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1 -ses-v1.ses-v1-robots.ses-v1-3-4-dof-hexapods.WebHome
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24 -</style>
25 -
26 -<div class="asm">
27 -
28 - <!-- Header -->
29 - <div style="padding: 0.5rem 0 1rem 0;">
30 - <h1>A-Pod Bot Board II / BASIC Atom Pro Tutorial</h1>
31 - <p><b>Updated August 10, 2010. Phoenix code v2.0</b></p>
32 - <p><span class="warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p>
33 - </div>
34 -
35 - <!-- Requirements -->
36 - <div class="asm-info">
37 - <h2>Required Software</h2>
38 - <p>Basic Micro Studio | Basic Atom Pro program</p>
39 - </div>
40 -
41 - <!-- Section I -->
42 - <div class="section-header">I. SSC-32 Configuration: Registers</div>
43 -
44 - <!-- Step 1 -->
45 - <div class="asm-step">
46 - <div class="asm-step-header">
47 - <div class="asm-step-name">A-Pod Tutorial — Setup</div>
48 - <div class="asm-step-num">Step 1 / 17</div>
49 - </div>
50 - <div class="asm-step-body">
51 - <div class="asm-step-text">
52 - <p>Place the robot on top of a CD spindle or similar to hold the legs off the ground.</p>
53 - <p>Download and install the latest version of <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>.</p>
1 +{{html wiki="false" clean="true"}}
2 +<body><table border="0" cellpadding="0" cellspacing="0" >
3 + <tbody><tr>
4 + <td valign="top" align="left"><b><font face="Verdana" size="2">A-Pod Bot Board II / BASIC Atom Pro Tutorial.</font></b>
5 + <p><b><font face="Verdana" size="2">Updated <!--webbot bot="Timestamp" s-type="EDITED" s-format="%m/%d/%Y" startspan -->08/10/2010<!--webbot bot="Timestamp" i-CheckSum="12501" endspan -->.
6 + Phoenix code v2.0.</font></b></p>
7 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
8 + <p><font size="2" face="Verdana"><b>Software:<br>
9 + </b>&nbsp; - Basic Micro Studio<br>
10 + &nbsp; - Basic Atom Pro program</font></p></td>
11 + <td align="center" valign="top" width="320"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apodps2.jpg" border="2" hspace="10" ><br>
12 + <strong>Image of A-Pod.</strong></font></td>
13 + </tr>
14 + <tr>
15 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
16 + </tr>
17 + <tr>
18 + <td valign="top" align="left" colspan="2">
19 + <p align="center"><font face="Verdana" size="2"><b>I. SSC-32 Configuration: Registers</b></font></p>
20 + </td>
21 + </tr>
22 + <tr>
23 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
24 + </tr>
25 + <tr>
26 + <td valign="top" align="left">
27 + <p align="left"><font face="Verdana" size="2"><b>Step 1.</b><br>
28 + Place the robot on top of a CD spindle or similar to hold the legs off the ground.</font></p>
29 + <p align="left"><font face="Verdana" size="2">Download and install the latest version of <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. </font></p></td>
30 + <td align="left" valign="top" >
31 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod01.jpg" border="2" hspace="10" ><br>
32 + Figure 1.</font></p></td>
33 + </tr>
34 + <tr>
35 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
36 + </font></td>
37 + </tr>
38 + <tr>
39 + <td valign="top" align="left"><p><strong><font size="2" face="Verdana, Helvetica, sans-serif">Step 2.</font></strong><br>
40 + <font face="Verdana" size="2">Connect the SSC-32 to the PC's serial port. T</font><font size="2" face="Verdana, Helvetica, sans-serif">his can be recognized by the
41 + 9 pins that stick out.</font><font face="Verdana" size="2"> Apply power, and the green LED should light and stay on until it receives a valid
42 + serial command. Run the LynxTerm program. </font></p>
43 + <p><font face="Verdana" size="2">To test basic communications, do a "ver" test: type "ver"
44 + into the terminal then press "Enter". You should see the proper firmware
45 + version returned.</font></p>
46 + <p><font size="2" face="Verdana, Helvetica, sans-serif">Please consult the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/serial-usb-serial-port-troubleshooting/" target="_blank">serial
47 + troubleshooting guide</a> if you have difficulties with this.</font></p></td>
48 + <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-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/comp.jpg" border="2" hspace="10" ><br>
49 + <font size="2">Figure 2.</font></font></td>
50 + </tr>
51 + <tr>
52 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
53 + </tr>
54 + <tr>
55 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br>
56 + Download the 2-07EGP_A1A.abl firmware or higher. Make sure the baud rate is set to 115.2k before attempting to update. Refer to the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-manual/#aglance">manual</a> if you need more information regarding baud rate.</font>
57 + <p><font face="Verdana" size="2">Click on "Firmware" along
58 + the bottom of the LynxTerm screen.</font></p>
59 + <p><font face="Verdana" size="2">Click on "Open" and browse to the firmware file you just downloaded.</font></p>
60 + <p><font face="Verdana" size="2">Make sure the SSC-32 is powered, and click on "Begin Update".</font></p>
61 + </td>
62 + <td align="left" valign="top" >
63 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg07.jpg" border="2" hspace="10" ><br>
64 + Figure 3.</font></p></td>
65 + </tr>
66 + <tr>
67 + <td valign="top" align="left" colspan="2"><br class="pb">
68 + </td>
69 + </tr>
70 + <tr>
71 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 4.</b><br>
72 + When the firmware has been successfully updated, click "Ok" then "Exit".</font>
73 + <p><font face="Verdana" size="2">Now do another "ver" test: type "ver"
74 + into the terminal then press "Enter". You should see a new firmware
75 + version returned.</font></p></td>
76 + <td align="left" valign="top" >
77 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg08.jpg" border="2" hspace="10" ><br>
78 + Figure 4.</font></p></td>
79 + </tr>
80 + <tr>
81 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
82 + </tr>
83 + <tr>
84 + <td valign="top" align="left"><p><font face="Verdana" size="2"><b>Step 5.</b><br>
85 + Place the robot in a position as close to neutral as possible. Click on "All=1500" in the bottom right portion of the screen. Your
86 + robot should go to and hold the neutral position, and should resemble figures 7 through 13. If the joints are off by more than 15° you may have
87 + made an error in assembly. To correct this, remove the center screw from the round servo horn, pull the servo horn off the servo, rotate until
88 + it's aligned, then reattach the servo horn.</font></p>
89 + <p><font face="Verdana" size="2"><b>Caution!</b> You are about to power up the servos. When this is done immediately make sure all of the moving parts are not tangled or hung up and no joints are positioned beyond their range of motion. If anything looks wrong, power down and look for mechanical problems with the build. This is bot has long, apendeges. You must periodically allow the servos to cool down if left on for more then 5 minutes at a time. Take care with the vertical servos, especially the head and tail. They should be monitored to prevent overheating during the calibration.</font> </p></td>
90 + <td align="left" valign="top" >
91 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg09.jpg" border="2" hspace="10" ><br>
92 + Figure 5.</font></p></td>
93 + </tr>
94 + <tr>
95 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
96 + </tr>
97 + <tr>
98 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 6.</b><br>
99 + From the main screen, click on "Reg" to open the Registers page.</font>
100 + <p><font face="Verdana" size="2">Click on "Default" to initialize default values.</font></p></td>
101 + <td align="left" valign="top" >
102 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg02.jpg" border="2" hspace="10" ><br>
