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28
29 <div class="asm">
30
31 <!-- Header -->
32 <div style="padding: 0.5rem 0 1rem 0;">
33 <h1>Phoenix Bot Board II / BASIC Atom Pro Tutorial</h1>
34 <p><b>Updated August 10, 2010. Phoenix code v2.0</b></p>
35 <p><span class="warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p>
36 <p><b>Note:</b> This tutorial applies to the SSC-32 v2 with GP firmware.</p>
37 <p><b>Required Software:</b> Basic Micro Studio | Basic Atom Pro program</p>
38 </div>
39
40 <!-- Section I -->
41 <div class="section-header">I. Phoenix Configuration: SSC-32 Registers</div>
42
43 <!-- Step 1 -->
44 <div class="asm-step">
45 <div class="asm-step-header">
46 <div class="asm-step-name">Phoenix Tutorial — Setup</div>
47 <div class="asm-step-num">Step 1 / 19</div>
48 </div>
49 <div class="asm-step-body">
50 <div class="asm-step-text">
51 <p>Place the robot on top of a CD spindle or similar to hold the legs off the ground.</p>
52 <p>Download and install <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. Connect the SSC-32 to the serial port and apply power. The green LED should light and stay on until it receives a valid serial command. Run the LynxTerm program.</p>
53 <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>
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/phoenix-bot-board-ii-tutorial/WebHome/phoen22.jpg">
57 <span>Figure 1.</span>
58 </div>
59 </div>
60 </div>
61
62 <!-- Step 3 (original numbering kept) -->
63 <div class="asm-step">
64 <div class="asm-step-header">
65 <div class="asm-step-name">Phoenix Tutorial — Update Firmware</div>
66 <div class="asm-step-num">Step 2 / 19</div>
67 </div>
68 <div class="asm-step-body">
69 <div class="asm-step-text">
70 <p>Download the 2.04GP Beta firmware or higher. Remove power from the SSC-32 and make sure the baud rate is set to 115.2k. Refer to the manual for baud rate information.</p>
71 <p>Apply power again, ensure it's connected to the PC, and click "Firmware" at the bottom of the LynxTerm screen. Click "Open" and browse to the firmware file. Click "Begin Update".</p>
72 </div>
73 <div class="asm-step-figure">
74 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/reg07.jpg">
75 <span>Figure 3.</span>
76 </div>
77 </div>
78 </div>
79
80 <!-- Step 4 -->
81 <div class="asm-step">
82 <div class="asm-step-header">
83 <div class="asm-step-name">Phoenix Tutorial — Verify Firmware</div>
84 <div class="asm-step-num">Step 3 / 19</div>
85 </div>
86 <div class="asm-step-body">
87 <div class="asm-step-text">
88 <p>When the firmware has been successfully updated, click "Ok" then "Exit". Do the "ver" test: type "ver" into the terminal and press Enter. You should see the proper firmware version returned.</p>
89 </div>
90 <div class="asm-step-figure">
91 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/reg08.jpg">
92 <span>Figure 4.</span>
93 </div>
94 </div>
95 </div>
96
97 <!-- Step 5 -->
98 <div class="asm-step">
99 <div class="asm-step-header">
100 <div class="asm-step-name">Phoenix Tutorial — Power Up Servos</div>
101 <div class="asm-step-num">Step 4 / 19</div>
102 </div>
103 <div class="asm-step-body">
104 <div class="asm-step-text">
105 <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, resembling Figures 7, 8, and 9. If joints are off by more than 15°, remove the center screw from the round servo horn, pull the horn off, rotate until aligned, then reattach.</p>
106 </div>
107 <div class="asm-step-figure">
108 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/reg09.jpg">
109 <span>Figure 5.</span>
