by Eric Nantel on 2024/07/03 09:21
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1.1 | 1 | {{html wiki="false" clean="true"}} | |
34.1 | 2 | <table border="0" cellpadding="0" cellspacing="0" > | |
1.1 | 3 | ||
34.1 | 4 | <tbody> | |
5 | <tr> | ||
6 | <td align="left" valign="top" ><b><font face="Verdana, Helvetica, sans-serif" size="2">QBK-02 Symmetric | ||
7 | Quadruped Robot Kit Assembly Instructions Rev. 1.</font></b> | ||
8 | <p><b><font face="Verdana, Helvetica, sans-serif" size="2">Updated | ||
9 | December 2014</font></b></p> | ||
10 | <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye | ||
11 | protection and never touch a powered robot!</font></p> | ||
12 | <p><font face="Verdana, Helvetica, sans-serif" size="2">The | ||
13 | purpose of this guide is to construct the chassis, attach the legs, and | ||
14 | install the electronics. Both the top and bottom body plates are | ||
15 | identical. This guide shows the Lynxmotion PS2 and PS2 mounting plate which are | ||
16 | purchased separately from the kit (used only with BotBoarduino version). There are the following SQ3 kits:</font></p> | ||
17 | <ul> | ||
18 | <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with BotBoarduino and SSC-32</font></li> | ||
19 | <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with BotBoarduino and SSC-32U</font></li> | ||
20 | <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with SSC-32 and Bluetooth (FlowBotics)</font></li> | ||
21 | <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with SSC-32U and Bluetooth (FlowBotics)<br> | ||
22 | </font></li> | ||
23 | </ul> | ||
24 | |||
25 | <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Take note of which version you have | ||
26 | and follow each step accordingly, as the connections and configuration | ||
27 | are different. <br> | ||
28 | </span></strong></font></p> | ||
29 | <p><font face="Verdana" size="2">Note: Loctite / thread lock | ||
30 | can be used on the construction of the aluminum components, though it | ||
31 | is not necessary if the nuts are properly tightened. However, | ||
32 | don't use thread lock with Lexan or plastic, as they are not necessary and may | ||
33 | cause | ||
34 | damage.</font></p> | ||
35 | </td> | ||
36 | <td align="center" valign="top" width="320"><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-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-finished.jpg" border="2" hspace="10" ><br> | ||
37 | <font size="2"><b>Image of completed Robot. </b><br> | ||
38 | (Shown with optional PS2 receiver and mount)</font></font></td> | ||
39 | </tr> | ||
40 | <tr> | ||
41 | <td style="vertical-align: top;"><br> | ||
42 | </td> | ||
43 | <td style="vertical-align: top;"><br> | ||
44 | </td> | ||
45 | </tr> | ||
46 | <tr> | ||
47 | <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Lexan | ||
48 | Preparation.<br> | ||
49 | <br> | ||
50 | </b></font><font face="Verdana" size="2">The lexan pieces have a | ||
51 | protective covering that needs to be | ||
52 | removed before assembly. When the laser cuts, the covering melts into | ||
53 | the cut edge which can make removal difficult. If you gently scrape the | ||
54 | cut edge with a flat blade screwdriver, the covering can easily be | ||
55 | lifted and peeled off.</font> | ||
56 | <p><font face="Verdana" size="2">On smaller pieces the coverings | ||
57 | can be more difficult to remove. If you have trouble you can gently | ||
58 | scrape the cut edge, then use duct tape to lift the covering off.</font></p> | ||
59 | <p><font face="Verdana" size="2">For further information on | ||
35.1 | 60 | lexan, see <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/polycarbonate-info-page/" target="_blank">this | |
34.1 | 61 | page</a>.</font></p> | |
62 | <br> | ||
63 | </td> | ||
64 | <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="Lexan Preparation" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/lexan01.jpg" border="2"></td> | ||
65 | </tr> | ||
66 | <tr> | ||
67 | <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"> </font></td> | ||
68 | </tr> | ||
69 | <tr> | ||
70 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 1. | ||
71 | Electronics User Guides</font></b><font size="2"><br> | ||
72 | <br> | ||
73 | If you have the SSC-32 serial servo controller, please read through and understand the | ||
35.1 | 74 | <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-manual/">SSC-32 | |
34.1 | 75 | User Guide</a>.<br> | |
35.1 | 76 | If you have the SSC-32U USB servo controller, please read through and understand the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/ssc-32u/WebHome/lynxmotion_ssc-32u_usb_user_guide.pdf" target="_blank">SSC-32U User Guide</a>.<br> | |
34.1 | 77 | </font></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2"><br> | |
78 | </font></b><font size="2">If you purchase the version with the | ||
35.1 | 79 | BotBoarduino, read and understand the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/">BotBoarduino | |
34.1 | 80 | User Guide</a>.</font></font><br> | |
81 | <font face="Verdana, Helvetica, sans-serif"><font size="2">The | ||
82 | QBK-02 uses the arduino software downloadable from <a href="https://www.lynxmotion.com/images/html/www.arduino.cc" target="blank" rel="nofollow">www.arduino.cc</a>. | ||
83 | <br> | ||