103 + Figure 6.</font></p></td>
104 + </tr>
105 + <tr>
106 + <td valign="top" align="left" colspan="2"><br class="pb">
107 + </td>
108 + </tr>
109 + <tr>
110 + <td valign="top" align="left"><font face="Verdana" size="2">Refer to this servo channel number guide for the following configuration steps.</font>
111 + <p><b><font face="Verdana" size="2" color="#FF0000">Do the most accurate alignment as possible!</font></b><font face="Verdana" size="2"> The
112 + robot can only operate as well as as it is aligned. In other words, a poorly aligned robot will walk poorly!</font></p>
113 + </td>
114 + <td align="left" valign="top" >
115 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apodpins.jpg" border="2" hspace="10" ><br>
116 + Servo Channel Numbering.</font></p></td>
117 + </tr>
118 + <tr>
119 + <td valign="top" align="left" colspan="3"><font face="Verdana" size="2">&nbsp;</font></td>
120 + </tr>
121 + <tr>
122 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 7.</b><br>
123 + You need to adjust the robot's horizontal hip servos. Select servo #04, then adjust the "Offset" slider until the leg is perpendicular to the robot's chassis as shown.</font>
124 + <p><font face="Verdana" size="2">Do this for servos #04 and 20.</font></p>
125 + <p><font face="Verdana" size="2">Note, the mouse's scrollwheel or keyboard's arrow keys can be used to make fine adjustments.</font></p></td>
126 + <td align="left" valign="top"><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod06.jpg" alt="" hspace="10" border="2"><br>
127 + Figure 7.</font></p></td>
128 + </tr>
129 + <tr>
130 + <td valign="top" align="left" colspan="3"><font face="Verdana" size="2">&nbsp;</font></td>
131 + </tr>
132 + <tr>
133 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 8.</b><br>
134 + You need to adjust the robot's remaining horizontal hip servos. Select servo #00, then adjust the "Offset" slider until the tibia is at a 45° angle from the robot's chassis as shown.</font>
135 + <p><font face="Verdana" size="2">Do this for servos #00, 08, 16, 24.</font></p>
136 + <p><font face="Verdana" size="2">Note, the mouse's scrollwheel or keyboard's arrow keys can be used to make fine adjustments.</font></p></td>
137 + <td align="left" valign="top"><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod07.jpg" alt="" hspace="10" border="2"><br>
138 + Figure 8.</font></p></td>
139 + </tr>
140 + <tr>
141 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
142 + </tr>
143 + <tr>
144 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 9.</b><br>
145 + Now adjust the robot's vertical hip servos. Select servo #1, then adjust the "Offset" slider until the robot's femur is parallel to the
146 + ground as shown.</font>
147 + <p><font face="Verdana" size="2">Do this for servos #01, 05, 09, 17, 21, 25.</font></p>
148 + </td>
149 + <td align="left" valign="top" >
150 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod08.jpg" border="2" hspace="10" ><br>
151 + Figure 9.</font></p></td>
152 + </tr>
153 + <tr>
154 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
155 + </tr>
156 + <tr>
157 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br>
158 + Now adjust the robot's knee servos. Select servo #2, then adjust the "Offset" slider until the tip of the robot's foot is directly
159 + underneath the knee servo pivot point. From the servo's pivot point to the tip of the foot should be perpendicular to the ground as shown.</font>
160 + <p><font face="Verdana" size="2">Do this for servos #02, 06, 10, 18, 22, 26.</font></p></td>
161 + <td align="left" valign="top" ><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod09.jpg" alt="" hspace="10" border="2"><br>
162 + Figure 10.</font></p></td>
163 + </tr>
164 + <tr>
165 + <td valign="top" align="left" colspan="2"><br class="pb"></td>
166 + </tr>
167 + <tr>
168 + <td valign="top" align="left"><p><font face="Verdana" size="2"><b>Step 11.</b><br>
169 + Now adjust the robot's mandible servos. Adjust #13 and #14 until the mandibles are level with the ground, both from the front and side.</font></p></td>
170 + <td align="left" valign="top" ><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod10.jpg" alt="" hspace="10" border="2"><br>
171 + Figure 11.</font></p></td>
172 + </tr>
173 + <tr>
174 + <td valign="top" align="left" colspan="2"><br class="pb"></td>
175 + </tr>
176 + <tr>
177 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 12.</b><br>
178 + Now adjust the remaining mandible servos. Adjust servo #12 until the mandibles are inline with the chassis. Adjust the two gripper servos (#28 and #29) so that they just barely touch each other, as shown. It is important for the gripper servos to not be straining against each other.</font></td>
179 + <td align="left" valign="top" ><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod11.jpg" alt="" hspace="10" border="2"><br>
180 + Figure 12.</font></p></td>
181 + </tr>
182 + <tr>
183 + <td valign="top" align="left" colspan="2"><br class="pb"></td>
184 + </tr>
185 + <tr>
186 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 13.</b><br>
187 + Now for the robot's abdomen servos. Adjust #30 until the abdomen is inline with the chassis. Adjust #31 until the abdomen is parallel to the ground.</font></td>
188 + <td align="left" valign="top" ><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod12.jpg" alt="" hspace="10" border="2"><br>
189 + Figure 13.</font></p></td>
190 + </tr>
191 + <tr>
192 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
193 + </tr>
194 + <tr>
195 + <td valign="top" align="left" colspan="2">
196 + <p align="center"><font face="Verdana" size="2"><b>II. Bot Board II Configuration</b></font></p>
197 + </td>
198 + </tr>
199 + <tr>
200 + <td valign="top" align="left" colspan="2"><br class="pb">
201 + </td>
202 + </tr>
203 + <tr>
204 + <td valign="top" rowspan="3" align="left"><p><font face="Verdana" size="2"><b>Step 14.</b><br>
205 + To connect the Bot Board II to the SSC-32, you will need to modify a 12" servo extender cable. Remove the header pins from the cable so you
206 + have two female ends. Then use an exacto knife to gently pry the tab up to pull the red wire free on one end. Cover the exposed female connector
207 + with heat shrink to avoid accidental shorts.</font>
208 + </p>
209 + <p><font face="Verdana" size="2">Remove the TX and RX jumpers from the lower-right corner of the SSC-32, and plug the unmodified end of the
210 + cable in. Yellow on TX, red on RX, and black on ground.</font></p>
211 + <p><font face="Verdana" size="2">Plug in some extra lengths of 18-24awg wires to VL on the SSC-32, with the 9vdc battery clip. These will be
212 + used to run power to the Bot Board II.</font></p>
213 + <p><font face="Verdana" size="2">See Tables 15-2 through 15-4, and the schematic below for connection information.</font></p></td>
214 +
215 + </tr>
216 + <tr>
217 + <td align="left" valign="top" >
218 + <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/scmod01.jpg" border="2" hspace="10" ><br>
219 + Figure 14.</font></p></td>
220 + </tr>
221 + <tr>
222 +
223 + </tr>
224 + <tr>
225 + <td valign="top" align="left" colspan="2"><br>
226 + </td>
227 + </tr>
228 + <tr>
229 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 15.</b><br>
230 + Plug the modified end of the servo to the Bot Board II. The yellow and black part goes on pin 10 with
231 + the black wire toward the outside of the Bot Board II. Plug the red wire in on Pin 11, on the header pin nearest the center of the Bot Board II.</font>
232 + <p><font face="Verdana" size="2">Plug in the PS2 cable as shown in Figure 15-1. Plug in the power wires from the SSC-32 to
233 + VL.</font></p>
234 + <p>
235 + <font face="Verdana" size="2">Note: Refer only to Figure 15-1 for connection information.