110 </div>
111 </div>
112 </div>
113
114 <!-- Step 6 -->
115 <div class="asm-step">
116 <div class="asm-step-header">
117 <div class="asm-step-name">Phoenix Tutorial — Initialize Registers</div>
118 <div class="asm-step-num">Step 5 / 19</div>
119 </div>
120 <div class="asm-step-body">
121 <div class="asm-step-text">
122 <p>From the main screen, click "Reg" to open the Registers page. Click "Default" to initialize default values.</p>
123 <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>
124 <p>Refer to the servo channel number guide (Figure 6) for the following alignment steps.</p>
125 </div>
126 <div class="asm-step-figure">
127 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/reg02.jpg">
128 <span>Figure 6.</span>
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/phoenix-bot-board-ii-tutorial/WebHome/phoen14.jpg" style="margin-top:0.75rem;">
130 <span>Servo Channel Numbering.</span>
131 </div>
132 </div>
133 </div>
134
135 <!-- Step 7 -->
136 <div class="asm-step">
137 <div class="asm-step-header">
138 <div class="asm-step-name">Phoenix Tutorial — Align Horizontal Hip Servos</div>
139 <div class="asm-step-num">Step 6 / 19</div>
140 </div>
141 <div class="asm-step-body">
142 <div class="asm-step-text">
143 <p>Adjust the robot's horizontal hip servos. Select servo #0, then adjust the "Offset" slider until the tibia is in line with the horizontal hip servo horn's screws as shown.</p>
144 <p>Do this for servos <b>#00, 04, 08, 16, 20, 24</b>.</p>
145 <p>Note: the mouse scrollwheel or keyboard arrow keys can be used for fine adjustments.</p>
146 </div>
147 <div class="asm-step-figure">
148 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/phoen17.jpg">
149 <span>Figure 7.</span>
150 </div>
151 </div>
152 </div>
153
154 <!-- Step 8 -->
155 <div class="asm-step">
156 <div class="asm-step-header">
157 <div class="asm-step-name">Phoenix Tutorial — Align Vertical Hip Servos</div>
158 <div class="asm-step-num">Step 7 / 19</div>
159 </div>
160 <div class="asm-step-body">
161 <div class="asm-step-text">
162 <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>
163 <p>Do this for servos <b>#01, 05, 09, 17, 21, 25</b>.</p>
164 </div>
165 <div class="asm-step-figure">
166 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/phoen15.jpg">
167 <span>Figure 8.</span>
168 </div>
169 </div>
170 </div>
171
172 <!-- Step 9 -->
173 <div class="asm-step">
174 <div class="asm-step-header">
175 <div class="asm-step-name">Phoenix Tutorial — Align Knee Servos</div>
176 <div class="asm-step-num">Step 8 / 19</div>
177 </div>
178 <div class="asm-step-body">
179 <div class="asm-step-text">
180 <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>
181 <p>Do this for servos <b>#02, 06, 10, 18, 22, 26</b>.</p>
182 </div>
183 <div class="asm-step-figure">
184 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/phoen16.jpg">
185 <span>Figure 9.</span>
186 </div>
187 </div>
188 </div>
189
190 <!-- Step 10 -->
191 <div class="asm-step">
192 <div class="asm-step-header">
193 <div class="asm-step-name">Phoenix Tutorial — Save Register Settings</div>
194 <div class="asm-step-num">Step 9 / 19</div>
195 </div>
196 <div class="asm-step-body">
197 <div class="asm-step-text">
198 <p>Enable "Initial Pulse Offset", then click "Write" and exit LynxTerm when the write process is finished.</p>
199 <p>Note: you can also check "Initial Pulse Width" to automatically enable the servos on power-up. If you do, make sure you click "Write" to save the changes.</p>
