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Eric Nantel 22.1 2 <body><table border="0" cellpadding="0" cellspacing="0" >
3 <tbody><tr>
4 <td valign="top" align="left" rowspan="2"><strong><font size="2" face="Verdana, Helvetica, sans-serif">The Complete H3/H3-R Tutorial
5 v2.0</font></strong>
6 <p><strong><font size="2" face="Verdana, Helvetica, sans-serif">Updated <!--webbot bot="Timestamp" s-type="EDITED" s-format="%m/%d/%Y" startspan -->
7 <!-- #BeginDate format:Am3 -->12/20/2011<!-- #EndDate -->
8 <!--webbot bot="Timestamp" i-CheckSum="12501" endspan -->.</font></strong></p>
9 <p><font size="2" face="Verdana, Helvetica, sans-serif">This guide applies to the <b>Bot Board II</b>.</font></p>
10 <p><font size="2" face="Verdana, Helvetica, sans-serif">The purpose of this guide is to use the PowerPod program to calibrate the servos and
11 create a custom Basic Atom 28 or Basic Atom Pro 28 program for PS2 remote control. You will also be able to create a program for autonomous or
12 serial control.</font></p>
13 <p><font size="2" face="Verdana, Helvetica, sans-serif"><b>Note</b>, we used the round hexapod for the images in the tutorial, however,
14 everything still applies to the inline hexapod.</font></p>
15 <p><b><font size="2" face="Verdana, Helvetica, sans-serif">Note</font></b><font size="2" face="Verdana, Helvetica, sans-serif">, the PS2 control
16 programs have been verified to work with the Madcatz, Pelican, Hiteck and Lynxmotion wireless controllers. However, we cannot guarantee that
17 future versions of the non-Lynxmotion controllers will work.</font></p>
18 <p><font size="2" face="Verdana, Helvetica, sans-serif"><strong>Hardware:<br>
19 </strong>&nbsp; - SSC-32 / Bot Board II<br>
20 &nbsp; - BASIC Atom 28 -OR- BASIC Atom Pro 28<br>
21 &nbsp; - PS2 Cable / PS2 Wireless Controller -OR- RC-Style Stick Radio<br>
22 &nbsp; - Hexapod 3 / 3-R</font></p>
23 <p><b><font size="2" face="Verdana, Helvetica, sans-serif">Software:<br>
24 </font></b><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp; - PowerPod (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/powerpod/" target="_blank">download</a>)<br>
25 &nbsp; - Basic Micro Studio</font></p>
26 <p><font size="2" face="Verdana, Helvetica, sans-serif"><b>Resources:</b><br>
27 &nbsp; - Close-up of SSC-32 (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/h3r07b.jpg" target="_blank">h3r07b.jpg</a>)<br>
28 &nbsp; - Close-up of Bot Board (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/h3r08b.jpg" target="_blank">h3r08b.jpg</a>)<br>
29 &nbsp;</font></p></td>
Eric Nantel 27.1 30 <td align="center" valign="top" width="320"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/hexa.jpg" border="2" hspace="10" ><br>
Eric Nantel 22.1 31 <font size="2"><strong>Image of AH3-R.<br>
32 &nbsp;</strong></font></font></td>
33 </tr>
34 <tr>
35 <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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/hexb.jpg" border="2" hspace="10" ><br>
36 <font size="2"><strong>Image of BH3-R.<br>
37 &nbsp;</strong></font></font></td>
38 </tr><tr>
39 <td valign="top" align="center"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/hexi.jpg" border="2" hspace="10" ><br>
40 <font size="2"><strong>Image of BH3.</strong></font></font></td>
41 <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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/hexc.jpg" border="2" hspace="10" ><br>
42 <font size="2"><strong>Image of CH3-R.</strong></font></font></td>
43 </tr>
44 <tr>
45 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
46 </tr>
47 <tr>
48 <td valign="top" align="center" colspan="2">
49 <hr noshade="" color="#808080">
50 </td>
51 </tr>
52 <tr>
53 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
54 </font></td>
55 </tr>
56 <tr>
57 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 1.</b><br>
Eric Nantel 25.1 58 The first thing you need to do is use the PowerPod program to calibrate the robot's legs. Download PowerPod <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/powerpod/">here</a>.
