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Eric Nantel 26.1 2 <body><table border="0" cellpadding="0" cellspacing="0" >
3 <tbody><tr>
4 <td valign="top" align="left"><strong><font face="Verdana" size="2">The Complete Hexapod 2 Tutorial. Updated 01/26/2007</font></strong>
5 <p><font size="2"><strong><font face="Verdana">Hardware:<br>
6 </font></strong><font face="Verdana">&nbsp; - SSC-32<br>
7 &nbsp; - Bot Board / BASIC Atom 28<br>
8 &nbsp; - PS2 Cable / PS2 Wireless Controller (Not included)<br>
9 &nbsp; - Extreme Hexapod 2<br>
10 &nbsp; - L5 / L6 Arm (Optional)<br>
11 &nbsp; - Sharp GP2D12 Sensor (Optional, see text)</font></font></p>
12 <p><font face="Verdana" size="2"><b>Software:<br>
Eric Nantel 30.1 13 </b>&nbsp; - LynxTerm (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">download</a>)<br>
14 &nbsp; - Basic Micro Atom IDE ver 2.2.1.1<br>
Eric Nantel 26.1 15 </font><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;&nbsp;&nbsp; - Note, if your Basic Atom chip has a "Rev-D" label on
16 the bottom, you <i>must</i> use IDE v5.3.1.3.</font><font face="Verdana" size="2"><br>
17 &nbsp; - Hexapod Programs<br>
18 &nbsp;&nbsp; &gt; <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog1.zip" target="_blank">h2prog1.zip</a> RC.<br>
19 &nbsp;&nbsp; &gt; <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog2.zip" target="_blank">h2prog2.zip</a> RC.<br>
20 &nbsp;&nbsp; &gt; <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog3.zip" target="_blank">h2prog3.zip</a> RC.<br>
21 &nbsp;&nbsp; &gt; <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog4.zip" target="_blank">h2prog4.zip</a> RC.<br>
22 &nbsp;&nbsp; &gt; <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2l56p5.zip" target="_blank">h2l56p5.zip</a> RC.<br>
23 &nbsp;&nbsp; &gt; <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog6.zip" target="_blank">h2prog6.zip</a> RC.<br>
24 &nbsp;&nbsp; &gt; <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog7.zip" target="_blank">h2prog7.zip</a> Autonomous!</font></p>
25 <font size="2"><b><font face="Verdana">Resources:<br>
26 </font></b><font face="Verdana">&nbsp; - Wiring Schematic (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/wd001.gif" target="_blank">wd001.gif</a>)<br>
27 &nbsp; - Wiring Schematic (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2l56wd.gif" target="_blank">h2l56wd.gif</a>)</font></font>
28 <p><font size="2"><b><font face="Verdana">Goal:<br>
29 </font></b><font face="Verdana">&nbsp; - Install, program, and test the electronics to operate a Hexapod 2 with optional L5/L6 arm from a
30 Lynxmotion, MadCatz, Pelican, or Hiteck wireless controller.</font></font></p>
31 </td>
Eric Nantel 39.1 32 <td align="center" valign="top" width="320"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/eh200s.jpg" border="2" hspace="10" width="320" height="240"><br>
Eric Nantel 26.1 33 <font size="2" face="Verdana"><strong>Image of Hexapod 2.<br>
34 <br>
35 </strong></font></td>
36 </tr>
37 <tr>
38 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
39 </tr>
40 <tr>
41 <td valign="top" align="center" colspan="2">
Eric Nantel 39.1 42 <hr width="95%" noshade="" color="#808080">
Eric Nantel 26.1 43 </td>
44 </tr>
45 <tr>
46 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
47 </tr>
48 <tr>
49 <td valign="top" align="left"><strong><font face="Verdana" size="2">Step 1.<br>
50 </font></strong><font face="Verdana" size="2">Install the Bot Board and SSC-32 onto the top of the robot as shown.</font></td>
Eric Nantel 39.1 51 <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/eh209s.jpg" border="2" hspace="10" width="320" height="240"><br>
Eric Nantel 26.1 52 <font size="2" face="Verdana">Figure 1.</font></td>
53 </tr>
54 <tr>
55 <td valign="top" align="left" colspan="2"><br class="pb">
56 </td>
57 </tr>
58 <tr>
59 <td valign="top" align="left"><strong><font face="Verdana" size="2">Step 2.<br>
60 </font></strong><font face="Verdana" size="2">Connect power wires for the servos as illustrated. Click on Figure 2 for a larger, printable
61 version. Install VS1 = VS2, VL = VS1, TX and RX, and both Baud jumpers for these tests. This will set the Baud rate to 115.2k and allow DB9
62 communications. Consult the SSC-32 user manual for more detailed information.</font></td>
Eric Nantel 39.1 63 <td align="center" valign="top" ><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/wd001.gif" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/wd001.jpg" border="2" hspace="10" width="320" height="240"></a><br>
Eric Nantel 26.1 64 <font size="2" face="Verdana">Figure 2.</font></td>
65 </tr>
66 <tr>
67 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
68 </tr>
69 <tr>
70 <td valign="top" align="left"><strong><font size="2"><font face="Verdana">Step 3.<br>
71 </font></font></strong><font face="Verdana" size="2">Connect the servos to their appropriate I/O channels. See Table 1 and consult the SSC-32
72 users manual. Double check your work. The header pins are close and numerous.<br>
73 &nbsp;</font>
74 <div align="center">
75 <center>