200 <p>This completes the Phoenix configuration for the SSC-32 registers. Whenever the robot is turned on, the servos will automatically be aligned and/or enabled.</p>
201 </div>
202 <div class="asm-step-figure">
203 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/reg04.jpg">
204 <span>Figure 10.</span>
205 </div>
206 </div>
207 </div>
208
209 <!-- Section II -->
210 <div class="section-header">II. Phoenix Configuration: Bot Board II Installation</div>
211
212 <!-- Step 11 -->
213 <div class="asm-step">
214 <div class="asm-step-header">
215 <div class="asm-step-name">Phoenix Tutorial — Add Standoffs</div>
216 <div class="asm-step-num">Step 10 / 19</div>
217 </div>
218 <div class="asm-step-body">
219 <div class="asm-step-text">
220 <p>Remove a screw holding the SSC-32's standoffs onto the Phoenix chassis. Replace the screw with the 3/8" M/F standoff as shown. Be careful not to over-tighten. Repeat for the remaining three screws.</p>
221 </div>
222 <div class="asm-step-figure">
223 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/phoen20.jpg">
224 <span>Figure 11.</span>
225 </div>
226 </div>
227 </div>
228
229 <!-- Step 12 -->
230 <div class="asm-step">
231 <div class="asm-step-header">
232 <div class="asm-step-name">Phoenix Tutorial — Install PS2 Receiver</div>
233 <div class="asm-step-num">Step 11 / 19</div>
234 </div>
235 <div class="asm-step-body">
236 <div class="asm-step-text">
237 <p>Flip the Phoenix over and attach the PS2 cable's receiver socket as shown. Route the rest of the cable up and out the top.</p>
238 </div>
239 <div class="asm-step-figure">
240 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/phoen19.jpg">
241 <span>Figure 12.</span>
242 </div>
243 </div>
244 </div>
245
246 <!-- Step 13 -->
247 <div class="asm-step">
248 <div class="asm-step-header">
249 <div class="asm-step-name">Phoenix Tutorial — Connect Bot Board II to SSC-32</div>
250 <div class="asm-step-num">Step 12 / 19</div>
251 </div>
252 <div class="asm-step-body">
253 <div class="asm-step-text">
254 <p>Modify a 6" 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>
255 <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>
256 <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>
257 <p>See Tables 14-1 through 14-3 and Schematic 14-3 for connection information.</p>
258 </div>
259 <div class="asm-step-figure">
260 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/scmod01.jpg">
261 <span>Figure 13.</span>
262 </div>
263 </div>
264 </div>
265
266 <!-- Step 14 -->
267 <div class="asm-step">
268 <div class="asm-step-header">
269 <div class="asm-step-name">Phoenix Tutorial — Install Bot Board II</div>
270 <div class="asm-step-num">Step 13 / 19</div>
271 </div>
272 <div class="asm-step-body">
273 <div class="asm-step-text">
274 <p>Install the Bot Board II using 1/4" socket head screws. Plug the modified servo cable end in: yellow and black wires on pin 10 with black toward the outside, red wire on pin 11 toward the center.</p>
275 <p>Plug in the PS2 cable as shown in Figure 14-2. Plug in the power wires from the SSC-32 to VL.</p>
276 <p>Note: refer only to Figure 14-2 for connection information — cable colors 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>
277 <p>Install the BASIC Atom Pro as shown in the orientation diagram.</p>
278 <div class="asm-parts">
279 <div class="asm-part">
280 <div class="asm-part-info">
281 <div class="asm-part-qty">4x</div>
282 <div class="asm-part-name">4-40 x .250" socket head screw</div>
Eric Nantel 26.1 283 </div>
Eric Nantel 29.1 284 <div class="asm-part-img">
285 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/4250hscs.gif">