Eric Nantel 22.1 59 Just unzip the zip file and run the setup.exe file. This will automatically create an icon on your desktop so you can open PowerPod. When the
60 program is opened, click on "Help" and review the manual. It's a good idea to familiarize yourself with the inner workings of the
61 program before proceeding with the tutorial.</font></td>
62 <td align="center" valign="top" ><font size="2" 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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/powerpod.jpg" border="2" hspace="10" ><br>
63 Figure 1.</font></td>
64 </tr>
65 <tr>
66 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
67 </tr>
68 <tr>
69 <td valign="top" align="left"><strong><font size="2" face="Verdana, Helvetica, sans-serif">Step 2.</font></strong><font size="2" face="Verdana, Helvetica, sans-serif"><br>
70 Connect the serial data cable to the PC's serial port. This can be recognized by having 9 pins that stick out. Note, you can also use a BAFO BF-810 or IOGear USB-to-Serial adaptor.</font>
Eric Nantel 25.1 71 <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
Eric Nantel 22.1 72 troubleshooting guide</a> if you have difficulties with this.</font></p></td>
73 <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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/comp.jpg" border="2" hspace="10" ><br>
74 <font size="2">Figure 2.</font></font></td>
75 </tr>
76 <tr>
77 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
78 </tr>
79 <tr>
80 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 3.<br>
81 </b>Set the robot up on a stand such as a CD spindle. Connect the DB9 or USB-to-serial cable to your PC and to the SSC-32. Power up the robot.
82 Verify that the green LED on the SSC-32 lights up. Note, this is NOT a power indicator. Its purpose is to light up, indicating that the SSC-32
83 is functioning properly. It will remain lit until it receives serial data. After that, it will blink when receiving data. The servos may jump
84 but will not hold position yet. Consult the PowerPod manual if you have trouble connecting.</font></td>
85 </tr>
86 <tr>
87 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
88 </tr>
89 <tr>
90 <td valign="top" align="center"><font size="2" 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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/hex02a.jpg" border="2" hspace="10" ><br>
91 Figure 3-1.</font></td>
92 <td align="center" valign="top" ><font size="2" 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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/hex02b.jpg" border="2" hspace="10" ><br>
93 Figure 3-2.</font></td>
94 </tr>
95 <tr>
96 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
97 </font></td>
98 </tr>
99 <tr>
100 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 4.</b><br>
101 Click "All=1500" to enable the servos. The robot's legs should move quickly into position as in Figures 3-1 or 3-2, and should hold
102 this position. If the legs move into position but suddenly go limp, this is an indication of a low battery. A low battery can't deliver the
103 required current, causing the SSC-32 to reset. Another clue that this is happening is the SSC-32's green LED will be on steady, as it is upon
104 powerup. If the legs are holding position but look radically different, then a mistake may have been made in the assembly. To correct this, you
105 can remove the center servo horn screw, pull the servo horn off the servo, reposition it, and press it back on the servo. Then replace the servo
106 horn screw. Don't worry if the legs are off a little bit (under 15°) as this will be corrected in the servo offset procedure.</font></td>
107 <td align="center" valign="top" ><font size="2" 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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/ppod01.jpg" border="2" hspace="10" ><br>
108 Figure 4.</font></td>
109 </tr>
110 <tr>
111 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
112 </tr>
113 <tr>
114 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 5.</b><br>
115 We will now begin to use the servo offset adjustment to fine-tune the alignment of the leg joints. The goal is to align the leg to be
116 perpendicular to the chassis, and the knee to form a perfect right angle. (See Figures 5-1 and 5-2.)</font>
117 <p><font size="2" face="Verdana, Helvetica, sans-serif">We are assuming that you have your servos plugged into the appropriate pins, according
118 to the assembly guide. Select the servo channel 0 by clicking on the radio button below it. Click once on the Offset slider bar to select it,
119 but don't move it! You will move it using the arrow keys on your keyboard for greater accuracy. Start tapping one of the arrow keys slowly until
120 you notice the associated joint move on the robot. After all joints are adjusted to your liking you can save the .hcf file.</font></p>
121 <p><font size="2" face="Verdana, Helvetica, sans-serif">Note, the image in PowerPod represents the inline version, but the servo channels are