236 + The cable colors in the picture may be outdated. If your cable's colors do
237 + not match the diagram, you can find a complete listing of possible colors <a href="http://www.lynxmotion.com/images/html/build151.htm#aglance">here</a>.</font></p>
238 + <p><font face="Verdana" size="2">See Tables 15-2 through 15-4, and the schematic below for connection information.</font></p>
239 + <p><font face="Verdana" size="2">Install the BASIC Atom Pro as shown.</font></p>
240 + <table border="0" >
241 + <tbody><tr>
242 + <td ><font face="Verdana" size="2"><b>Atom Pro Orientation:<br>
243 + <img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/aproinst.gif" ></b></font></td>
244 + <td align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/wire08s.gif" border="2" hspace="10"><br>
245 +Figure 15-1.</font></td>
246 + </tr>
247 + </tbody></table>
248 + </td>
249 + </tr>
250 + <tr>
251 + <td valign="top" align="left" colspan="2"><br class="pb">
252 + </td>
253 + </tr>
254 + <tr>
255 + <td valign="top" align="left" colspan="2">
256 + <p align="center"><font face="Verdana" size="2"><b>Connection Information Tables.</b></font></p><center>
257 + <table border="0">
258 + <tbody><tr>
259 + <td valign="top">
260 + <div align="center">
261 + <table border="1" bordercolor="#000000" >
262 + <tbody><tr>
263 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">SSC-32
264 + Connection Information</font></b></td>
265 + </tr>
266 + <tr>
267 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>What</b></font></td>
268 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Where</b></font></td>
269 + </tr>
270 + <tr>
271 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Jumper installed</font></td>
272 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VS1=VS2</font></td>
273 + </tr>
274 + <tr>
275 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Jumper installed</font></td>
276 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">38.4 Baud Rate</font></td>
277 + </tr>
278 + <tr>
279 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Unmodified Servo Cable End</font></td>
280 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">TX / RX / GND<br>
281 + Black wire on GND</font></td>
282 + </tr>
283 + <tr>
284 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">9vdc Battery Clip</font></td>
285 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VL</font></td>
286 + </tr>
287 + <tr>
288 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Power Wires</font></td>
289 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VL to BBII's VL</font></td>
290 + </tr>
291 + <tr>
292 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Battery Wiring Harness</font></td>
293 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VS1</font></td>
294 + </tr>
295 + </tbody></table>
296 + </div>
297 + </td>
298 + <td rowspan="2" valign="top"><font face="Verdana" size="2">&nbsp;</font></td>
299 + <td valign="top">
300 + <div align="center">
301 + <table border="1" bordercolor="#000000" >
302 + <tbody><tr>
303 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">Bot Board II
304 + Connection Information</font></b></td>
305 + </tr>
306 + <tr>
307 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>What</b></font></td>
308 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Where</b></font></td>
309 + </tr>
310 + <tr>
311 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Power Wires</font></td>
312 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">SSC-32's VL to VL</font></td>
313 + </tr>
314 + <tr>
315 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Modified Servo Cable End<br>
316 + Black and Yellow wires</font></td>
317 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Pin 10, Black wire toward
318 + outside of board</font></td>
319 + </tr>
320 + <tr>
321 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Modified Servo Cable End<br>
322 + Red wire</font></td>
323 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Pin 11, toward center of board</font></td>
324 + </tr>
325 + <tr>
326 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Power jumper for I/O group
327 + 12-15</font></td>
328 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">5vdc</font></td>
329 + </tr>
330 + <tr>
331 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">PS2 Cable</font></td>
332 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Group 12-15<br>
333 + (see diagram above)</font></td>
334 + </tr>
335 + </tbody></table>
336 + </div>
337 + </td>
338 + </tr>
339 + <tr>
340 + <td>
341 + <p align="center"><font face="Verdana" size="2">Table 15-2</font></p>
342 + </td>
343 + <td>
344 + <p align="center"><font face="Verdana" size="2">Table 15-3</font></p>
345 + </td>
346 + </tr>
347 + <tr>
348 + <td colspan="3"><font face="Verdana" size="2">&nbsp;</font></td>
349 + </tr>
350 + <tr>
351 + <td colspan="3">
352 + <div align="center">
353 + <table border="1" bordercolor="#000000" >
354 + <tbody><tr>
355 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="6"><b><font face="Verdana" size="2">Servo Channels
356 + and Schematic Label Explanations</font></b></td>
357 + </tr>
358 + <tr>
359 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RRH</b> / 00</font></td>
360 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Horizontal Hip</font></td>
361 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LRH</b> / 16</font></td>
362 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Horizontal Hip</font></td>
363 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RM</b> / 28</font></td>
364 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Mandible</font></td>
365 + </tr>
366 + <tr>
367 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RRV</b> / 01</font></td>
368 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Vertical Hip</font></td>
369 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LRV</b> / 17</font></td>
370 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Vertical Hip</font></td>
371 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LM</b> / 29</font></td>
372 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Mandible</font></td>
373 + </tr>
374 + <tr>
375 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RRK</b> / 02</font></td>
376 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Rear Knee</font></td>
377 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LRK</b> / 18</font></td>
378 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Rear Knee</font></td>
379 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>AP </b>/ 30</font></td>
380 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Abdomen Pan</font></td>
381 + </tr>
382 + <tr>
383 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RMH</b> / 04</font></td>
384 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Middle Horizontal Hip</font></td>
385 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LMH</b> / 20</font></td>
386 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Horizontal Hip</font></td>
387 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>AT</b> / 31</font></td>
388 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Abdomen Tilt</font></td>
389 + </tr>
390 + <tr>
391 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RMV</b> / 05</font></td>
392 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Middle Vertical Hip</font></td>
393 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LMV</b> / 21</font></td>
394 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Vertical Hip</font></td>
395 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>HP</b> / 12</font></td>
396 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Mandible Pan</font></td>
397 + </tr>
398 + <tr>
399 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RMK</b> / 06</font></td>
400 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Middle Knee</font></td>
401 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LMK</b> / 22</font></td>
402 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Middle Knee</font></td>
403 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>HR</b> / 13</font></td>
404 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Mandible Rotate</font></td>
405 + </tr>
406 + <tr>
407 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RFH</b> / 08</font></td>
408 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Horizontal Hip</font></td>
409 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LFH</b> / 24</font></td>
410 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Horizontal Hip</font></td>
411 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>HT</b> / 14</font></td>
412 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Mandible Tilt</font></td>
413 + </tr>
414 + <tr>
415 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RFV</b> / 09</font></td>
416 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Vertical Hip</font></td>
417 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LFV</b> / 25</font></td>
418 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Vertical Hip</font></td>
419 + <td colspan="2" rowspan="2" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">&nbsp;</td>
420 + </tr>
421 + <tr>
422 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>RFK</b> / 10</font></td>
423 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Front Knee</font></td>
424 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>LFK</b> / 26</font></td>
425 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Front Knee</font></td>
426 + </tr>
427 + </tbody></table>
428 + </div>
429 + </td>
430 + </tr>
431 + <tr>
432 + <td colspan="3">
433 + <p align="center"><font face="Verdana" size="2">Table 15-4</font></p>
434 + </td>
435 + </tr>
436 + </tbody></table>
437 + </center></td>
438 + </tr>
439 + <tr>
440 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
441 + </font></td>
442 + </tr>
443 + <tr>
444 + <td valign="top" align="left" colspan="2">
445 + <p align="center"><font face="Verdana" size="2"><b>Schematic.<br>
446 + </b><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apodsch01.png" border="0" hspace="10" ></font></p>
447 + <p align="center"><font face="Verdana" size="2"><b>Schematic.</b></font></p>
448 + </td>
449 + </tr>
450 +
451 + <tr>
452 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;<a name="programs"></a></font></td>
453 + </tr>
454 + <tr>
455 + <td valign="top" align="left"><p><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">Step 16. Download the Program</font></strong><font size="2"><br>
456 + </font><font size="2" face="Verdana, Helvetica, sans-serif">Download the Basic Micro Studio.