84 | This guide does not teach you how to use the Arduino programming language.<br> | ||
85 | <br> | ||
86 | </font></font> </td> | ||
87 | <td style="text-align: center;"><img style="width: 320px; height: 240px;" alt="SSC-32" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc32.jpg" border="2"><br> | ||
88 | <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure | ||
89 | 1 (SSC-32 Shown as example)</font></font><br> | ||
90 | </td> | ||
91 | </tr> | ||
92 | <tr> | ||
93 | <td style="vertical-align: top;"><br> | ||
94 | </td> | ||
95 | <td style="vertical-align: top;"><br> | ||
96 | </td> | ||
97 | </tr> | ||
98 | <tr> | ||
99 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 2 | ||
100 | (BotBoarduino and/or SSC-32).<br> | ||
101 | </font></b><font size="2">If | ||
102 | you have the SSC-32 (not SSC-32U) or a kit which uses the BotBoarduino, the robot will need | ||
103 | a separate 9V battery. Both the top plate and bottom | ||
104 | plates are | ||
105 | identical. Place the small black rivet through the 9V metal clip and | ||
106 | push down through one of the two inner holes as shown. It does not | ||
107 | matter which side. This will become the bottom plate.<br> | ||
108 | </font></font> | ||
109 | <table border="0" > | ||
110 | <tbody> | ||
111 | <tr> | ||
112 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>1 x</b></font></td> | ||
113 | <td ><br> | ||
114 | </td> | ||
115 | </tr> | ||
116 | <tr> | ||
117 | <td ><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-quadrapods/quadrapod-qbk-02/WebHome/rivet-9V-clip.jpg" border="2" ></font></td> | ||
118 | <td><br> | ||
119 | </td> | ||
120 | </tr> | ||
121 | </tbody> | ||
122 | </table> | ||
123 | </td> | ||
124 | <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-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-01.jpg" border="2" hspace="10" ><br> | ||
125 | <font size="2">Figure 2 (SSC-32 and/or BotBoarduino)<br> | ||
126 | </font></font></td> | ||
127 | </tr> | ||
128 | <tr> | ||
129 | <td style="vertical-align: top;"><br> | ||
130 | </td> | ||
131 | <td style="vertical-align: top;"><br> | ||
132 | </td> | ||
133 | </tr> | ||
134 | <tr> | ||
135 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 3a (SSC-32 and/or BotBoarduino).<br> | ||
136 | </font></b><font size="2">Use six 4-40 x 1/4" hex socket screws | ||
137 | to attach the long aluminum spacers to the bottom body plate.<br> | ||
138 | </font></font> | ||
139 | <table border="0" > | ||
140 | <tbody> | ||
141 | <tr> | ||
142 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x</b></font></td> | ||
143 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x </b></font></td> | ||
144 | </tr> | ||
145 | <tr> | ||
146 | <td ><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-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td> | ||
147 | <td ><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-quadrapods/quadrapod-qbk-02/WebHome/41875hns.gif" border="2" ></font></td> | ||
148 | </tr> | ||
149 | </tbody> | ||
150 | </table> | ||
151 | </td> | ||
152 | <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-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-02.jpg" border="2" hspace="10" ><br> | ||
153 | <font size="2">Figure 3a (SSC-32 and/or BotBoarduino).</font></font></td> | ||
154 | </tr> | ||
155 | <tr> | ||
156 | <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb"> | ||
157 | </font></td> | ||
158 | </tr> | ||
159 | <tr> | ||
160 | <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 3b (SSC-32U Alone).<br> | ||
161 | |||
162 | </font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2">Use | ||
163 | six 4-40 x 1/4" hex socket screws | ||
164 | to attach the long aluminum spacers to the bottom body plate. Since the | ||
165 | SSC-32U does not need a separate 9V battery, the 9V metal clip is not needed.</font></font><br> | ||
166 | <font face="Verdana, Helvetica, sans-serif"><font size="2"> | ||
167 | |||
168 | </font></font> | ||
169 | |||
170 | |||
171 | <table border="0" > | ||
172 | |||
173 | |||
174 | <tbody> | ||
175 | |||
176 | <tr> | ||
177 | |||
178 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x</b></font></td> | ||
179 | |||
180 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x </b></font></td> | ||
181 | |||
182 | </tr> | ||
183 | |||
184 | <tr> | ||
185 | |||
186 | <td ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></td> | ||
187 | |||
188 | <td ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/41875hns.gif" border="2" ></td> | ||
189 | |||
190 | </tr> | ||
191 | |||
192 | </tbody> | ||
193 | |||
194 | |||
195 | </table> | ||
196 | <br> | ||
197 | </td> | ||
198 | <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="QBK" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-5.jpg" border="2" hspace="10"><br> | ||
199 | <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 3b (SSC-32U Alone).</font></font><br> | ||
200 | |||
201 | </td> | ||
202 | </tr> | ||
203 | <tr> | ||
204 | <td style="vertical-align: top;"><br> | ||
205 | </td> | ||
206 | <td style="vertical-align: top;"><br> | ||
207 | </td> | ||
208 | </tr> | ||
209 | <tr> | ||
210 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4a (BotBoarduino).<br> | ||
211 | </font></b><font size="2">If | ||
212 | you purchased any kit which includes the BotBoarduino, follow this step, otherwise | ||