Eric Nantel 39.1 76 <table border="1" bordercolor="#FFFFFF" width="320">
Eric Nantel 26.1 77 <tbody><tr>
78 <td >
79 <div align="center">
80 <center>
81 </center><center>
Eric Nantel 39.1 82 </center><table border="1" bordercolor="#000000" width="320">
Eric Nantel 26.1 83 <tbody><tr>
Eric Nantel 39.1 84 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>SSC-32 I/O</b></font></td>
85 <td width="75%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Servo</b></font></td>
Eric Nantel 26.1 86 </tr>
87 <tr>
Eric Nantel 39.1 88 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">00</font></td>
89 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Vertical</font></td>
Eric Nantel 26.1 90
91 </tr>
92 <tr>
Eric Nantel 39.1 93 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">01</font></td>
94 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Horizontal</font></td>
Eric Nantel 26.1 95 </tr>
96 <tr>
Eric Nantel 39.1 97 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">02</font></td>
98 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Middle Vertical</font></td>
Eric Nantel 26.1 99 </tr>
100 <tr>
Eric Nantel 39.1 101 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">03</font></td>
102 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Middle Horizontal</font></td>
Eric Nantel 26.1 103 </tr>
104 <tr>
Eric Nantel 39.1 105 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">04</font></td>
106 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Vertical</font></td>
Eric Nantel 26.1 107 </tr>
108 <tr>
Eric Nantel 39.1 109 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">05</font></td>
110 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Horizontal</font></td>
Eric Nantel 26.1 111 </tr>
112 <tr>
Eric Nantel 39.1 113 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">16</font></td>
114 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Vertical</font></td>
Eric Nantel 26.1 115 </tr>
116 <tr>
Eric Nantel 39.1 117 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">17</font></td>
118 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Horizontal</font></td>
Eric Nantel 26.1 119
120 </tr>
121 <tr>
Eric Nantel 39.1 122 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">18</font></td>
123 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Vertical</font></td>
Eric Nantel 26.1 124 </tr>
125 <tr>
Eric Nantel 39.1 126 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">19</font></td>
127 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Horizontal</font></td>
Eric Nantel 26.1 128 </tr>
129 <tr>
Eric Nantel 39.1 130 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">20</font></td>
131 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Vertical</font></td>
Eric Nantel 26.1 132 </tr>
133 <tr>
Eric Nantel 39.1 134 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">21</font></td>
135 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Horizontal</font></td>
Eric Nantel 26.1 136 </tr>
137 </tbody></table>
138 </div>
139 </td>
140 </tr>
141 <tr>
142 <td bordercolor="#FFFFFF">
143 <p align="center"><font face="Verdana" size="2">Table 3.</font></p></td>
144 </tr>
145 </tbody></table>
146 </center></div>
147 </td>
Eric Nantel 39.1 148 <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/eh213s.jpg" border="2" hspace="10" width="320" height="240"><br>
Eric Nantel 26.1 149 <font size="2" face="Verdana">Figure 3.</font></td>
150 </tr>
151 <tr>
152 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font><font face="verdana " size="2">&nbsp;</font></td>
153 </tr>
154 <tr>
155 <td valign="top" align="left"><strong><font face="Verdana" size="2">Step 4a.<br>
156 </font></strong><font face="Verdana" size="2">Connect the serial data cable to the PC's serial port. This can be recognized by having 9 pins
157 that stick out.</font>
158 <p><font size="2"><b><font face="Verdana">Step 4b.&nbsp;<br>
159 </font></b><font face="Verdana">Connect the other end of the serial data cable to the SSC-32's DB9 port. Turn on the power.</font></font></p>
160 <p><font face="Verdana" size="2">Note, you can also use an IOGear USB-to-Serial adaptor.</font></p></td>
Eric Nantel 39.1 161 <td align="center" valign="top" ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/comp.jpg" border="2" hspace="10" width="320" height="240"><br>
Eric Nantel 26.1 162 <font size="2" face="Verdana">Figure 4.</font></td>
163 </tr>
164 <tr>
165 <td valign="top" align="left" colspan="2"><br class="pb">
166 </td>
167 </tr>
168 <tr>
169 <td valign="top" align="left"><b><font face="Verdana" size="2">Step 5.<br>
170 </font></b><font face="Verdana" size="2">Install and run the LynxTerm on your PC. This program uses your computer's serial port to
171 "talk" to the SSC-32. We will use it to quickly test your hexapod robot. This tool can also be extremely useful if you want to write a
172 program for your favorite microcontroller to talk to the SSC-32 directly.</font>
173 <p><font face="Verdana" size="2">Choose the COM Port for your computer from the drop down menu in the upper left corner.</font></p>