457 + Install and run the IDE to allow programming the chip.</font></font></p>
458 + <p><font face="Verdana, Helvetica, sans-serif"><font size="2">Download the .zip file, and unzip it. Open the .prj file in Studio
459 + (File-&gt;Open-&gt;*.prj), and verify that the files listed in the
460 + Workspace are in the order shown in Table 16. Install the PS2 controller receiver into
461 + the PS2 cable on the robot, make sure your PS2 controller is turned on, and
462 + then apply power to the robot. Program the Atom Pro. If all is well, you will hear
463 + a beep after power up. Press Start and the legs should snap to position. At this point, if you properly calibrated the
464 + servo offsets, the legs should be perfectly aligned.</font></font></p>
465 + <p><font size="2" face="Verdana, Helvetica, sans-serif">Note: The software switches the controller to analog mode. However, some controllers may need to be put
466 + into analog mode manually. If you hear a continuous beeping, the PS2 controller is not connected to the Atom properly
467 + or is not functioning. If you hear beeping, you can try pressing Reset on the Bot Board II. You can also test the controller with a Playstation
468 + 2 to verify that it is working.</font></p>
469 + </td>
470 + <td valign="top" align="center">
471 + <div align="center">
472 + <table border="1" bordercolor="#000000" >
473 + <tbody><tr>
474 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><b><font face="Verdana" size="2">A-Pod BASIC Atom Pro
475 + Program</font></b></td>
476 + </tr>
477 + <tr>
478 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2"><b>Phoenix:</b><br>
479 + <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apodps2.zip">apodps2.zip</a></font></td>
480 + <td align="left" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><p><font face="Verdana" size="2">Zip file contains:</font></p>
481 + <ul>
482 + <li><font face="Verdana" size="2">apod_ps2.prj</font></li>
483 + <li><font face="Verdana" size="2">Phoenix_Config_3DOFAPod.bas</font></li>
484 + <li><font face="Verdana" size="2">Phoenix_Control_ps2.bas</font></li>
485 + <li><font face="Verdana" size="2">Phoenix_Core.bas</font></li>
486 + <li><font face="Verdana" size="2">Phoenix_Driver_SSC-32.bas</font></li>
487 + </ul></td>
488 + </tr>
489 + </tbody></table>
490 + <font size="2" face="Verdana, Helvetica, sans-serif">Table 16.</font>
54 54   </div>
55 - <div class="asm-step-figure">
56 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod01.jpg">
57 - <span>Figure 1.</span>
492 + </td>
493 + </tr>
494 + <tr>
495 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
496 + </tr>
497 + <tr>
498 + <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana, Helvetica, sans-serif">Step 17. Controlling the
499 + Robot with PS2 Controller</font></b><font size="2" face="Verdana, Helvetica, sans-serif"><br>
500 + The default is Walking
501 + mode 1. Use the Left joystick to move the robot around without
502 + turning (this is called "translation"), and the Right joystick rotates the robot as it moves. Up and Down on the D-Pad increases or
503 + decreases the height of the body. The Triangle button puts the body at 35mm from the ground. The Triangle swaps between a walking stance and a 'resting' position. </font>
504 + <p><font size="2" face="Verdana, Helvetica, sans-serif">There are two special "body moves" functions that are triggered by pressing
505 + Circle, or X. While in one of these modes, the hexapod does not
506 + walk. The joysticks and some buttons change function depending on which mode is toggled on; see
507 + Table 17 for details.</font></p></td>
508 + </tr>
509 + <tr>
510 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
511 + </font></td>
512 + </tr>
513 + <tr>
514 + <td valign="top" align="left" colspan="2">
515 + <div align="center">
516 + <center>
517 + <table border="0">
518 + <tbody><tr>
519 + <td valign="top"> <table border="1" bordercolor="#000000">
520 + <tbody><tr>
521 + <td bordercolor="#808080" bgcolor="#C0C0C0">
522 + <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
523 + <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
524 + <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Function</font></p></td>
525 + </tr>
526 + <tr>
527 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
528 + <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Common
529 + Controls</b></font></p></td>
530 + </tr>
531 + <tr>
532 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Start</font></td>
533 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn robot on/off</font></td>
534 + </tr>
535 + <tr>
536 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R3</font></td>
537 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle full/half head rotation range</font></td>
538 + </tr>
539 + <tr>
540 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L1</font></td>
541 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Open Mandibles</font></td>
542 + </tr>
543 + <tr>
544 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L2</font></td>
545 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Close Mandibles</font></td>
546 + </tr>
547 + <tr>
548 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L2 + D-Pad left</font></td>
549 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Decrease gripper torque</font></td>
550 + </tr>
551 + <tr>
552 + <td h align="center" bordercolor="#C0C0C0"><font size="2" face="Verdana, Helvetica, sans-serif">L2 + D-Pad right</font></td>
553 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Increase gripper torque</font></td>
554 + </tr>
555 + <tr>
556 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O Circle</font></td>
557 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle Rotate mode</font></td>
558 + </tr>
559 + <tr>
560 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X Cross</font></td>
561 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle Shift mode</font></td>
562 + </tr>
563 + <tr>
564 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">[] Square</font></td>
565 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
566 + Balance mode<br>
567 + (Balance mode: Lifts and lowers body along with moving legs.)</font></td>
568 + </tr>
569 + <tr>
570 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><u>/\</u> Triangle</font></td>
571 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
572 + between body at 35mm from ground (walking default) and body
573 + lowered to ground</font></td>
574 + </tr>
575 + <tr>
576 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad Up</font></td>
577 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body up 10mm</font></td>