122 the same for the round version.</font></p>
123 </td>
124 <td align="center" valign="top" ><font size="2" 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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/ppod02.jpg" border="2" hspace="10" ><br>
125 Figure 5.</font></td>
126 </tr>
127 <tr>
128 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
129 </tr>
130 <tr>
131 <td valign="top" align="center"><font size="2" 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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/hex04a.jpg" border="2" hspace="10" ><br>
132 Figure 5-1.</font></td>
133 <td align="center" valign="top" ><font size="2" 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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/hex04b.jpg" border="2" hspace="10" ><br>
134 Figure 5-2.</font></td>
135 </tr>
136 <tr>
137 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
138 </font></td>
139 </tr>
140 <tr>
141 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 6.</b><br>
Eric Nantel 25.1 142 Open the master .pmp program. "H3 VX.41 - Master.pmp" is the current version as of the writing of this document. Please check <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/powerpod/#downloads">here</a>
Eric Nantel 22.1 143 to make sure you're working with the most current version of the .pmp master program.</font>
144 <p><font size="2" face="Verdana, Helvetica, sans-serif"><b>IDE:</b> Choose the appropriate version.<br>
145 <b>Control:</b> PS2, Autonomous, or Serial.<br>
146 <b>H3 Legs:</b> 3DOF-A, 3DOF-B, 3DOF-C, or 3DOF (Old).<br>
147 <b>H3 Body:</b> Round or inline.<br>
148 <b>PS2 Controller / BB Connections:</b> Choose between Bot Board I and Bot Board II settings.<br>
149 <b>PS2 sticks dead zone:</b> Small, Normal, Large.<br>
150 <b>Tibia Angle:</b> + values set foot tip away from knee. Value of +20 recommended for 3DOF-C leg.<br>
151 <b>Auto Legs Down:</b> If enabled, lowers lifted tripod after period of inactivity.</font></p>
152 <p><font size="2" face="Verdana, Helvetica, sans-serif"><b>Remember to click save to update your config file!</b> Then click on "Build
153 Basic Program" to create your custom program.</font></p>
154 </td>
155 <td align="center" valign="top" ><font size="2" 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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/powerpod.jpg" border="2" hspace="10" ><br>
156 Figure 6.</font></td>
157 </tr>
158 <tr>
159 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
160 </tr>
161 <tr>
162 <td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><font size="2"><b>Step 7.</b><br>
163 We're now done communicating with the SSC-32 from a PC, so we need to change the settings to communicate with a Basic Atom or Basic Atom Pro 28.
164 Change the baud rate jumpers on the SSC-32 to 38.4 kbaud. Remove the DB9-enable jumpers and install the DC-01 with the narrow (0.1") spaced
165 connector on the TTL serial communication posts. The black wire is closest to the edge of the board, and the yellow wire is on RX.</font></font>
166 <p><font size="2" face="Verdana, Helvetica, sans-serif">See the schematic below for detailed information.</font></p>
167 </td>
168 <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/h3r07b.jpg" target="_blank"><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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/h3r07a.jpg" ></a></font><br>
169 <font size="2" face="Verdana, Helvetica, sans-serif">Figure 7.</font></td>
170 </tr>
171 <tr>
172 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
173 </tr>
174 <tr>
175 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 8.</b><br>
176 For the round chassis, remove the 3/8 x 4-40 screws that hold the SSC-32 in place. Install the Bot Board as illustrated in Figure 8 using the
177 same screws. Attach the red and black wires from the SSC-32 to the VL input, with black on (-) and red on (+).</font>
178 <p><font size="2" face="Verdana, Helvetica, sans-serif">For both chassis styles, make sure that the ABC buttons / LED jumpers are removed.
179 Install the speaker enable jumper. Install the DC-01 to I/O P8, where black is closest to the outside of the board and yellow is on the I/O pin.
180 Consult the manual for the Bot Board II if needed.</font></p>
181 <p><font size="2" face="Verdana, Helvetica, sans-serif">See the schematic below for detailed information.</font></p></td>
182 <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/h3r08b.jpg" target="_blank"><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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/h3r08a.jpg" ></a></font><br>
183 <font size="2" face="Verdana, Helvetica, sans-serif">Figure 8.</font></td>
184 </tr>
185 <tr>
186 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
187 </font></td>
188 </tr>
189 <tr>
190 <td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 9.</font></b><br>
191 <font size="2">Install the Playstation 2 cable as illustrated in Figure 9-1.</font>
192 <p>
193 <font size="2">Note: Refer only to Figure 9-1 for connection information.