174 <p><font face="Verdana" size="2">Note, if you notice the text going below the bottom of the box, it may be necessary to change the font settings
175 and / or change the number of rows on screen under the Terminal Setup.</font></p>
176 <p><font face="Verdana" size="2">Click in the black text box and type "ver". If everything is working correctly, you should receive a
177 response such as "SSC32-1.03XE".</font></p>
178 </td>
179 <td align="left" valign="top" >
Eric Nantel 39.1 180 <p align="center"><a href="https://www.lynxmotion.com/images/assembly/eh2v4/lterm01.jpg" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/lterm01s.jpg" border="2" hspace="10" width="264" height="240"></a><br>
Eric Nantel 26.1 181 <font size="2" face="Verdana">Figure 5.</font></p></td>
182 </tr>
183 <tr>
184 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
185 </tr>
186 <tr>
187 <td valign="top" align="left"><strong><font face="Verdana" size="2">Step 6.<br>
188 </font></strong><font face="Verdana" size="2">Click on the Sequencer button in the lower left corner. Click "All = 1500" and notice
189 the hexapod legs hold position. If the robot was constructed properly, the legs will be horizontal and perpendicular to the body. Now would be a
190 good time to double check the H2 mechanical leg alignment.</font>
191 <p><font face="Verdana" size="2">If your robot does not have mechanical alignment, then use the Offset tool under Servo Quick Test. Select the
192 servo on the Hexapod diagram and adjust the offset slider to fine-tune the leg alignment. Do this for all twelve servos. When completed, click
193 on Config to display the configuration data. Ignore the first four lines, as they do not pertain to the offset command. The lines starting with
194 "#0PO" can be cut and pasted into the serout command in the programs included with this tutorial. Do a search for "Servo
195 Offset" in the supplied programs and follow the instructions.</font></p>
196 </td>
197 <td valign="top" >
Eric Nantel 39.1 198 <p align="center"><a href="https://www.lynxmotion.com/images/assembly/eh2v4/lterm02.jpg" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/lterm02s.jpg" border="2" hspace="10" width="284" height="240"></a><br>
Eric Nantel 26.1 199 <font size="2" face="Verdana">Figure 6.</font></p></td>
200 </tr>
201 <tr>
202 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
203 </tr>
204 <tr>
205 <td valign="top" ><strong><font face="Verdana" size="2">Step 7.<br>
206 </font></strong><font face="Verdana" size="2">The values for the L* and R* textboxes will control the positions the legs are moved to in the
207 sequence. You can fine-tune these values to your mechanical leg arrangement with the same Servo Quick Test. Just adjust the position slider
208 instead of the offset slider.<br>
209 &nbsp;</font>
210 <div align="center">
211 <center>
212 <table border="0">
213 <tbody><tr>
214 <td >
215 <div align="center">
Eric Nantel 39.1 216 <table border="1" bordercolor="#000000" width="360">
Eric Nantel 26.1 217 <tbody><tr>
Eric Nantel 28.1 218 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font face="Verdana" size="2">Tripod Leg
Eric Nantel 26.1 219 Movement Sequence</font></td>
220 </tr>
221 <tr>
Eric Nantel 39.1 222 <td width="10%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">LF</font></td>
223 <td width="22%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Horiz</font></td>
224 <td width="10%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">RF</font></td>
225 <td width="22%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Horiz</font></td>
Eric Nantel 26.1 226 </tr>
227 <tr>
Eric Nantel 39.1 228 <td width="10%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">LH</font></td>
229 <td width="22%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left High Vertical</font></td>
230 <td width="10%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">RH</font></td>
231 <td width="22%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right High Vertical</font></td>
Eric Nantel 26.1 232 </tr>
233 <tr>
Eric Nantel 39.1 234 <td width="10%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">LM</font></td>
235 <td width="22%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Vertical</font></td>
236 <td width="10%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">RM</font></td>
237 <td width="22%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Mid Vertical</font></td>
Eric Nantel 26.1 238 </tr>
239 <tr>
Eric Nantel 39.1 240 <td width="10%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">LL</font></td>
241 <td width="22%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Low Vertical</font></td>
242 <td width="10%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">RL</font></td>
243 <td width="22%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Low Vertical</font></td>
Eric Nantel 26.1 244 </tr>
245 <tr>
Eric Nantel 39.1 246 <td width="10%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">LR</font></td>
247 <td width="22%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Horiz</font></td>