213 | proceed to step 4b. Use the second (top) plate for this | ||
214 | step. Use four 4-40 x 1/4" hex socket screws to attach the 1/4" long | ||
215 | M/F plastic spacers to the plate. The M/F spacer is required because the | ||
216 | electronics (SSC-32 / 32U) and the BotBoarduino will be stacked one on | ||
217 | top of the other.<br> | ||
218 | </font></font> | ||
219 | <table border="0" > | ||
220 | <tbody> | ||
221 | <tr> | ||
222 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td> | ||
223 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x </b></font></td> | ||
224 | </tr> | ||
225 | <tr> | ||
226 | <td ><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-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td> | ||
227 | <td ><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-quadrapods/quadrapod-qbk-02/WebHome/4375hns2.gif" border="2" ></font></td> | ||
228 | </tr> | ||
229 | </tbody> | ||
230 | </table> | ||
231 | </td> | ||
232 | <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-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-03.jpg" border="2" hspace="10" ><br> | ||
233 | <font size="2">Figure 3 (M/F Spacer for BotBoarduino).</font></font></td> | ||
234 | </tr> | ||
235 | <tr> | ||
236 | <td style="vertical-align: top;"><br> | ||
237 | </td> | ||
238 | <td style="vertical-align: top;"><br> | ||
239 | </td> | ||
240 | </tr> | ||
241 | <tr> | ||
242 | <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4b (SSC-32 or SSC-32U alone).<br> | ||
243 | </font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2">If | ||
244 | you | ||
245 | purchased a kit with FlowBotics Studio (and therefore do not have a BotBoarduino), follow this step. Use the second (top) | ||
246 | plate for this | ||
247 | step. Use four 4-40 x 1/4" hex socket screws to attach the 1/4" long | ||
248 | F/F plastic spacers to the plate. This F/F spacer is used because there | ||
249 | will not be any additional electronics stacked above the servo controller.<br> | ||
250 | <br> | ||
251 | </font></font> | ||
252 | <table border="0" > | ||
253 | |||
254 | |||
255 | <tbody> | ||
256 | |||
257 | <tr> | ||
258 | |||
259 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td> | ||
260 | |||
261 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x </b></font></td> | ||
262 | |||
263 | </tr> | ||
264 | |||
265 | <tr> | ||
266 | |||
267 | <td ><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-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td> | ||
268 | |||
269 | <td ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4375hns.gif" border="2" ></td> | ||
270 | |||
271 | </tr> | ||
272 | |||
273 | </tbody> | ||
274 | |||
275 | |||
276 | </table> | ||
277 | </td> | ||
278 | <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-top-plate-b.jpg" border="2" hspace="10" ><br> | ||
279 | <font face="Verdana, Helvetica, sans-serif"> | ||
280 | <font size="2">Figure 3 (F/F Spacer for BotBoarduino).</font></font></td> | ||
281 | </tr> | ||
282 | <tr> | ||
283 | <td style="vertical-align: top;"><br> | ||
284 | </td> | ||
285 | <td style="vertical-align: top;"><br> | ||
286 | </td> | ||
287 | </tr> | ||
288 | <tr> | ||
289 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4a (SSC-32 and/or BotBoarduino).<br> | ||
290 | </font></b><font size="2">Connect the 9V wiring harness and the | ||
291 | servo (Tamiya) battery harness to the top plate. It does not matter which switch | ||
292 | connects to which hole. The SSC-32U does not need the additional 9V wiring harness.<br> | ||
293 | </font></font> </td> | ||
294 | <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-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-04.jpg" border="2" hspace="10" ><br> | ||
295 | <font size="2">Figure 4a (SSC-32 and/or BotBoarduino).</font></font></td> | ||
296 | </tr> | ||
297 | <tr> | ||
298 | <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"> </font></td> | ||
299 | </tr> | ||
300 | <tr> | ||
301 | <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4b (SSC-32U).<br> | ||
302 | </font></b><font size="2">Connect | ||
303 | only the battery harness to the top plate. It does not matter which hole you | ||
304 | use. Note that the 9V wiring harness is not needed for the SSC-32U alone, so | ||
305 | it is not included.<br> | ||
306 | <br> | ||
307 | </font></font></td> | ||
308 | <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="QBK" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-3.jpg" border="2"><br> | ||
309 | <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 4b (SSC-32U).</font></font><br> | ||
310 | </td> | ||
311 | </tr> | ||
312 | <tr> | ||
313 | <td style="vertical-align: top;"><br> | ||
314 | </td> | ||
315 | <td style="vertical-align: top;"><br> | ||
316 | </td> | ||
317 | </tr> | ||
318 | <tr> | ||
319 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 5.<br> | ||
320 | </font></b><font size="2">Attach | ||
321 | the legs as shown, making sure | ||
322 | to use right / left legs as indicated. Figure 7c shows a top-down view. Note the symmetry along both | ||
323 | axes (left side is a mirror of the right side). Use eight #2 x .250" | ||
324 | tapping | ||
325 | screws (two per servo). </font></font><font face="Verdana, Helvetica, sans-serif"><font size="2">The "rear" of the robot | ||