Eric Nantel 26.1 286 </div>
Eric Nantel 29.1 287 </div>
288 <div class="asm-part">
289 <div class="asm-part-info">
290 <div class="asm-part-qty">—</div>
291 <div class="asm-part-name">Atom Pro orientation</div>
Eric Nantel 26.1 292 </div>
Eric Nantel 29.1 293 <div class="asm-part-img">
294 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/aproinst.gif">
295 </div>
296 </div>
297 </div>
Eric Nantel 26.1 298 </div>
Eric Nantel 29.1 299 <div class="asm-step-figure">
300 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/phoen21.jpg">
301 <span>Figure 14-1.</span>
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/phoenix-bot-board-ii-tutorial/WebHome/wire08s.gif" style="margin-top:0.75rem;">
303 <span>Figure 14-2.</span>
Eric Nantel 26.1 304 </div>
Eric Nantel 29.1 305 </div>
306 <!-- Connection tables -->
307 <div class="asm-fullwidth">
308 <div style="display:flex; flex-wrap:wrap; gap:1.5rem; margin-bottom:1rem;">
309 <div style="flex:1 1 250px;">
310 <p style="font-weight:bold; margin-bottom:0.5rem;">SSC-32 Connection Information (Table 14-1)</p>
311 <table class="ref-table">
312 <tr><th>What</th><th>Where</th></tr>
313 <tr><td>Jumper installed</td><td>VS1=VS2</td></tr>
314 <tr><td>Jumper installed</td><td>38.4 Baud Rate</td></tr>
315 <tr><td>Unmodified Cable End</td><td>TX / RX / GND (Black on GND)</td></tr>
316 <tr><td>9VDC Battery Clip</td><td>VL</td></tr>
317 <tr><td>Power Wires</td><td>VL to BBII's VL</td></tr>
318 <tr><td>Battery Wiring Harness</td><td>VS1</td></tr>
319 </table>
320 </div>
321 <div style="flex:1 1 250px;">
322 <p style="font-weight:bold; margin-bottom:0.5rem;">Bot Board II Connection Information (Table 14-2)</p>
323 <table class="ref-table">
324 <tr><th>What</th><th>Where</th></tr>
325 <tr><td>Power Wires</td><td>SSC-32's VL to VL</td></tr>
326 <tr><td>Modified Cable — Black &amp; Yellow</td><td>Pin 10, Black toward outside</td></tr>
327 <tr><td>Modified Cable — Red wire</td><td>Pin 11, toward center</td></tr>
328 <tr><td>Power jumper for I/O 12-15</td><td>5VDC</td></tr>
329 <tr><td>PS2 Cable</td><td>I/O Group 12-15</td></tr>
330 </table>
331 </div>
Eric Nantel 26.1 332 </div>
Eric Nantel 29.1 333 <p style="font-weight:bold; margin-bottom:0.5rem;">Servo Channels (Table 14-3)</p>
334 <table class="ref-table">
335 <tr><th>Label / Ch.</th><th>Function</th><th>Label / Ch.</th><th>Function</th></tr>
336 <tr><td>RRH / 00</td><td>Right Rear Horizontal Hip</td><td>LRH / 16</td><td>Left Rear Horizontal Hip</td></tr>
337 <tr><td>RRV / 01</td><td>Right Rear Vertical Hip</td><td>LRV / 17</td><td>Left Rear Vertical Hip</td></tr>
338 <tr><td>RRK / 02</td><td>Right Rear Knee</td><td>LRK / 18</td><td>Left Rear Knee</td></tr>
339 <tr><td>RMH / 04</td><td>Right Middle Horizontal Hip</td><td>LMH / 20</td><td>Left Middle Horizontal Hip</td></tr>
340 <tr><td>RMV / 05</td><td>Right Middle Vertical Hip</td><td>LMV / 21</td><td>Left Middle Vertical Hip</td></tr>
341 <tr><td>RMK / 06</td><td>Right Middle Knee</td><td>LMK / 22</td><td>Left Middle Knee</td></tr>
342 <tr><td>RFH / 08</td><td>Right Front Horizontal Hip</td><td>LFH / 24</td><td>Left Front Horizontal Hip</td></tr>
343 <tr><td>RFV / 09</td><td>Right Front Vertical Hip</td><td>LFV / 25</td><td>Left Front Vertical Hip</td></tr>
344 <tr><td>RFK / 10</td><td>Right Front Knee</td><td>LFK / 26</td><td>Left Front Knee</td></tr>
345 </table>
346 <div style="text-align:center; margin-top:1rem;">
347 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/phoesch1.gif" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