248 <td width="10%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">RR</font></td>
249 <td width="22%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Horiz</font></td>
Eric Nantel 26.1 250 </tr>
251 </tbody></table>
252 </div>
253 </td>
254 </tr>
255 <tr>
256 <td >
257 <p align="center"><font face="Verdana" size="2">Table 7-1</font></p>
258 </td>
259 </tr>
260 </tbody></table>
261 </center>
262 </div>
263 </td>
Eric Nantel 39.1 264 <td align="center" valign="top" ><a href="https://www.lynxmotion.com/images/assembly/eh2v4/lterm04.jpg" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/lterm04s.jpg" border="2" hspace="10" width="284" height="240"></a><br>
Eric Nantel 26.1 265 <font size="2" face="Verdana">Figure 7.</font></td>
266 </tr>
267 <tr>
268 <td valign="top" align="left" colspan="2"><br class="pb">
269 </td>
270 </tr>
271 <tr>
272 <td valign="top" align="left"><strong><font face="Verdana" size="2">Step 8.</font></strong><font face="Verdana" size="2"><br>
273 Now to make the robot walk forward. Adjust the XL and XR sliders to 100%. Note that HT=1500uS (1.5 seconds). Set the XS slider to ~50% and
274 notice that the stride takes 3 seconds. Adjust the HT slider to 1000 and notice that the stride now takes 2 seconds.</font>
275 <p><font face="Verdana" size="2">You have complete control over all aspects of the tripod gait. Adjust either XL or XR lower to do gradual
276 turns. Setting XL and XR to opposite directions will cause the robot to turn in place. Reverse values of XL and XR will cause the robot to walk
277 backwards. Moving a slider is the same as typing from the terminal or sending the command from a microcontroller. For example, moving XS to 50%
278 is the same as sending "XS50". Once the commands are sent, the robot will continue to walk until it receives XS = 0. If you are using
279 a host microcontroller to send commands, it will be free to do any timing-intensive tasks without worrying about any of the walking process.</font></p>
280 </td>
281 <td valign="top" >
Eric Nantel 39.1 282 <p align="center"><a href="https://www.lynxmotion.com/images/assembly/eh2v4/lterm03.jpg" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/lterm03s.jpg" border="2" hspace="10" width="284" height="240"></a><br>
Eric Nantel 26.1 283 <font size="2" face="Verdana">Figure 8.</font></p></td>
284 </tr>
285 <tr>
286 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
287 </tr>
288 <tr>
289 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 9.</strong><br>
290 For the do-it-yourselfers, the program to the right will set up and initiate walking on the robot. It will be necessary to remove the TX and RX
291 jumpers, install the data cable to the Bot Board, and configure the Baud rate jumpers for 38.4k. Refer to the schematic in Figure 12. To change
292 speed and direction just alter the XL, XR, XS values. The robot will immediately begin walking in the speed and direction commanded. We have
293 several fully functional programs to choose from below.</font></td>
294 <td valign="top" >
295 <div align="center">
296 <center>
Eric Nantel 39.1 297 <table border="1" bordercolor="#FFFFFF" width="320">
Eric Nantel 26.1 298 <tbody><tr>
Eric Nantel 28.1 299 <td bordercolor="#000000"><font face="Courier New" size="2">XL var sbyte<br>
Eric Nantel 26.1 300 XR var sbyte<br>
301 XS var byte<br>
302 <br>
303 XL = 100<br>
304 XR = 100<br>
305 XS = 100<br>
306 <br>
307 start:<br>
308 serout&nbsp;p15,i38400,["LF1700&nbsp;RF1300&nbsp;LR1300",13]<br>
309 serout&nbsp;p15,i38400,["RR1700&nbsp;LH1000&nbsp;LM1700",13]<br>
310 serout&nbsp;p15,i38400,["LL1800&nbsp;RH2000&nbsp;RM1300",13]<br>
311 serout&nbsp;p15,i38400,["RL1200&nbsp;VS3000&nbsp;HT1500",13]<br>
312 serout&nbsp;p15,i38400,["XL",SDEC&nbsp;XL,"XR",SDEC&nbsp;XR,13]<br>
313 serout&nbsp;p15,i38400,["XS",DEC&nbsp;XS,13]<br>
314 loop:<br>
315 goto loop</font></td>
316 </tr>
317 <tr>
318 <td bordercolor="#FFFFFF">
319 <p align="center"><font face="Verdana" size="2">Table 9.</font></p></td>
320 </tr>
321 </tbody></table>
322 </center>
323 </div>
324 </td>
325 </tr>
326 <tr>
327 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
328 </tr>
329 <tr>
330 <td valign="top" ><strong><font face="Verdana" size="2">Step 10.<br>
331 </font></strong><font face="Verdana" size="2">The following steps refer to several programs that offer complete control of all aspects of the
332 hexapod gait sequence through a wireless PS2 controller. Install and run the BASIC Atom IDE to allow programming the chip.<br>
333 &nbsp;</font>
334 <div align="center">
335 <center>
336 <table border="0">
337 <tbody><tr>
338 <td >
339 <div align="center">
Eric Nantel 39.1 340 <table border="1" bordercolor="#000000" width="360">
Eric Nantel 26.1 341 <tbody><tr>
Eric Nantel 39.1 342 <td width="30%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Filename</font></td>
343 <td width="70%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Program description</font></td>
Eric Nantel 26.1 344 </tr>
345 <tr>