326 | has the circular cutouts for the power connectors. </font></font><font face="Verdana, Helvetica, sans-serif"><font size="2">The | ||
327 | legs should be at 45 degrees when the servo receives a 1500us pulse | ||
328 | (legs at 90 degrees to each other as in figure 7c). If you are unsude | ||
329 | how to do this, please | ||
330 | refer back to the leg assembly guide. <br> | ||
331 | </font></font> | ||
332 | <table border="0" > | ||
333 | <tbody> | ||
334 | <tr> | ||
335 | <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">8 x</font></b></td> | ||
336 | <td ><b><font face="Verdana, Helvetica, sans-serif" size="2"> </font></b></td> | ||
337 | </tr> | ||
338 | <tr> | ||
339 | <td ><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-quadrapods/quadrapod-qbk-02/WebHome/2250phts.gif" border="2" ></font></td> | ||
340 | <td ><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-quadrapods/quadrapod-qbk-02/WebHome/holes.gif" border="2" ></font></td> | ||
341 | </tr> | ||
342 | </tbody> | ||
343 | </table> | ||
344 | </td> | ||
345 | <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-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-06.jpg" border="2" hspace="10" ><br> | ||
346 | <font size="2">Figure 5.</font></font></td> | ||
347 | </tr> | ||
348 | <tr> | ||
349 | <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"> </font></td> | ||
350 | </tr> | ||
351 | |||
352 | <tr> | ||
353 | <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 6a (BotBoarduino). | ||
354 | </font></b></font><br>Mount the SSC-32 / SSC-32U onto the four hex | ||
355 | spacers installed in step 4a. Orient the board with the SSC-32's | ||
356 | connector facing the front | ||
357 | of the robot (so as to not interfere with the switches). Use four 4-40 | ||
358 | x 1" hex spacers to attach the long aluminum spacers to the underside | ||
359 | of the top body plate. These new spacers will be used to support | ||
360 | the BotBoarduino. <font face="Verdana, Helvetica, sans-serif" size="2">If you purchased or have the optional PS2 expansion plate, use the four 1" M/F | ||
361 | standoffs included with that kit. </font>Wiring will be explained in the next steps.<br> <table border="0" > | ||
362 | |||
363 | <tbody> | ||
364 | <tr> | ||
365 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td> | ||
366 | </tr> | ||
367 | <tr> | ||
368 | <td ><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-quadrapods/quadrapod-qbk-02/WebHome/41000hns.jpg" border="2" ></font></td> | ||
369 | </tr> | ||
370 | </tbody> | ||
371 | </table><br></td> | ||
372 | <td style="vertical-align: top; text-align: center;"><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-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-12.jpg" border="2" hspace="10" ><br> | ||
373 | </font><font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 6a (Kits w/BotBoarduino).</font></font><br> | ||
374 | </td> | ||
375 | </tr> | ||
376 | <tr> | ||
377 | <td style="vertical-align: top;"><br> | ||
378 | </td> | ||
379 | <td style="vertical-align: top;"><br> | ||
380 | </td> | ||
381 | </tr> | ||
382 | <tr> | ||
383 | <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 6b (FlowBotics).</font></b></font><br>If | ||
384 | you have a version of a kit which only has a servo controller (ex | ||
385 | FlowBotics kits), mount the SSC-32 / SSC-32U onto the four hex spacers | ||
386 | installed in step 4b. | ||
387 | Use four 4-40 x 1" hex spacers to attach the long aluminum spacers to | ||
388 | the underside of the top body plate.Wiring will be explained in the next steps. <br><br><table style="width: 50%;" border="0"> | ||
389 | |||
390 | <tbody> | ||
391 | |||
392 | <tr> | ||
393 | |||
394 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td> | ||
395 | |||
396 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b> </b></font><br> | ||
397 | </td> | ||
398 | |||
399 | </tr> | ||
400 | |||
401 | <tr> | ||
402 | |||
403 | <td style="width: 50%;"><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-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td> | ||
404 | |||
405 | <td style="width: 50%;"><font face="Verdana, Helvetica, sans-serif"><br> | ||
406 | </font></td> | ||
407 | |||
408 | </tr> | ||
409 | |||
410 | </tbody> | ||
411 | |||
412 | </table></td> | ||
413 | <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-6.jpg" border="2" ><br> | ||
414 | <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 6b (SSC-32 or SSC-32U).</font></font><br> | ||
415 | |||
416 | </td> | ||
417 | </tr> | ||
418 | <tr> | ||
419 | <td style="vertical-align: top;"><br> | ||
420 | </td> | ||
421 | <td style="vertical-align: top;"><br> | ||
422 | </td> | ||
423 | </tr> | ||
424 | <tr> | ||
425 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 6.</font></b><font size="2"><br>In | ||
426 | preparation for connecting the wires, here are some general guidelines | ||
427 | when inserting wires into the screw terminals. Use a ~2mm wide flat | ||
428 | blade screw driver. Rotate | ||
429 | the screw both directions looking into the end of the terminal. When | ||
430 | you see it open up (moving downwards), keep turning until it is open | ||
431 | completely. Wrap / twist the wires by hand to ensure they are aligned | ||
432 | as in Figure 6. Be sure that the wires are fully inserted into the | ||