348 <p style="font-size:12px; color:#666; margin-top:0.3rem;">Schematic — Figure 14-3.</p>
Eric Nantel 26.1 349 </div>
Eric Nantel 29.1 350 </div>
351 </div>
352
353 <!-- Step 15 -->
354 <div class="asm-step">
355 <div class="asm-step-header">
356 <div class="asm-step-name">Phoenix Tutorial — Install IDE</div>
357 <div class="asm-step-num">Step 14 / 19</div>
358 </div>
359 <div class="asm-step-body">
360 <div class="asm-step-text">
361 <p>Download Basic Micro Studio and install and run the IDE to allow programming the chip.</p>
362 <p>Connect the serial data cable to the PC's serial port (9 pins that stick out) and the other end to the Bot Board's DB9 port. A BAFO BF-810 or IOGear USB-to-Serial adapter can also be used.</p>
Eric Nantel 26.1 363 </div>
Eric Nantel 29.1 364 <div class="asm-step-figure">
365 <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/comp.jpg">
366 <span>Figure 15.</span>
Eric Nantel 26.1 367 </div>
Eric Nantel 29.1 368 </div>
369 </div>
370
371 <!-- Step 16 — PS2 -->
372 <div class="asm-step">
373 <div class="asm-step-header">
374 <div class="asm-step-name">Phoenix Tutorial — Download &amp; Program (PS2 Controller)</div>
375 <div class="asm-step-num">Step 15 / 19</div>
376 </div>
377 <div class="asm-step-body">
378 <div class="asm-step-text">
379 <p>Download the .zip file and unzip it. Open the .prj file in Studio (File → Open → *.prj) and verify the files are in the order shown in Table 16. Install the PS2 controller receiver, make sure the controller is on, then apply power. Program the Atom Pro. You should hear a beep after power up. Press Start and the legs should snap to position.</p>
380 <p>Note: the software switches the controller to analog mode, but some controllers may need this done manually. Continuous beeping means the PS2 controller is not connected. Try pressing Reset on the Bot Board II.</p>
381 </div>
382 <div class="asm-step-figure" style="flex: 0 1 320px;">
383 <p style="font-weight:bold; font-size:12px; margin-bottom:0.5rem;">Table 16 — Programs</p>
384 <table class="ref-table" style="font-size:11px;">
385 <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/phoenix-bot-board-ii-tutorial/WebHome/phoe2ps2.zip" target="_blank">phoe2ps2.zip</a></th></tr>
386 <tr><td colspan="2" style="text-align:left;">phoenix_V20.prj | phoenix_cfg.bas | phoenix_V20.bas | phoenix_control_ps2.bas</td></tr>
387 <tr><th colspan="2">CH3-R: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/ch3r2ps2.zip" target="_blank">ch3r2ps2.zip</a></th></tr>
388 <tr><td colspan="2" style="text-align:left;">phoenix_V20.prj | ch3-r_cfg.bas | phoenix_V20.bas | phoenix_control_ps2.bas</td></tr>
389 </table>
390 </div>
391 </div>
392 </div>
393
394 <!-- Step 17 — PS2 controls -->
395 <div class="asm-step">
396 <div class="asm-step-header">
397 <div class="asm-step-name">Phoenix Tutorial — PS2 Controller Reference</div>
398 <div class="asm-step-num">Step 16 / 19</div>
399 </div>
400 <div class="asm-step-body">
401 <div class="asm-step-text">
402 <p>The default is Walking mode 1. Use the Left joystick to move without turning, and the Right joystick to rotate. D-Pad Up/Down adjusts body height. Triangle switches between 35mm walking height and lowered position. L1, L2, Circle, and X trigger special body moves modes where joysticks change function — see Table 17 below.</p>
403 </div>
404 </div>
405 <div class="asm-fullwidth">
406 <div style="display:flex; flex-wrap:wrap; gap:1.5rem;">
407 <div style="flex:1 1 280px;">
408 <table class="ref-table">
409 <tr><th>Button</th><th>Function</th></tr>