Eric Nantel 39.1 346 <td width="30%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog1.zip" target="_blank"><font face="Verdana" size="2">h2prog1.zip</font></a></td>
347 <td width="70%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Differential tank-steer mode.</font></td>
Eric Nantel 26.1 348 </tr>
349 <tr>
Eric Nantel 39.1 350 <td width="30%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog2.zip" target="_blank"><font face="Verdana" size="2">h2prog2.zip</font></a></td>
351 <td width="70%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Above, and single joystick
Eric Nantel 26.1 352 mode.</font></td>
353 </tr>
354 <tr>
Eric Nantel 39.1 355 <td width="30%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog3.zip" target="_blank"><font face="Verdana" size="2">h2prog3.zip</font></a></td>
356 <td width="70%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Above, and leg high-position
Eric Nantel 26.1 357 adjustable.</font></td>
358 </tr>
359 <tr>
Eric Nantel 39.1 360 <td width="30%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog4.zip" target="_blank"><font face="Verdana" size="2">h2prog4.zip</font></a></td>
361 <td width="70%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Above,&nbsp; leg low-pos.
Eric Nantel 26.1 362 adjustable, and obstacle detection.</font></td>
363 </tr>
364 <tr>
Eric Nantel 39.1 365 <td width="30%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2l56p5.zip" target="_blank"><font face="Verdana" size="2">h2l56p5.zip</font></a></td>
366 <td width="70%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Above, and L5/L6 arm control.</font></td>
Eric Nantel 26.1 367 </tr>
368 <tr>
Eric Nantel 39.1 369 <td width="30%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog6.zip" target="_blank">h2prog6.zip</a></font></td>
370 <td width="70%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Same as h2prog4, except only
Eric Nantel 26.1 371 single joystick mode and pan-and-tilt on left joystick.</font></td>
372 </tr>
373 </tbody></table>
374 </div>
375 </td>
376 </tr>
377 <tr>
378 <td >
379 <p align="center"><font face="Verdana" size="2">Table 10-1</font></p>
380 </td>
381 </tr>
382 </tbody></table>
383 </center>
384 </div>
385 </td>
Eric Nantel 39.1 386 <td align="center" valign="top" ><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/eh2l56s.jpg" border="2" hspace="10" width="320" height="240"></a><br>
Eric Nantel 26.1 387 <font size="2" face="Verdana">Figure 10.</font></td>
388 </tr>
389 <tr>
390 <td valign="top" align="left" colspan="2"><br class="pb">
391 </td>
392 </tr>
393 <tr>
394 <td valign="top" align="left"><b><font face="Verdana" size="2">Step 11.<br>
395 </font></b><font face="Verdana" size="2">Wire your robot as illustrated in the wiring diagram to the right. Click on Figure 11 for a larger,
396 printable version. The Sharp GP2D12 is not required, but offers crash protection if installed. You can use 7.2vdc battery for the best
397 performance, however, if you're installing an L5 or L6 arm 6.0vdc is recommended. This is due to the micro servo on the gripper. For increased
398 runtime, you can power the logic of the Bot Board and SSC-32 from a 9v battery. Just remember to remove the VS=VL jumpers on both boards. Don't
399 forget to install the speaker enable jumper. This will provide audible feedback when using the controller with the provided programs. Install
400 the PS2 receiver module and put fresh batteries in your controller.</font>
401 <p><font face="Verdana" size="2">When you run the program, you should hear some beeps that will continue until the game controller is
402 recognized. Press the Analog button and the legs should hold position.</font></p>
403 </td>
404 <td valign="top" >
Eric Nantel 39.1 405 <p align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2l56wd.gif" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2l56wd.jpg" border="2" hspace="10" width="320" height="240"></a><br>
Eric Nantel 26.1 406 <font size="2" face="Verdana">Figure 11.</font></p></td>
407 </tr>
408 <tr>
409 <td valign="top" align="left" colspan="2"><font face="verdana " size="2">&nbsp;</font></td>
410 </tr>
411 <tr>
412 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 12.</font></b><br>
413 <font size="2">Install the Playstation 2 cable as illustrated in Figure 12-1 and 12-2.</font></font>
Eric Nantel 39.1 414 <p align="center"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/wire07s.gif" width="320" height="160"><br>
Eric Nantel 26.1 415 <font size="2" face="Verdana">Figure 12-1</font></p>
416 </td>
417 <td align="center" valign="top" >
418 <div align="center">
419 <center>
420 <table border="0">
421 <tbody><tr>
Eric Nantel 39.1 422 <td ><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/ps2abb02.jpg" width="320" height="240"></td>
Eric Nantel 26.1 423 </tr>
424 <tr>
425 <td >
426 <p align="center"><font size="2" face="Verdana">Figure 12-2</font></p>
427 </td>
428 </tr>
429 </tbody></table>
430 </center>
431 </div>
432 </td>
433 </tr>
434 <tr>
435 <td valign="top" align="left" colspan="2"><br class="pb">
436 </td>
437 </tr>
438 <tr>