433 | terminals and that <b>no stray wires touch each other between terminals</b> | ||
434 | as this is a short and can cause the battery to discharge rapidly, | ||
435 | causing heat and possibly fire. <b>DOUBLE CHECK THE RED AND BLACK WIRE | ||
436 | CONNECTED TO THE SCREW TERMINALS</b> - the red wire should go to (+) | ||
437 | and the black wire to (-), if they are reversed, the servos and the | ||
438 | board will be damaged. </font></font><font face="Verdana" size="2"> </font> | ||
439 | <p> </p> | ||
440 | </td> | ||
441 | <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-quadrapods/quadrapod-qbk-02/WebHome/wiring.jpg" border="2" hspace="10" ><br> | ||
442 | <font size="2">Figure 6 (top shows open screw terminal, bottom shows closed).</font></font></td> | ||
443 | </tr> | ||
444 | <tr> | ||
445 | <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb"> | ||
446 | </font></td> | ||
447 | </tr> | ||
448 | </tbody> | ||
449 | </table> | ||
450 | |||
451 | <font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7a (BotBoarduino + SSC-32 + PS2 v2).<br> | ||
452 | </font></b></font><font face="Verdana, Helvetica, sans-serif" size="2">This | ||
453 | step applies if you purchased the BotBoarduino version of the SQ3 with | ||
454 | the SSC-32 serial servo controller. The PS2 controller is optional (PS2 | ||
455 | mounting plate suggested). Attach the power cables as shown in Figure | ||
456 | 7a. Connect the servos to the SSC-32; refer to step 8 and 9 | ||
457 | below. Once all servos have been connected (having followed steps 8 and | ||
458 | 9), connect the loose power cable from the SSC-32's VL terminal to the | ||
459 | BotBoarduino's VL terminal. We suggest wiring everything with the | ||
460 | BotBoarduno loose, and only attaching it to the spacers at a later | ||
461 | step. <b>DOUBLE CHECK THE RED AND BLACK WIRE | ||
462 | CONNECTED TO THE SCREW TERMINALS</b> - the red wire should go to (+) | ||
463 | and the black wire to (-), if they are reversed, the servos and the | ||
464 | board will be damaged. </font><br> | ||
465 | <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/botboarduino-ssc-32-ps2-connections.jpg" border="0" hspace="10" ><br> | ||
466 | <br> | ||
467 | <font face="Verdana, Helvetica, sans-serif" size="2">Figure 7a. | ||
468 | BotBoarduino - SSC-32 - PS2 v2</font></p> | ||
469 | |||
470 | <font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7b (BotBoarduino + SSC-32U + PS2 v2/3).<br> | ||
471 | </font></b></font><font face="Verdana, Helvetica, sans-serif" size="2">This step applies if you purchased the BotBoarduino version of the SQ3 with the SSC-32U USB servo controller. </font><font face="Verdana, Helvetica, sans-serif" size="2">The PS2 controller is optional. </font><font face="Verdana, Helvetica, sans-serif" size="2">Install the SSC-32U onto the body onto the standoffs shown in step 4, and secure using four 1/4" 4-40 hex standoffs. | ||
472 | Connect the serial to XBee breakout board's positive pin to pin C (+) | ||
473 | on the SSC-32 and the negative pin to pin D (-) on the SSC-32. Notice | ||
474 | the Baud rate jumper is set to 9600. You can install the power | ||
475 | switch(es) to the body in the holes at the rear of the robot. <b>DOUBLE | ||
476 | CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS</b> | ||
477 | - the | ||
478 | red wire should go to (+) and the black wire to (-), if they are | ||
479 | reversed, the servos and the board will be damaged. Change the jumper | ||
480 | located behind the screw terminals to EXT rather than USB (so the logic | ||
481 | voltage is powered via the 9V battery rather than the USB cable). | ||
482 | Remove the VL=VS jumper.</font><br> | ||
483 | <div style="text-align: center;"><img style="width: 600px;" alt="BotBoarduino + SSC-32U + PS2v3" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32u-botboarduino-ps2.png"><br> | ||
484 | <font face="Verdana, Helvetica, sans-serif" size="2">Figure 7b. | ||
485 | BotBoarduino - SSC-32U - PS2 v3</font><br> | ||
486 | </div> | ||
487 | <font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7c (SSC-32 + Bluetooth).<br> | ||
488 | </font></b></font><font face="Verdana, Helvetica, sans-serif" size="2">This | ||
489 | approach applies if you plan to control the robot | ||
490 | from the computer using a Bluetooth device (as is the case with | ||
491 | FlowBotics Studio). Attach the power cables as shown in Figure 7b. | ||
492 | Install the SSC-32 onto the body using four 1/4" x 4-40 hex screws. | ||
493 | Connect the serial to XBee breakout board's positive pin to pin C (+) | ||
494 | on the SSC-32 and the negative pin to pin D (-) on the SSC-32. Remove | ||
495 | the Baud jumper to set the Baud rate to 9600. You can install the power | ||
496 | switch(es) to the body in the holes at the rear of the robot. <b>DOUBLE | ||
497 | CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS</b> - the | ||
498 | red wire should go to (+) and the black wire to (-), if they are | ||
499 | reversed, the servos and the board will be damaged.</font><br> | ||
500 | <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32-bluetooth.jpg" border="0" hspace="10" ><br> | ||
501 | <br> | ||
502 | <font face="Verdana, Helvetica, sans-serif" size="2">Figure 7c. SSC-32 | ||
503 | - Bluetooth<br> | ||
504 | </font></p> | ||