578 + </tr>
579 + <tr>
580 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad Down</font></td>
581 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body down 10mm</font></td>
582 + </tr>
583 + <tr>
584 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad
585 + Left</font></td>
586 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Decrease
587 + speed by 50mS</font></td>
588 + </tr>
589 + <tr>
590 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad
591 + Right</font></td>
592 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Increase
593 + speed by 50mS</font></td>
594 + </tr>
595 + <tr>
596 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
597 + <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Walk
598 + Mode Controls</b><br>
599 + (Default is Walk mode 1)</font></p></td>
600 + </tr>
601 + <tr>
602 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
603 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Change gaits</font></td>
604 + </tr>
605 + <tr>
606 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left Joystick</font></td>
607 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walk
608 + mode 1: Walk/strafe<br>
609 + Walk mode 2: Disabled</font></td>
610 + </tr>
611 + <tr>
612 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right Joystick</font></td>
613 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walk
614 + mode 1: Rotate<br>
615 + Walk mode 2: Walk/rotate</font></td>
616 + </tr>
617 + <tr>
618 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R1</font></td>
619 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
620 + double gait travel height</font></td>
621 + </tr>
622 + <tr>
623 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
624 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
625 + double gait travel length</font></td>
626 + </tr>
627 + </tbody></table></td>
628 + <td valign="top">&nbsp;</td>
629 + <td valign="top"> <table border="1" bordercolor="#000000">
630 + <tbody><tr>
631 + <td bordercolor="#808080" bgcolor="#C0C0C0">
632 + <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
633 + <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
634 + <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Function</font></p></td>
635 + </tr>
636 + <tr>
637 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
638 + <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Shift
639 + Mode Controls<br>
640 + </b>(Special mode)</font></p></td>
641 + </tr>
642 + <tr>
643 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L1</font></td>
644 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
645 + Shift mode off</font></td>
646 + </tr>
647 + <tr>
648 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
649 + Joystick</font></td>
650 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Shift
651 + body X/Z</font></td>
652 + </tr>
653 + <tr>
654 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
655 + Joystick</font></td>
656 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Shift
657 + and rotate body Y</font></td>
658 + </tr>
659 + <tr>
660 + <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">
661 + <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Rotate Mode Controls<br>
662 + </b>(Special mode)</font></p></td>
663 + </tr>
664 + <tr>
665 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O Circle</font></td>
666 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
667 + Rotate mode off</font></td>
668 + </tr>
669 + <tr>
670 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
671 + Joystick</font></td>
672 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Rotate
673 + Y/Translate Z</font></td>
674 + </tr>
675 + <tr>
676 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
677 + Joystick</font></td>
678 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Rotate Z/X </font></td>
679 + </tr>
680 + <tr>
681 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
682 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Cycle rotate function (Head tracking, fixed head, head only)</font></td>
683 + </tr>
684 + <tr>
685 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R1</font></td>
686 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move center of rotation to head (when held)</font></td>
687 + </tr>
688 + <tr>
689 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
690 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move center of rotation to tail (when held)</font></td>
691 + </tr>
692 + <tr>
693 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L3</font></td>
694 + <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Reset body rotations</font></td>
695 + </tr>
696 + </tbody></table></td>
697 + </tr>
698 + </tbody></table>
699 + </center>
58 58   </div>
59 - </div>
60 - </div>
61 -
62 - <!-- Step 2 -->
63 - <div class="asm-step">
64 - <div class="asm-step-header">
65 - <div class="asm-step-name">A-Pod Tutorial — Test Communications</div>
66 - <div class="asm-step-num">Step 2 / 17</div>
67 - </div>
68 - <div class="asm-step-body">
69 - <div class="asm-step-text">
70 - <p>Connect the SSC-32 to the PC's serial port (recognized by the 9 pins that stick out). Apply power — the green LED should light and stay on until it receives a valid serial command. Run the LynxTerm program.</p>
71 - <p>To test basic communications, type "ver" into the terminal and press Enter. You should see the proper firmware version returned.</p>
72 - <p>Please consult the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/serial-usb-serial-port-troubleshooting/" target="_blank">serial troubleshooting guide</a> if you have difficulties.</p>
701 + <div align="center">
702 + <font size="2" face="Verdana, Helvetica, sans-serif"><b>PS2 Controls</b><br>
703 + Table 17.</font>
73 73   </div>
74 - <div class="asm-step-figure">
75 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/comp.jpg">
76 - <span>Figure 2.</span>
77 - </div>
78 - </div>
79 - </div>
80 -
81 - <!-- Step 3 -->
82 - <div class="asm-step">
83 - <div class="asm-step-header">
84 - <div class="asm-step-name">A-Pod Tutorial — Update Firmware</div>
85 - <div class="asm-step-num">Step 3 / 17</div>
86 - </div>
87 - <div class="asm-step-body">
88 - <div class="asm-step-text">
89 - <p>Download the 2-07EGP_A1A.abl firmware or higher. Make sure the baud rate is set to 115.2k before attempting to update. Refer to the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-manual/#aglance" target="_blank">manual</a> for baud rate information.</p>
90 - <p>Click "Firmware" along the bottom of the LynxTerm screen. Click "Open" and browse to the firmware file. Make sure the SSC-32 is powered, and click "Begin Update".</p>