439 <td valign="top" align="left"><b><font face="Verdana" size="2">Step 13.</font></b><font face="Verdana" size="2"><br>
440 Controlling the motion of the hexapod is handled in two ways. Make sure the controller is in Analog mode. Mode 1 (default) uses a differential
441 or tank mode, where the right joystick controls the right legs, and the left joystick controls the left legs. Mode 2 allows control of the
442 direction of walking with the right joystick, while Left and Right on the D-Pad adjusts speed. Pressing R3 swaps between control modes.
443 Initially, in either mode the joystick positions will allow a max of 100% XS speed. Pressing D-Pad Left lowers the max in 5% increments, and
444 D-Pad Right increases the max in 5% increments up to 200%</font>
445 <p><font face="Verdana" size="2">Both modes offer additional control of leg trajectory for the alternating tripod gait. This refers to the
446 vertical and horizontal motion that the foot goes through during the walking gait. Pressing <u>/\</u>, O (default), X, or [] changes how the
447 foot is lifted in relation to the stride motion. Control the max vertical height with the R1/R2 buttons. Control the max low position (H2 body
448 ride height) with the L1/L2 buttons. This can also be done with the D-Pad Up and Down buttons with a faster response.</font></p>
449 <p><font face="Verdana" size="2">If the robot is driven toward an obstacle, after a threshold is reached the forward joystick position is
450 ignored. However, you can still reverse direction. The controller will also vibrate proportionally in relation to the distance from the
451 obstacle. The Sharp sensor can be enabled or disabled with the Start button.</font></p>
452 </td>
453 <td valign="top" >
Eric Nantel 39.1 454 <p align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/legtraj.gif" target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/legtraj.jpg" border="2" hspace="10" width="320" height="240"></a><br>
Eric Nantel 26.1 455 <font size="2" face="Verdana">Figure 13.</font></p></td>
456 </tr>
457 <tr>
458 <td valign="top" align="left" colspan="2"><br class="pb">
459 </td>
460 </tr>
461 <tr>
462 <td valign="top" align="left"><b><font face="Verdana" size="2">Step 14.</font></b><font face="Verdana" size="2"><br>
463 The Select button switches between Hexapod and Arm control.</font>
464 <p><font face="Verdana" size="2">- Move X and Y (Up/Down, To/Away) with the Left joystick.<br>
465 - Move Z (Base Rotate) and Wrist Angle with Right joystick.<br>
466 - Close/Open gripper with L1/L2 buttons.<br>
467 - Turn Wrist (L6 only) Right/Left with the R1/R2 buttons.<br>
Eric Nantel 30.1 468 <font color="#808080">&nbsp;&nbsp;&nbsp;&nbsp; &gt; Arm moving <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/eh2l600.mpg">video</a>.</font><br>
Eric Nantel 26.1 469 - Invert the X axis with the L3 (left joystick push button).<br>
470 - Initialize Arm position with the X button.<br>
471 - Disable/Enable Arm servos with the <u>/\</u> button.</font></p>
472 </td>
473 <td valign="top" >
Eric Nantel 39.1 474 <p align="center"><font face="Verdana" size="2">&nbsp;</font><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/eh212s.jpg" border="2" hspace="10" width="320" height="240"></a><br>
Eric Nantel 26.1 475 <font size="2" face="Verdana">Figure 14.</font></p></td>
476 </tr>
477 <tr>
478 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
479 </tr>
480 <tr>
481 <td valign="top" align="left"><font size="2" face="Verdana">
482 <div align="center">
483 <center>
484 <table border="0">
485 <tbody><tr>
486 <td >
487 <div align="center">
Eric Nantel 39.1 488 <table border="1" bordercolor="#000000" width="360">
Eric Nantel 26.1 489 <tbody><tr>
Eric Nantel 28.1 490 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana"><b>PS2 Controls
Eric Nantel 26.1 491 (Default Tank Mode)</b></font></td>
492 </tr>
493 <tr>
Eric Nantel 39.1 494 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy U</font></td>
495 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Left Side Forward</font></td>
496 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy U</font></td>
497 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Right Side Forward</font></td>
Eric Nantel 26.1 498 </tr>
499 <tr>
Eric Nantel 39.1 500 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy D</font></td>
501 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Left Side Backward</font></td>
502 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy D</font></td>
503 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Right Side Backward</font></td>
Eric Nantel 26.1 504 </tr>
505 <tr>
Eric Nantel 39.1 506 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy L</font></td>
507 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
508 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy L</font></td>
509 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
Eric Nantel 26.1 510 </tr>
511 <tr>
Eric Nantel 39.1 512 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy R</font></td>
513 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