505 | |||
506 | <font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7d (SSC-32U + Bluetooth).<br> | ||
507 | </font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"> This approach applies if you plan to control the robot | ||
508 | from the computer using a Bluetooth device (as is the case with | ||
509 | FlowBotics Studio). Attach the power cables as shown in Figure 7b. | ||
510 | Install the SSC-32 onto the body using four 1/4" x 4-40 hex screws. | ||
511 | Connect the serial to XBee breakout board's positive pin to pin C (+) | ||
512 | on the SSC-32 and the negative pin to pin D (-) on the SSC-32. The power | ||
513 | switch(es) should be connected to the body using the holes at the rear of the robot. <b>DOUBLE | ||
514 | CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS</b> - the | ||
515 | red wire should go to (+) and the black wire to (-), if they are | ||
516 | reversed, the servos and the board will be damaged.</font><br> | ||
517 | <div style="text-align: center;"><img style="width: 600px;" alt="SSC-32U + Bluetooth" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32u-bluetooth.jpg"><br> | ||
518 | <font face="Verdana, Helvetica, sans-serif" size="2">Figure 7d. SSC-32U - Bluetooth</font><br> | ||
519 | </div> | ||
520 | <font face="Verdana, Helvetica, sans-serif" size="2"> | ||
521 | </font> | ||
522 | <table border="0" cellpadding="0" cellspacing="0" > | ||
523 | |||
524 | <tbody> | ||
525 | |||
526 | <tr> | ||
527 | </tr> | ||
528 | <tr> | ||
529 | <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb"> | ||
530 | </font></td> | ||
531 | </tr> | ||
532 | <tr> | ||
533 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 8.<br> | ||
534 | </font></b><font size="2">Plug the servos into the SSC-32 as | ||
535 | shown in figure 9 with the yellow signal wire towards the inside of the | ||
536 | board. Simply plug in the servo associated with the function to the | ||
537 | corresponding pin (see step 9). Once again, be sure the black wire is | ||
538 | near the outside of the board and the yellow wire is near the center of | ||
539 | the board as shown in figure 8. Proper cable routing can be done later.</font></font></td> | ||
540 | <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-quadrapods/quadrapod-qbk-02/WebHome/base17.jpg"><br> | ||
541 | <font size="2">Figure 8.</font></font></td> | ||
542 | </tr> | ||
543 | <tr> | ||
544 | <td colspan="2" align="left" valign="top" > | ||
545 | <p align="left"><font face="Verdana, Helvetica, sans-serif" size="2"><b>Step 9.</b><br> | ||
546 | </font> <font face="Verdana, Helvetica, sans-serif" size="2">Double | ||
547 | check your connections against the figure below. Be sure that red wires | ||
548 | go to positive (+) and black wires go to negative (-). Also be sure | ||
549 | that your jumpers are connected the exact same way as detailed above. | ||
550 | Note that the VL=VS jumper on the SSC-32 is removed, as are the Tx and | ||
551 | Rx jumpers. Depending on the configuration and code, you may also need | ||
552 | to change the baud rate jumpers. The sample code for the BotBoarduino | ||
553 | uses 38.4 baud, whereas in order to use the Bluetooth module, the Baud rate | ||
554 | needs to be set to 9600. Note that the wiring from the SSC-32's Tx / Rx | ||
555 | pins to the BotBoarduino's pins are NOT in line - the red / center / | ||
556 | power pin needs to be removed and connected to pin 12 on the | ||
557 | BotBoarduino.<br> | ||
558 | </font><br> | ||
559 | </p> | ||
560 | <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/sq3-servo-setup.jpg" border="0" hspace="10" ><br> | ||
561 | <br> | ||
562 | <font face="Verdana, Helvetica, sans-serif" size="2">Figure 7c. | ||
563 | Servo wiring to SSC-32 / SSC-32U<br> | ||
564 | </font></p> | ||
565 | </td> | ||
566 | </tr> | ||
567 | <tr> | ||
568 | <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb"> | ||
569 | </font></td> | ||
570 | </tr> | ||
571 | <tr> | ||
572 | <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"> </font></td> | ||
573 | </tr> | ||
574 | <tr> | ||
575 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 10 (SSC-32 and/or BotBoarduino). | ||
576 | <br> | ||
577 | </font></b><font size="2">If you have a kit with an SSC-32 | ||
578 | and/or BotBoarduino, connect a fresh / charged 9v battery to the | ||
579 | battery | ||
580 | clip to power the electronics and turn the On/Off switch to On. You | ||
581 | should see the green LED in the upper right corner of the SSC-32 switch | ||
582 | on. There is also a power LED on the BotBoarduino. If you have an | ||
583 | SSC-32U alone, turn On the switch to power (and test) the board.</font></font> | ||
584 | |||
585 | <br> | ||
586 | <p><font face="Verdana, Helvetica, sans-serif" size="2"><b>If | ||
587 | these LEDs do not switch on, IMMEDIATELY power off your robot and | ||
588 | double check your connections.</b></font></p> | ||
589 | <p>Turn this switch off.<br> | ||
590 | </p> | ||
591 | |||
592 | </td> | ||
593 | </tr> | ||
594 | <tr> | ||
595 | <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"> </font></td> | ||
596 | </tr> | ||
597 | <tr> | ||
598 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 11a</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2"> (SSC-32 and/or BotBoarduino)</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">. <br> | ||