91 - </div>
92 - <div class="asm-step-figure">
93 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg07.jpg">
94 - <span>Figure 3.</span>
95 - </div>
96 - </div>
97 - </div>
98 -
99 - <!-- Step 4 -->
100 - <div class="asm-step">
101 - <div class="asm-step-header">
102 - <div class="asm-step-name">A-Pod Tutorial — Verify Firmware</div>
103 - <div class="asm-step-num">Step 4 / 17</div>
104 - </div>
105 - <div class="asm-step-body">
106 - <div class="asm-step-text">
107 - <p>When the firmware has been successfully updated, click "Ok" then "Exit".</p>
108 - <p>Do another "ver" test: type "ver" into the terminal then press Enter. You should see the new firmware version returned.</p>
109 - </div>
110 - <div class="asm-step-figure">
111 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg08.jpg">
112 - <span>Figure 4.</span>
113 - </div>
114 - </div>
115 - </div>
116 -
117 - <!-- Step 5 -->
118 - <div class="asm-step">
119 - <div class="asm-step-header">
120 - <div class="asm-step-name">A-Pod Tutorial — Power Up Servos</div>
121 - <div class="asm-step-num">Step 5 / 17</div>
122 - </div>
123 - <div class="asm-step-body">
124 - <div class="asm-step-text">
125 - <p>Place the robot in a position as close to neutral as possible. Click "All=1500" in the bottom right portion of the screen. The robot should go to and hold the neutral position. If the joints are off by more than 15°, remove the center screw from the round servo horn, pull it off, rotate until aligned, then reattach.</p>
126 - <p><span class="warning">Caution!</span> You are about to power up the servos. When this is done, immediately make sure all moving parts are not tangled or beyond their range of motion. This robot has long appendages — you must periodically allow the servos to cool if left on for more than 5 minutes. Monitor the vertical servos, especially the head and tail, to prevent overheating during calibration.</p>
127 - </div>
128 - <div class="asm-step-figure">
129 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg09.jpg">
130 - <span>Figure 5.</span>
131 - </div>
132 - </div>
133 - </div>
134 -
135 - <!-- Step 6 -->
136 - <div class="asm-step">
137 - <div class="asm-step-header">
138 - <div class="asm-step-name">A-Pod Tutorial — Initialize Registers</div>
139 - <div class="asm-step-num">Step 6 / 17</div>
140 - </div>
141 - <div class="asm-step-body">
142 - <div class="asm-step-text">
143 - <p>From the main screen, click "Reg" to open the Registers page. Click "Default" to initialize default values.</p>
144 - <p><span class="warning">Do the most accurate alignment as possible!</span> The robot can only operate as well as it is aligned. A poorly aligned robot will walk poorly.</p>
145 - </div>
146 - <div class="asm-step-figure">
147 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/reg02.jpg">
148 - <span>Figure 6.</span>
149 - </div>
150 - </div>
151 - <div class="asm-fullwidth">
152 - <p>Refer to this servo channel number guide for the following configuration steps.</p>
153 - <div style="text-align:center;">
154 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apodpins.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
155 - <p style="font-size:12px; color:#666; margin-top:0.3rem;">Servo Channel Numbering.</p>
156 - </div>
157 - </div>
158 - </div>
159 -
160 - <!-- Step 7 -->
161 - <div class="asm-step">
162 - <div class="asm-step-header">
163 - <div class="asm-step-name">A-Pod Tutorial — Align Front/Rear Hip Servos</div>
164 - <div class="asm-step-num">Step 7 / 17</div>
165 - </div>
166 - <div class="asm-step-body">
167 - <div class="asm-step-text">
168 - <p>Adjust the robot's horizontal hip servos. Select servo #04, then adjust the "Offset" slider until the leg is perpendicular to the robot's chassis as shown.</p>
169 - <p>Do this for servos <b>#04 and #20</b>.</p>
170 - <p>Note: the mouse's scrollwheel or keyboard arrow keys can be used for fine adjustments.</p>
171 - </div>
172 - <div class="asm-step-figure">
173 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod06.jpg">
174 - <span>Figure 7.</span>
175 - </div>
176 - </div>
177 - </div>
178 -
179 - <!-- Step 8 -->
180 - <div class="asm-step">
181 - <div class="asm-step-header">
182 - <div class="asm-step-name">A-Pod Tutorial — Align Remaining Hip Servos</div>
183 - <div class="asm-step-num">Step 8 / 17</div>
184 - </div>
185 - <div class="asm-step-body">
186 - <div class="asm-step-text">
187 - <p>Adjust the robot's remaining horizontal hip servos. Select servo #00, then adjust the "Offset" slider until the tibia is at a 45° angle from the robot's chassis as shown.</p>
188 - <p>Do this for servos <b>#00, 08, 16, 24</b>.</p>
189 - <p>Note: the mouse's scrollwheel or keyboard arrow keys can be used for fine adjustments.</p>
190 - </div>
191 - <div class="asm-step-figure">
192 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod07.jpg">
193 - <span>Figure 8.</span>
194 - </div>
195 - </div>
196 - </div>
197 -
198 - <!-- Step 9 -->
199 - <div class="asm-step">
200 - <div class="asm-step-header">
201 - <div class="asm-step-name">A-Pod Tutorial — Align Vertical Hip Servos</div>
202 - <div class="asm-step-num">Step 9 / 17</div>
203 - </div>
204 - <div class="asm-step-body">
205 - <div class="asm-step-text">
206 - <p>Adjust the robot's vertical hip servos. Select servo #1, then adjust the "Offset" slider until the robot's femur is parallel to the ground as shown.</p>
207 - <p>Do this for servos <b>#01, 05, 09, 17, 21, 25</b>.</p>
208 - </div>
209 - <div class="asm-step-figure">
210 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod08.jpg">
211 - <span>Figure 9.</span>
212 - </div>
213 - </div>
214 - </div>
215 -
216 - <!-- Step 10 -->
217 - <div class="asm-step">
218 - <div class="asm-step-header">
219 - <div class="asm-step-name">A-Pod Tutorial — Align Knee Servos</div>
220 - <div class="asm-step-num">Step 10 / 17</div>
221 - </div>
222 - <div class="asm-step-body">
223 - <div class="asm-step-text">
224 - <p>Adjust the robot's knee servos. Select servo #2, then adjust the "Offset" slider until the tip of the robot's foot is directly underneath the knee servo pivot point — from the pivot point to the tip of the foot should be perpendicular to the ground as shown.</p>
225 - <p>Do this for servos <b>#02, 06, 10, 18, 22, 26</b>.</p>
226 - </div>
227 - <div class="asm-step-figure">
228 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod09.jpg">
229 - <span>Figure 10.</span>
230 - </div>
231 - </div>
232 - </div>
233 -
234 - <!-- Step 11 -->
235 - <div class="asm-step">
236 - <div class="asm-step-header">
