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1		-(% style="width:710px" %)
2		-|(% colspan="3" %)The following steps are described for the Dimension Engineering Sabertooth 2x12A DC motor controller. Note that the DIP switch setup for other Sabertooth motor controllers may not be the same and as such it is your responsibility to read the user guide and understand the electronic setup, connections and power requirements for the electronics you purchased.
3		-|(% colspan="3" %)**1. Set the Sabertooth DIP Switches**
4		-|(% style="text-align:center; width:250px" %)Sabertooth 2 x 12A Standard|(% style="width:35px" %) |**Typical Setup**
5		-|(% colspan="1" rowspan="6" style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:left; vertical-align:middle" %)OFF (Enable RC Mode)
6		-|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:left; vertical-align:middle" %)ON (Enable RC Mode)
7		-|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:left; vertical-align:middle" %)OFF (Lithium Battery Mode)
8		-|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:left; vertical-align:middle" %)ON (Enable Mixing Mode)
9		-|(% style="text-align:center; vertical-align:middle" %)5|(% style="text-align:left; vertical-align:middle" %)ON (Disable Exponential)
10		-|(% style="text-align:center; vertical-align:middle" %)6|(% style="text-align:left; vertical-align:middle" %)OFF (Disable Timeout)
11		-|(% colspan="3" rowspan="1" %)(((
12		-More Info:
	1	+= Connecting via USB =
13	13
14		-* [[Sabertooth 2x12 - Dip Switch Wizard>>https://www.dimensionengineering.com/datasheets/SabertoothDIPWizard/start.htm]]
15		-* [[Sabertooth 2x12 - User Guide>>https://www.dimensionengineering.com/datasheets/Sabertooth2x12.pdf]]
16		-)))
17		-|(% colspan="3" %)**2. Lift the rover on something to avoid the wheels / tracks to touch the ground. Connecting the batterie will likely have it spin.**
18		-|(% colspan="3" %)**3. Connect the main battery**
19		-|(% colspan="3" %)**4. Calibration**
20		-|(% colspan="2" %)(((
21		-(% style="text-align:center" %)
22		-[[image:[email protected]]]
23		-)))|(((
24		-The throttle stick may need to be zeroed, or the mixing modified so the rover moves in a straight line rather than a gentle arc. To understand the changes needed and how to proceed, please refer to the user manual of your remote control.
	3	+1. Connect the USB cable to the LSS Adapter board on your robot
	4	+1. Plug the USB connector into the PC
	5	+1. Connect your LSS to the LSS-Adapter with the Lynxmotion cable
	6	+1. Connect the power to the LSS Adapter via the yellow XT60 plug
	7	+1. Power on the robot (On/Off switch)
	8	+1. Start the LSS FlowArm software
	9	+1. Select the type of LSS Arm you are using (3 DoF / 4 DoF / 5 DoF)
	10	+1. It will automatically try to find the connected Arm but, if not, you can manually choose the appropriate COM port from the drop-down list & the baud rate (default is 115200)
	11	+1. The software sends a query to servo ID1 and once a reply is received, it determines connection has been established and a green light will be displayed aside the COM port.
25	25
26		-* Up/Down: Forward and Backward motion
27		-* Left/Right: Turn Left and Right
28		-)))
	13	+= Calibration =
	14	+
	15	+1. Go in "TEACH" mode with the button on the top bar.
	16	+1. Manually place the arm in the correct position for your model and with the gripper closed. (see images bellow)
	17	+1. Store the values or Offsets by clicking "STORE OFFSETS"
	18	+1. At that point the arm should "stay" in that position once released
	19	+1. Exit the "TEACH" mode by clicking it again
	20	+
	21	+= Calibration Positions =
	22	+
	23	+|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**4 DoF**|(% colspan="2" rowspan="1" style="text-align:center; vertical-align:middle" %)**3 DoF **
	24	+|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||width="200"]]|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="lss-flowarm-left-3dof.png" width="200"]]