599 | </font></b><font size="2">Connect the 6V battery pack to the | ||
600 | battery harness to power the servos. Flip the switch to turn the servo | ||
601 | power on. <b><br> | ||
602 | <br> | ||
603 | The LEDs should NOT switch on this time (since the logic switch to the 9V battery is off). <br> | ||
604 | If they do turn ON, </b></font></font> | ||
605 | <font face="Verdana, Helvetica, sans-serif" size="2"><b> | ||
606 | immediately power off your robot and double check your connections.</b></font> | ||
607 | <p><font face="Verdana, Helvetica, sans-serif" size="2">Note, our | ||
608 | battery packs do NOT come charged. You will need to charge your battery | ||
35.1 | 609 | before proceeding to the next tutorial.<br> | |
34.1 | 610 | </font> </p> | |
611 | </td> | ||
612 | <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-quadrapods/quadrapod-qbk-02/WebHome/batteryc.jpg" border="2" hspace="10" ><br> | ||
613 | <font size="2">Figure 11.<br> | ||
614 | <br> | ||
615 | </font></font></td> | ||
616 | </tr> | ||
617 | |||
618 | <tr> | ||
619 | <td style="vertical-align: top;"><br> | ||
620 | </td> | ||
621 | <td style="vertical-align: top;"><br> | ||
622 | </td> | ||
623 | </tr> | ||
624 | <tr> | ||
625 | <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 11b</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2"> (SSC-32U)</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">. <br> | ||
626 | </font></b><font size="2">Connect the 6V battery pack to the | ||
627 | battery harness to power the servos. Flip the switch to turn the servo | ||
628 | power (the switch to the 9V battery should be OFF). <b><br> | ||
629 | <br> | ||
630 | The LEDs should NOT switch on (since the logic switch to the 9V battery is off). <br> | ||
631 | If they do turn ON, </b></font></font> | ||
632 | <font face="Verdana, Helvetica, sans-serif" size="2"><b> | ||
633 | immediately power off your robot and double check your connections.</b></font> | ||
634 | <font face="Verdana, Helvetica, sans-serif" size="2"><br> | ||
635 | <br> | ||
636 | If they did not turn on, now turn off the servo power and thrn on the | ||
637 | logic power (9V). The LEDs should turn on, and the servos should not | ||
638 | move.<br> | ||
639 | <br> | ||
640 | Note, our | ||
641 | battery packs do NOT come charged. You will need to charge your battery | ||
35.1 | 642 | before proceeding to the next tutorial. </font></td> | |
34.1 | 643 | <td style="vertical-align: top;"><br> | |
644 | </td> | ||
645 | </tr> | ||
646 | <tr> | ||
647 | <td style="vertical-align: top;"><br> | ||
648 | </td> | ||
649 | <td style="vertical-align: top;"><br> | ||
650 | </td> | ||
651 | </tr> | ||
652 | <tr> | ||
653 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 12 (BotBoarduino).<br> | ||
654 | </font></b><font size="2">If your kit includes a BotBoarduino, use | ||
655 | four 4-40 x 1/4" hex socket screws | ||
656 | to mount the BotBoarduino to the hex spacers in the orientation shown, | ||
657 | on top of the SSC-32. The figure does not show the wiring for clarity. | ||
658 | If you have the optional PS2 mounting plate, follow those guidelines | ||
659 | for assembly. Be sure to have the <br> | ||
660 | <br> | ||
661 | </font></font> | ||
662 | <table border="0" > | ||
663 | <tbody> | ||
664 | <tr> | ||
665 | <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td> | ||
666 | </tr> | ||
667 | <tr> | ||
668 | <td ><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-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td> | ||
669 | </tr> | ||
670 | </tbody> | ||
671 | </table> | ||
672 | </td> | ||
673 | <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-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-13.jpg" border="2" hspace="10" ><br> | ||
674 | <font size="2">Figure 12. Mount the BotBoarduino<br> | ||
675 | (wires removed for clarity)<br> | ||
676 | </font></font></td> | ||
677 | </tr> | ||
678 | <tr> | ||
679 | <td style="vertical-align: top;"><br> | ||
680 | </td> | ||
681 | <td style="vertical-align: top;"><br> | ||
682 | </td> | ||
683 | </tr> | ||
684 | <tr> | ||
685 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 13a (SSC-32).<br> | ||
686 | </font></b><font size="2">It is likely that when you assembled | ||
687 | the legs, the positions were not exactly at 90 degrees (though be sure to get them as close as you can). You have two | ||
688 | options to fine tune the angle of each of the servos, the first of which is to use | ||
35.1 | 689 | the old <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">Lynxterm software</a>. | |
34.1 | 690 | Download and install Lynxterm. Lynxterm needs a physical connection to | |
691 | the computer and as such cannot use the Bluetooth module. If your | ||
692 | computer does not have a serial port, you will need a serial to USB | ||
693 | adapter.<br> | ||
694 | <br> | ||
695 | Disconnect the SSC-32 from the BotBoarduino and reinstall | ||
696 | the Tx / Rx jumpers, as well as both Baud jumpers (so the baud rate is | ||
697 | at 115200). | ||
698 | Power the SSC-32 (both VL and VS), open Lynxterm, select the correct | ||
699 | COM port and click "All=1500". The servos should all move to 90 | ||
700 | degrees. Next, click "Reg." and in the new window, click "Read". | ||