237 - <div class="asm-step-name">A-Pod Tutorial — Align Mandible Servos</div>
238 - <div class="asm-step-num">Step 11 / 17</div>
239 - </div>
240 - <div class="asm-step-body">
241 - <div class="asm-step-text">
242 - <p>Adjust the robot's mandible servos. Adjust <b>#13 and #14</b> until the mandibles are level with the ground, both from the front and side.</p>
243 - </div>
244 - <div class="asm-step-figure">
245 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod10.jpg">
246 - <span>Figure 11.</span>
247 - </div>
248 - </div>
249 - </div>
250 -
251 - <!-- Step 12 -->
252 - <div class="asm-step">
253 - <div class="asm-step-header">
254 - <div class="asm-step-name">A-Pod Tutorial — Align Gripper Servos</div>
255 - <div class="asm-step-num">Step 12 / 17</div>
256 - </div>
257 - <div class="asm-step-body">
258 - <div class="asm-step-text">
259 - <p>Adjust servo <b>#12</b> until the mandibles are inline with the chassis. Adjust the two gripper servos (<b>#28 and #29</b>) so that they just barely touch each other, as shown. It is important that the gripper servos are not straining against each other.</p>
260 - </div>
261 - <div class="asm-step-figure">
262 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod11.jpg">
263 - <span>Figure 12.</span>
264 - </div>
265 - </div>
266 - </div>
267 -
268 - <!-- Step 13 -->
269 - <div class="asm-step">
270 - <div class="asm-step-header">
271 - <div class="asm-step-name">A-Pod Tutorial — Align Abdomen Servos</div>
272 - <div class="asm-step-num">Step 13 / 17</div>
273 - </div>
274 - <div class="asm-step-body">
275 - <div class="asm-step-text">
276 - <p>Adjust <b>#30</b> until the abdomen is inline with the chassis. Adjust <b>#31</b> until the abdomen is parallel to the ground.</p>
277 - </div>
278 - <div class="asm-step-figure">
279 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apod12.jpg">
280 - <span>Figure 13.</span>
281 - </div>
282 - </div>
283 - </div>
284 -
285 - <!-- Section II -->
286 - <div class="section-header">II. Bot Board II Configuration</div>
287 -
288 - <!-- Step 14 -->
289 - <div class="asm-step">
290 - <div class="asm-step-header">
291 - <div class="asm-step-name">A-Pod Tutorial — Connect Bot Board II to SSC-32</div>
292 - <div class="asm-step-num">Step 14 / 17</div>
293 - </div>
294 - <div class="asm-step-body">
295 - <div class="asm-step-text">
296 - <p>Modify a 12" servo extender cable by removing the header pins so you have two female ends. Use an exacto knife to gently pry the tab up to pull the red wire free on one end. Cover the exposed connector with heat shrink to avoid accidental shorts.</p>
297 - <p>Remove the TX and RX jumpers from the lower-right corner of the SSC-32 and plug the unmodified end of the cable in: yellow on TX, red on RX, black on ground.</p>
298 - <p>Plug in extra lengths of 18-24AWG wires to VL on the SSC-32 with the 9VDC battery clip — these will power the Bot Board II.</p>
299 - <p>See Tables 15-2 through 15-4 and the schematic below for connection information.</p>
300 - </div>
301 - <div class="asm-step-figure">
302 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/scmod01.jpg">
303 - <span>Figure 14.</span>
304 - </div>
305 - </div>
306 - </div>
307 -
308 - <!-- Step 15 -->
309 - <div class="asm-step">
310 - <div class="asm-step-header">
311 - <div class="asm-step-name">A-Pod Tutorial — Complete Wiring</div>
312 - <div class="asm-step-num">Step 15 / 17</div>
313 - </div>
314 - <div class="asm-step-body">
315 - <div class="asm-step-text">
316 - <p>Plug the modified servo cable end into the Bot Board II: yellow and black wires on pin 10 with black toward the outside, red wire on pin 11 toward the center.</p>
317 - <p>Plug in the PS2 cable as shown in Figure 15-1. Plug in the power wires from the SSC-32 to VL.</p>
318 - <p>Note: refer only to Figure 15-1 for connection information — cable colors in the picture may be outdated. A complete listing of possible colors is available <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/bot-board-ii/#aglance" target="_blank">here</a>.</p>
319 - <p>Install the BASIC Atom Pro as shown in the orientation diagram.</p>
320 - </div>
321 - <div class="asm-step-figure">
322 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/wire08s.gif">
323 - <span>Figure 15-1.</span>
324 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/aproinst.gif" style="margin-top:0.75rem;">
325 - <span>Atom Pro Orientation.</span>
326 - </div>
327 - </div>
328 - <!-- Connection tables -->
329 - <div class="asm-fullwidth">
330 - <div style="display:flex; flex-wrap:wrap; gap:1.5rem; margin-bottom:1rem;">
331 - <div style="flex:1 1 250px;">
332 - <p style="font-weight:bold; margin-bottom:0.5rem;">SSC-32 Connection Information (Table 15-2)</p>
333 - <table class="ref-table">
334 - <tr><th>What</th><th>Where</th></tr>
335 - <tr><td>Jumper installed</td><td>VS1=VS2</td></tr>
336 - <tr><td>Jumper installed</td><td>38.4 Baud Rate</td></tr>
337 - <tr><td>Unmodified Servo Cable End</td><td>TX / RX / GND (Black on GND)</td></tr>
338 - <tr><td>9VDC Battery Clip</td><td>VL</td></tr>
339 - <tr><td>Power Wires</td><td>VL to BBII's VL</td></tr>
340 - <tr><td>Battery Wiring Harness</td><td>VS1</td></tr>
341 - </table>
342 - </div>
343 - <div style="flex:1 1 250px;">
344 - <p style="font-weight:bold; margin-bottom:0.5rem;">Bot Board II Connection Information (Table 15-3)</p>
345 - <table class="ref-table">
346 - <tr><th>What</th><th>Where</th></tr>
347 - <tr><td>Power Wires</td><td>SSC-32's VL to VL</td></tr>
348 - <tr><td>Modified Cable — Black &amp; Yellow</td><td>Pin 10, Black toward outside</td></tr>
349 - <tr><td>Modified Cable — Red wire</td><td>Pin 11, toward center</td></tr>
350 - <tr><td>Power jumper for I/O group 12-15</td><td>5VDC</td></tr>
351 - <tr><td>PS2 Cable</td><td>I/O Group 12-15</td></tr>
352 - </table>
353 - </div>
354 - </div>
355 - <p style="font-weight:bold; margin-bottom:0.5rem;">Servo Channels and Schematic Label Explanations (Table 15-4)</p>
356 - <table class="ref-table">
357 - <tr><th>Label / Ch.</th><th>Function</th><th>Label / Ch.</th><th>Function</th><th>Label / Ch.</th><th>Function</th></tr>
358 - <tr><td>RRH / 00</td><td>Right Rear Horizontal Hip</td><td>LRH / 16</td><td>Left Rear Horizontal Hip</td><td>RM / 28</td><td>Right Mandible</td></tr>
359 - <tr><td>RRV / 01</td><td>Right Rear Vertical Hip</td><td>LRV / 17</td><td>Left Rear Vertical Hip</td><td>LM / 29</td><td>Left Mandible</td></tr>
360 - <tr><td>RRK / 02</td><td>Right Rear Knee</td><td>LRK / 18</td><td>Left Rear Knee</td><td>AP / 30</td><td>Abdomen Pan</td></tr>
361 - <tr><td>RMH / 04</td><td>Right Middle Horizontal Hip</td><td>LMH / 20</td><td>Left Middle Horizontal Hip</td><td>AT / 31</td><td>Abdomen Tilt</td></tr>