514 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy R</font></td>
515 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
Eric Nantel 26.1 516 </tr>
517 <tr>
Eric Nantel 39.1 518 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L1</font></td>
519 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Raise body height</font></td>
520 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R1</font></td>
521 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Increase leg lift</font></td>
Eric Nantel 26.1 522 </tr>
523 <tr>
Eric Nantel 39.1 524 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L2</font></td>
525 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Lower body height</font></td>
526 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R2</font></td>
527 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Decrease leg lift</font></td>
Eric Nantel 26.1 528 </tr>
529 <tr>
Eric Nantel 39.1 530 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L3</font></td>
531 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
532 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R3</font></td>
533 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Switch control mode</font></td>
Eric Nantel 26.1 534 </tr>
535 <tr>
Eric Nantel 39.1 536 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad U</font></td>
537 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Raise body height</font></td>
538 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana"><u>/\</u></font></td>
539 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Figure 12</font></td>
Eric Nantel 26.1 540 </tr>
541 <tr>
Eric Nantel 39.1 542 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad D</font></td>
543 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Lower body height</font></td>
544 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">X</font></td>
545 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Figure 12</font></td>
Eric Nantel 26.1 546 </tr>
547 <tr>
Eric Nantel 39.1 548 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad L</font></td>
549 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speed Limit Down</font></td>
550 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">[]</font></td>
551 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Figure 12</font></td>
Eric Nantel 26.1 552 </tr>
553 <tr>
Eric Nantel 39.1 554 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad R</font></td>
555 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speed Limit Up</font></td>
556 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">O</font></td>
557 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Figure 12</font></td>
Eric Nantel 26.1 558 </tr>
559 <tr>
Eric Nantel 39.1 560 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Start</font></td>
561 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Dis/En Crash Monitor</font></td>
562 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Select</font></td>
563 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Switch to Arm mode</font></td>
Eric Nantel 26.1 564 </tr>
565 </tbody></table>
566 </div>
567 </td>
568 </tr>
569 <tr>
570 <td >
571 <p align="center"><font size="2" face="Verdana">Table 14-1</font></p>
572 </td>
573 </tr>
574 </tbody></table>
575 </center>
576 </div>
577 </font></td>
578 <td align="center" valign="top" >
579 <div align="center">
580 <center>
581 <table border="0">
582 <tbody><tr>
583 <td >
584 <div align="center">
Eric Nantel 39.1 585 <table border="1" bordercolor="#000000" width="360">
Eric Nantel 26.1 586 <tbody><tr>
Eric Nantel 28.1 587 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana"><b>PS2 Controls
Eric Nantel 26.1 588 (Right-Joystick Mode)</b></font></td>
589 </tr>
590 <tr>
Eric Nantel 39.1 591 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy U</font></td>
592 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
593 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy U</font></td>
594 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Forward</font></td>
Eric Nantel 26.1 595 </tr>
596 <tr>
Eric Nantel 39.1 597 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy D</font></td>
598 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
599 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy D</font></td>
600 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Backward</font></td>
Eric Nantel 26.1 601 </tr>
602 <tr>
Eric Nantel 39.1 603 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy L</font></td>
604 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
605 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy L</font></td>
606 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Left</font></td>
Eric Nantel 26.1 607 </tr>
608 <tr>
Eric Nantel 39.1 609 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy R</font></td>
610 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
611 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy R</font></td>
612 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Right</font></td>