701 | Position each servo to exactly 90 degrees by using either the slider or | ||
702 | by typing in the offset (changing the Channel at the right of the | ||
703 | window for each servo used). Once this is done, click "Write", which | ||
704 | then | ||
705 | modified the firmware on the SSC-32. <br> | ||
706 | <br> | ||
707 | </font></font> </td> | ||
708 | <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-quadrapods/quadrapod-qbk-02/WebHome/lynxterm.jpg" border="2" hspace="10" ><br> | ||
709 | <font size="2">Figure 13a. Lynxterm <br> | ||
710 | </font></font></td> | ||
711 | </tr> | ||
712 | |||
713 | |||
714 | <tr> | ||
715 | <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2"></font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2"><br> | ||
716 | </font></font></td> | ||
717 | <td style="vertical-align: top;"><br> | ||
718 | </td> | ||
719 | </tr> | ||
720 | <tr> | ||
721 | <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 13c (SSC-32U).<br> | ||
35.1 | 722 | </font></b><font size="2">If you have the SSC-32U alone, you can calibrate / fine tune each joint using the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/ssc-32-sequencer/" target="_blank">SSC-32 Servo Sequencer Utility</a> | |
34.1 | 723 | (download and install). Note that fora quadruped to walk properly, the | |
724 | legs must be close to perfectly tuned. Connect the SSC-32U to the | ||
725 | computer via USB (if you have the Bluetooth module installed, you can | ||
726 | connect via Bluetooth; the green light on the Bluetooth will become | ||
727 | solid once a | ||
728 | connection has been established). By default, only four servos are | ||
729 | active within the utility software. Check off all servos marked in | ||
730 | figure 7c within the software in order to activate them.<br> | ||
731 | <br> | ||
732 | Click the "configure" button towards the bottom right of the window and | ||
733 | a | ||
734 | knob will appear next to each servo. To | ||
735 | position each of the servos to exactly 90 degrees, click the knob and | ||
736 | drag it up and down to offset that servo's position. Do this for each | ||
737 | servo until their position is exactly at 90 degrees. Once all servos | ||
738 | have been adjusted to correct any small mechanical offset, press | ||
739 | "calibrate" | ||
740 | once again and the ofsets will be saved to the board.<br> | ||
741 | <br> | ||
742 | </font></font><font face="Verdana, Helvetica, sans-serif"><font size="2">The servo | ||
743 | calibration can also be done via FlowBotics Studio, though the | ||
744 | calibration is saved on the specific computer as opposed to the SSC-32U.</font></font><br> | ||
745 | </td> | ||
746 | <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/RB-Dsp-07.jpg" border="1"><br> | ||
747 | <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 14 (SSC-32 Utility).</font></font><br></td> | ||
748 | </tr> | ||
749 | <tr> | ||
750 | <td style="vertical-align: top;"><br> | ||
751 | </td> | ||
752 | <td style="vertical-align: top;"><br> | ||
753 | </td> | ||
754 | </tr> | ||
755 | <tr> | ||
756 | <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 14.<br> | ||
757 | </font></b><font size="2">The robot should now be wired | ||
758 | and calibrated correctly, but with wires going everywhere. It is now a matter of | ||
759 | cleanly routing the cables. You can unplug and re-plug the wires as needed, | ||
760 | especially for the servos, and well as run them through the body and | ||
761 | brackets. Be certain to reconnect the correctly and leave enough length so each joint in the legs | ||
762 | are able to move freely and reach all positions and do not get pinched | ||
763 | by the brackets or servos. Use the cable ties provided in the kit to | ||
764 | connect the wires together. Alternatively, black electrical tape or | ||
765 | wire wrap also look nice. <br> | ||
766 | <br> | ||
767 | Ensure the main 6V battery is perfectly centered inside the body to ensure the | ||
768 | robot walks properly.<br> | ||
769 | <br> | ||
770 | </font></font> | ||
771 | </td> | ||
772 | <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-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-finished.jpg" border="2" hspace="10" ><br> | ||
773 | <font size="2">Figure 14 (Optional PS2 receiver and PS2 mounting plate)</font></font></td> | ||
774 | </tr><tr> | ||
775 | <td style="vertical-align: top;"><br> | ||
776 | </td> | ||
777 | <td style="vertical-align: top;"><br> | ||
778 | </td> | ||
779 | </tr> | ||
780 | <tr> | ||
781 | <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 15.<br> | ||
782 | </font></b><font size="2"><br> | ||
783 | If you purchase a kit which uses the BotBoarduino, sample code (based on PS2 control) can be found <a href="https://github.com/Lynxmotion/Quadrupeds" target="_blank">here</a>.<br> | ||
784 | If you have difficulties installing the library or code, please refer to www.arduino.cc for additional information.<br> | ||
785 | <br> | ||
786 | If you purchased a kit which uses FlowBotics Studio, you can install and run FlowBotics Studio and open the quadruped project.<br> | ||
787 | </font></font></td> | ||
788 | <td style="vertical-align: top;"><br> | ||
789 | </td> | ||
790 | </tr> | ||
791 | |||
792 | </tbody> | ||
793 | </table> | ||
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