362 - <tr><td>RMV / 05</td><td>Right Middle Vertical Hip</td><td>LMV / 21</td><td>Left Middle Vertical Hip</td><td>HP / 12</td><td>Mandible Pan</td></tr>
363 - <tr><td>RMK / 06</td><td>Right Middle Knee</td><td>LMK / 22</td><td>Left Middle Knee</td><td>HR / 13</td><td>Mandible Rotate</td></tr>
364 - <tr><td>RFH / 08</td><td>Right Front Horizontal Hip</td><td>LFH / 24</td><td>Left Front Horizontal Hip</td><td>HT / 14</td><td>Mandible Tilt</td></tr>
365 - <tr><td>RFV / 09</td><td>Right Front Vertical Hip</td><td>LFV / 25</td><td>Left Front Vertical Hip</td><td colspan="2"></td></tr>
366 - <tr><td>RFK / 10</td><td>Right Front Knee</td><td>LFK / 26</td><td>Left Front Knee</td><td colspan="2"></td></tr>
367 - </table>
368 - <div style="text-align:center; margin-top:1rem;">
369 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apodsch01.png" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
370 - <p style="font-size:12px; color:#666; margin-top:0.3rem;">Schematic.</p>
371 - </div>
372 - </div>
373 - </div>
374 -
375 - <!-- Step 16 -->
376 - <div class="asm-step">
377 - <div class="asm-step-header">
378 - <div class="asm-step-name">A-Pod Tutorial — Download &amp; Program</div>
379 - <div class="asm-step-num">Step 16 / 17</div>
380 - </div>
381 - <div class="asm-step-body">
382 - <div class="asm-step-text">
383 - <p>Download Basic Micro Studio. Install and run the IDE to allow programming the chip.</p>
384 - <p>Download the .zip file and unzip it. Open the .prj file in Studio (File → Open → *.prj) and verify that the files in the Workspace are in the order shown in Table 16. Install the PS2 controller receiver, make sure your controller is on, then apply power. Program the Atom Pro.</p>
385 - <p>If all is well, you will hear a beep after power up. Press Start and the legs should snap to position. If you properly calibrated the servo offsets, the legs should be perfectly aligned.</p>
386 - <p>Note: the software switches the controller to analog mode, but some controllers may need to be put into analog mode manually. Continuous beeping means the PS2 controller is not connected or not functioning. You can press Reset on the Bot Board II, or test the controller with a PlayStation 2.</p>
387 - </div>
388 - <div class="asm-step-figure" style="flex: 0 1 320px;">
389 - <p style="font-weight:bold; font-size:12px; margin-bottom:0.5rem;">A-Pod BASIC Atom Pro Program (Table 16)</p>
390 - <table class="ref-table">
391 - <tr><th colspan="2">Phoenix: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/a-pod-bot-board-ii-basic-atom-pro/WebHome/apodps2.zip" target="_blank">apodps2.zip</a></th></tr>
392 - <tr><td colspan="2" style="text-align:left;">
393 - apod_ps2.prj<br>
394 - Phoenix_Config_3DOFAPod.bas<br>
395 - Phoenix_Control_ps2.bas<br>
396 - Phoenix_Core.bas<br>
397 - Phoenix_Driver_SSC-32.bas
398 - </td></tr>
399 - </table>
400 - </div>
401 - </div>
402 - </div>
403 -
404 - <!-- Step 17 -->
405 - <div class="asm-step">
406 - <div class="asm-step-header">
407 - <div class="asm-step-name">A-Pod Tutorial — PS2 Controller Reference</div>
408 - <div class="asm-step-num">Step 17 / 17</div>
409 - </div>
410 - <div class="asm-step-body">
411 - <div class="asm-step-text">
412 - <p>The default is Walking mode 1. Use the Left joystick to move without turning (translation), and the Right joystick to rotate. D-Pad Up/Down adjusts body height. Triangle swaps between walking stance and resting position.</p>
413 - <p>Circle and X trigger special "body moves" modes where the joysticks and some buttons change function — see Table 17 below for details.</p>
414 - </div>
415 - </div>
416 - <div class="asm-fullwidth">
417 - <div style="display:flex; flex-wrap:wrap; gap:1.5rem;">
418 - <div style="flex:1 1 280px;">
419 - <table class="ref-table">
420 - <tr><th>Button</th><th>Function</th></tr>
421 - <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Common Controls</td></tr>
422 - <tr><td>Start</td><td>Turn robot on/off</td></tr>
423 - <tr><td>R3</td><td>Toggle full/half head rotation range</td></tr>
424 - <tr><td>L1</td><td>Open Mandibles</td></tr>
425 - <tr><td>L2</td><td>Close Mandibles</td></tr>
426 - <tr><td>L2 + D-Pad Left</td><td>Decrease gripper torque</td></tr>
427 - <tr><td>L2 + D-Pad Right</td><td>Increase gripper torque</td></tr>
428 - <tr><td>O Circle</td><td>Toggle Rotate mode</td></tr>
429 - <tr><td>X Cross</td><td>Toggle Shift mode</td></tr>
430 - <tr><td>□ Square</td><td>Toggle Balance mode</td></tr>
431 - <tr><td>△ Triangle</td><td>Switch between 35mm height and ground</td></tr>
432 - <tr><td>D-Pad Up</td><td>Body up 10mm</td></tr>
433 - <tr><td>D-Pad Down</td><td>Body down 10mm</td></tr>
434 - <tr><td>D-Pad Left</td><td>Decrease speed by 50mS</td></tr>
435 - <tr><td>D-Pad Right</td><td>Increase speed by 50mS</td></tr>
436 - <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Walk Mode Controls (default)</td></tr>
437 - <tr><td>Select</td><td>Change gaits</td></tr>
438 - <tr><td>Left Joystick</td><td>Mode 1: Walk/strafe | Mode 2: Disabled</td></tr>
439 - <tr><td>Right Joystick</td><td>Mode 1: Rotate | Mode 2: Walk/rotate</td></tr>
440 - <tr><td>R1</td><td>Toggle double gait travel height</td></tr>
441 - <tr><td>R2</td><td>Toggle double gait travel length</td></tr>
442 - </table>
443 - </div>
444 - <div style="flex:1 1 280px;">
445 - <table class="ref-table">
446 - <tr><th>Button</th><th>Function</th></tr>
447 - <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Shift Mode Controls</td></tr>
448 - <tr><td>L1</td><td>Turn Shift mode off</td></tr>
449 - <tr><td>Left Joystick</td><td>Shift body X/Z</td></tr>
450 - <tr><td>Right Joystick</td><td>Shift and rotate body Y</td></tr>
451 - <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Rotate Mode Controls</td></tr>
452 - <tr><td>O Circle</td><td>Turn Rotate mode off</td></tr>
453 - <tr><td>Left Joystick</td><td>Rotate Y / Translate Z</td></tr>
454 - <tr><td>Right Joystick</td><td>Rotate Z/X</td></tr>
455 - <tr><td>Select</td><td>Cycle rotate function (Head tracking / fixed head / head only)</td></tr>
456 - <tr><td>R1</td><td>Move center of rotation to head (when held)</td></tr>
457 - <tr><td>R2</td><td>Move center of rotation to tail (when held)</td></tr>
458 - <tr><td>L3</td><td>Reset body rotations</td></tr>
459 - </table>
460 - </div>
461 - </div>
462 - <p style="text-align:center; font-weight:bold; margin-top:0.5rem;">PS2 Controls — Table 17.</p>
463 - </div>
464 - </div>
465 -
466 -</div>
705 + </td>
706 + </tr>
707 +</tbody></table>
708 +</body>
467 467  {{/html}}
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