410 <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Common Controls</td></tr>
411 <tr><td>Start</td><td>Turn robot on/off</td></tr>
412 <tr><td>R3</td><td>Switch Walk mode 1 / 2</td></tr>
413 <tr><td>L1</td><td>Toggle Shift mode</td></tr>
414 <tr><td>L2</td><td>Toggle Rotate mode</td></tr>
415 <tr><td>X</td><td>Toggle GP Player mode</td></tr>
416 <tr><td>O Circle</td><td>Toggle Single Leg mode</td></tr>
417 <tr><td>□ Square</td><td>Toggle Balance mode</td></tr>
418 <tr><td>△ Triangle</td><td>Switch 35mm height / lowered</td></tr>
419 <tr><td>D-Pad Up</td><td>Body up 10mm</td></tr>
420 <tr><td>D-Pad Down</td><td>Body down 10mm</td></tr>
421 <tr><td>D-Pad Left</td><td>Decrease speed by 50mS</td></tr>
422 <tr><td>D-Pad Right</td><td>Increase speed by 50mS</td></tr>
423 <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Walk Mode Controls (default)</td></tr>
424 <tr><td>Select</td><td>Change gaits</td></tr>
425 <tr><td>Left Joystick</td><td>Mode 1: Walk/strafe | Mode 2: Disabled</td></tr>
426 <tr><td>Right Joystick</td><td>Mode 1: Rotate | Mode 2: Walk/rotate</td></tr>
427 <tr><td>R1</td><td>Toggle double gait travel speed</td></tr>
428 <tr><td>R2</td><td>Toggle double gait travel length</td></tr>
429 </table>
430 </div>
431 <div style="flex:1 1 280px;">
432 <table class="ref-table">
433 <tr><th>Button</th><th>Function</th></tr>
434 <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Shift Mode Controls</td></tr>
435 <tr><td>L1</td><td>Turn Shift mode off</td></tr>
436 <tr><td>Left Joystick</td><td>Shift body X/Z</td></tr>
437 <tr><td>Right Joystick</td><td>Shift and rotate body Y</td></tr>
438 <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Rotate Mode Controls</td></tr>
439 <tr><td>L2</td><td>Turn Rotate mode off</td></tr>
440 <tr><td>Left Joystick</td><td>Rotate body X/Z</td></tr>
441 <tr><td>Right Joystick</td><td>Rotate body Y</td></tr>
442 <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Single Leg Mode Controls</td></tr>
443 <tr><td>O Circle</td><td>Turn Single Leg mode off</td></tr>
444 <tr><td>Select</td><td>Switch legs</td></tr>
445 <tr><td>Left Joystick</td><td>Move leg X/Z (relative)</td></tr>
446 <tr><td>Right Joystick</td><td>Move leg Y (absolute)</td></tr>
447 <tr><td>R2</td><td>Hold/release leg position</td></tr>
448 <tr><td colspan="2" style="background:#ccc; font-weight:bold;">GP Player Mode Controls</td></tr>
449 <tr><td>X</td><td>Turn GP Player mode off</td></tr>
450 <tr><td>Select</td><td>Switch sequences</td></tr>
451 <tr><td>R2</td><td>Start sequences</td></tr>
452 </table>
453 </div>
454 </div>
455 <p style="text-align:center; font-weight:bold; margin-top:0.5rem;">PS2 Controls — Table 17.</p>
456 </div>
457 </div>
458
459 <!-- Step 18 — DIY -->
460 <div class="asm-step">
461 <div class="asm-step-header">
462 <div class="asm-step-name">Phoenix Tutorial — Download &amp; Program (DIY Controller)</div>
463 <div class="asm-step-num">Step 17 / 19</div>
464 </div>
465 <div class="asm-step-body">
466 <div class="asm-step-text">
467 <p>For Phoenix or CH3-R with DIY controller — information on the DIY controller is located <a href="http://www.lynxmotion.net/viewtopic.php?f=21&t=4399" target="_blank">on the Lynxmotion forum</a>.</p>
468 <p>Download the .zip file and unzip it. Open the .prj file in Studio and verify files are in the order shown in Table 18. Program the Atom Pro, then apply power. You should hear a beep after power up. Press Start and the legs should snap to position. Remove power when confirmed.</p>
469 </div>
470 <div class="asm-step-figure" style="flex: 0 1 320px;">