Eric Nantel 26.1 613 </tr>
614 </tbody></table>
615 </div>
616 </td>
617 </tr>
618 <tr>
619 <td >
620 <p align="center"><font size="2" face="Verdana">Table 14-2</font></p>
621 </td>
622 </tr>
623 <tr>
624 <td >
625 <div align="center">
626 <font size="2" face="Verdana">
627 </font><font size="2" face="Verdana">
628 </font><font size="2" face="Verdana">
629 </font><font size="2" face="Verdana">
630 </font><font size="2" face="Verdana">
631 </font><font size="2" face="Verdana">
632 </font><font size="2" face="Verdana">
Eric Nantel 39.1 633 </font><table border="1" bordercolor="#000000" width="360">
Eric Nantel 26.1 634 <tbody><tr>
Eric Nantel 28.1 635 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana"><b>PS2 Controls
Eric Nantel 26.1 636 (Arm Control)</b></font></td>
637 </tr>
638 <tr>
Eric Nantel 39.1 639 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy</font></td>
640 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Move X and Y</font></td>
641 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy</font></td>
642 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Move Z and Wrist</font></td>
Eric Nantel 26.1 643 </tr>
644 <tr>
Eric Nantel 39.1 645 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L1</font></td>
Eric Nantel 26.1 646
Eric Nantel 39.1 647 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Close Gripper</font></td>
648 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R1</font></td>
Eric Nantel 26.1 649
Eric Nantel 39.1 650 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Turn Wrist Right</font></td>
Eric Nantel 26.1 651 </tr>
652 <tr>
Eric Nantel 39.1 653 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L2</font></td>
Eric Nantel 26.1 654
Eric Nantel 39.1 655 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Open Gripper</font></td>
656 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R2</font></td>
Eric Nantel 26.1 657
Eric Nantel 39.1 658 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Turn Wrist Left</font></td>
Eric Nantel 26.1 659 </tr>
660 <tr>
Eric Nantel 39.1 661 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L3</font></td>
Eric Nantel 26.1 662
Eric Nantel 39.1 663 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Invert X Axis</font></td>
664 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R3</font></td>
665 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Switch control mode</font></td>
Eric Nantel 26.1 666
667 </tr>
668 <tr>
Eric Nantel 39.1 669 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">X</font></td>
670 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Home Position</font></td>
671 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana"><u>/\</u></font></td>
Eric Nantel 26.1 672
Eric Nantel 39.1 673 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Diable/Enable Servos</font></td>
Eric Nantel 26.1 674 </tr>
675 </tbody></table>
676 </div>
677 </td>
678 </tr>
679 <tr>
680 <td >
681 <p align="center"><font size="2" face="Verdana">Table 14-1</font></p>
682 </td>
683 </tr>
684 </tbody></table>
685 </center>
686 </div>
687 </td>
688 </tr>
689 <tr>
690 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
691 </tr>
692 <tr>
693 <td valign="top" ><font face="Verdana" size="2"><strong>Step 15.<br>
694 </strong>The following autonomous-behavior program requires the addition of three Sharp GP2D12 sensors, connected as follows:<br>
695 <br>
696 A to D channel 0 sensor: on front left side, facing right.<br>
697 A to D channel 1 sensor: on front right side, facing left.<br>
698 A to D channel 2 sensor: on rear, facing behind the robot.<br>
699 &nbsp;</font>
700 <div align="center">
701 <center>
702 <table border="0">
703 <tbody><tr>
704 <td >
705 <div align="center">
Eric Nantel 39.1 706 <table border="1" bordercolor="#000000" width="360">
Eric Nantel 26.1 707 <tbody><tr>
Eric Nantel 39.1 708 <td width="30%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Filename</font></td>
709 <td width="70%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Program description</font></td>
Eric Nantel 26.1 710 </tr>
711 <tr>
Eric Nantel 39.1 712 <td width="30%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/h2prog7.zip" target="_blank">h2prog7.zip</a></font></td>
713 <td width="70%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Autonomous using two Sharp
Eric Nantel 26.1 714 GP2D12 sensors and one on the rear.</font></td>
715 </tr>
716 </tbody></table>
717 </div>
718 </td>
719 </tr>
720 <tr>
721 <td >
722 <p align="center"><font face="Verdana" size="2">Table 15-1</font></p>
723 </td>
724 </tr>
725 </tbody></table>
726 </center>
727 </div>
728 </td>
Eric Nantel 39.1 729 <td align="center" valign="top" ><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-2dof-hexapods/the-complete-hexapod-2-tutorial/WebHome/eh200s.jpg" border="2" hspace="10" width="320" height="240"></a><br>
Eric Nantel 26.1 730 <font size="2" face="Verdana">Figure 15.</font></td>
731 </tr>
732 </tbody></table>
733 </body>
Eric Nantel 1.1 734 {{/html}}
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