471 <p style="font-weight:bold; font-size:12px; margin-bottom:0.5rem;">Table 18 — Programs</p>
472 <table class="ref-table" style="font-size:11px;">
473 <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/phoenix-bot-board-ii-tutorial/WebHome/phoe2diy.zip" target="_blank">phoe2diy.zip</a></th></tr>
474 <tr><td colspan="2" style="text-align:left;">phoenix_V20.prj | phoenix_cfg.bas | phoenix_V20.bas | phoenix_control_diy-rc.bas</td></tr>
475 <tr><th colspan="2">CH3-R: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/phoenix-bot-board-ii-tutorial/WebHome/ch3r2diy.zip" target="_blank">ch3r2diy.zip</a></th></tr>
476 <tr><td colspan="2" style="text-align:left;">phoenix_V20.prj | ch3-r_cfg.bas | phoenix_V20.bas | phoenix_control_diy-rc.bas</td></tr>
477 </table>
478 </div>
479 </div>
480 </div>
481
482 <!-- Step 19 — DIY controls -->
483 <div class="asm-step">
484 <div class="asm-step-header">
485 <div class="asm-step-name">Phoenix Tutorial — DIY Controller Reference</div>
486 <div class="asm-step-num">Step 18 / 19</div>
487 </div>
488 <div class="asm-step-body">
489 <div class="asm-step-text">
490 <p>Use the Left joystick to control body height and rotation. The Right joystick handles walking and strafing. Buttons B, C, and D trigger special body moves modes — press A to return to normal Walking mode. See Table 19 below.</p>
491 </div>
492 </div>
493 <div class="asm-fullwidth">
494 <div style="display:flex; flex-wrap:wrap; gap:1.5rem;">
495 <div style="flex:1 1 280px;">
496 <table class="ref-table">
497 <tr><th>Button</th><th>Function</th></tr>
498 <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Common Controls</td></tr>
499 <tr><td>0</td><td>Turn robot on/off</td></tr>
500 <tr><td>A</td><td>Walk mode</td></tr>
501 <tr><td>B</td><td>Translate mode</td></tr>
502 <tr><td>C</td><td>Rotate mode</td></tr>
503 <tr><td>D</td><td>Single Leg mode</td></tr>
504 <tr><td>E</td><td>Toggle Balance mode</td></tr>
505 <tr><td>Left Slider</td><td>Speed</td></tr>
506 <tr><td>Right Slider</td><td>Leg lift height</td></tr>
507 <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Walk Mode Controls</td></tr>
508 <tr><td>1–8</td><td>Switch gaits</td></tr>
509 <tr><td>Left Joystick</td><td>Body height / rotate</td></tr>
510 <tr><td>Right Joystick</td><td>Walk / strafe</td></tr>
511 </table>
512 </div>
513 <div style="flex:1 1 280px;">
514 <table class="ref-table">
515 <tr><th>Button</th><th>Function</th></tr>
516 <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Translate Mode Controls</td></tr>
517 <tr><td>B</td><td>Turn Translate mode off</td></tr>
518 <tr><td>Left Joystick</td><td>Body height / Rotate body Y</td></tr>
519 <tr><td>Right Joystick</td><td>Translate body X/Z</td></tr>
520 <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Rotate Mode Controls</td></tr>
521 <tr><td>C</td><td>Turn Rotate mode off</td></tr>
522 <tr><td>Left Joystick</td><td>Body height / Rotate body Y</td></tr>
523 <tr><td>Right Joystick</td><td>Rotate body X/Z</td></tr>
524 <tr><td colspan="2" style="background:#ccc; font-weight:bold;">Single Leg Mode Controls</td></tr>
525 <tr><td>D</td><td>Turn Single Leg mode off</td></tr>
526 <tr><td>1–6</td><td>Switch legs</td></tr>
527 <tr><td>Left Joystick</td><td>Move tars Y</td></tr>
528 <tr><td>Right Joystick</td><td>Move tars X/Z</td></tr>
529 </table>
530 </div>
531 </div>
532 <p style="text-align:center; font-weight:bold; margin-top:0.5rem;">DIY Controls — Table 19.</p>
533 </div>
534 </div>
535
536 </div>
Eric Nantel 1.1 537 {{/html}}

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