194 The cable colors in the picture may be outdated. If your cable's colors do
Eric Nantel 25.1 195 not match the diagram, you can find a complete listing of possible colors <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/bot-board-ii/#aglance">here</a>.</font></p>
Eric Nantel 22.1 196 <p align="center"><font face="Verdana, Helvetica, sans-serif"><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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/wire08s.gif"><br>
197 <font size="2">Figure 9-1.</font></font></p>
198 </font>
199 </td>
200 <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/ps2bb2.jpg" ></font><br>
201 <font size="2" face="Verdana, Helvetica, sans-serif">Figure 9-2.</font></td>
202 </tr>
203 <tr>
204 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
205 </font></td>
206 </tr>
207 <tr>
208 <td valign="top" align="left" colspan="2"><p><font size="2" face="Verdana, Helvetica, sans-serif"><b>Schematic</b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">.</font></b><br>
209 <font size="2">Double check your connections against the schematic below.</font></font></p>
210 <div align="center">
211 <center>
212 <table border="1" bordercolor="#FFFFFF">
213 <tbody><tr>
214 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="3">
215 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Servo Letter Definitions</font></p></td>
216 </tr>
217 <tr>
218 <td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b>&nbsp;L</b>eft<br>
219 &nbsp;<b>R</b>ight</font></td>
220 <td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b>&nbsp;R</b>ear<br>
221 &nbsp;<b>M</b>iddle<br>
222 &nbsp;<b>F</b>ront</font></td>
223 <td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b>&nbsp;K</b>nee<br>
224 &nbsp;<b>V</b>ertical<br>
225 &nbsp;<b>H</b>orizontal</font></td>
226 </tr>
227 </tbody></table>
228 </center>
229 </div>
230 <p align="center"><font face="Verdana, Helvetica, sans-serif"><img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/h3wire02.gif" ><br>
231 <font size="2"> Schematic.</font></font></p>
232 </td>
233 </tr>
234 <tr>
235 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
236 </font></td>
237 </tr>
238 <tr>
239 <td valign="top" align="left"><strong><font size="2" face="Verdana, Helvetica, sans-serif">Step 10.</font></strong><font size="2" face="Verdana, Helvetica, sans-serif"><br>
240 Use some double-sided foam tape to stick the PS2 cable on the bottom of the robot as shown. This will make it easier to swap controllers if
241 needed.</font></td>
242 <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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/h3r09.jpg" border="2" hspace="10" ><br>
243 <font size="2">Figure 10.</font></font></td>
244 </tr>
245 <tr>
246 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
247 </tr>
248 <tr>
249 <td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">Step 11. Download the Program</font></strong><font size="2"><br>
Eric Nantel 25.1 250 </font></font><font size="2" face="Verdana, Helvetica, sans-serif">Download BASIC Micro Studio.
Eric Nantel 22.1 251 Install and run the program to allow programming the chip.</font>
Eric Nantel 25.1 252 <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
Eric Nantel 22.1 253 troubleshooting guide</a> if you have difficulties with this.</font></p>
254 <p><font face="Verdana, Helvetica, sans-serif"><font size="2">Open the .zip file generated from PowerPod in BASIC Micro Studio. Program
255 the Atom. </font></font><font size="2" face="Verdana, Helvetica, sans-serif">Install the PS2 controller receiver into the PS2 cable on the
256 robot, and apply power. If all is well, you should hear a few short beeps, the legs should snap to position, and slowly lift the body up. Then
257 the two tripods will lift and lower once. At this point, if you properly calibrated the servo offsets, the legs should be perfectly aligned.
258 Remove power to the robot.</font></p>
259 </td>
260 <td valign="top" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font><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/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/rc01.jpg" border="2" hspace="10" ><br>
261 <font size="2">Figure 11.</font></font></td>
262 </tr>
263 <tr>
264 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
265 </font></td>
266 </tr>
267 <tr>
268 <td valign="top" align="left"><b><font size="2" face="Verdana, Helvetica, sans-serif">Step 12. Controlling the Robot</font></b><font size="2" face="Verdana, Helvetica, sans-serif"><br>
269 Make sure your PS2 controller is turned on. The software switches the controller to analog mode. However, some controllers may need to be put
270 into analog mode manually. Apply power to the robot. If you hear a continuous beeping, the PS2 controller is not connected to the Atom properly
271 or is not functioning. You can test the controller with a Playstation 2 to verify that it is working.</font>
272 <p><font size="2" face="Verdana, Helvetica, sans-serif">The shoulder buttons (L1, L2, R1, and R2) are used to adjust the height, leg lift, and
273 gait speed quickly. The "Tile Floor" setting (L1) uses a fast speed and slightly lower leg lift. "Tall Grass" (R1) uses
274 maximum ride height and leg lift, and slower speed. "Body Low" (R2) lowers the robot's ride height.</font></p>
275 <p><font size="2" face="Verdana, Helvetica, sans-serif">The default is Walking mode. Use the Right joystick to move the robot around without
276 turning (this is called "translation"). The Left joystick's X-Axis (horizontal) rotates the robot as it moves. The Left joystick's
277 Y-Axis (vertical) changes the robot's ride height (L3 locks ride height). The Triangle button lowers the body to the ground then turns off all
278 the servos; press Triangle again to turn the servos back on and reset to default settings. The Circle button returns the robot to setup position
279 (all servos at 1500mS). The X button triggers the robot's attack, and Square prompts the robot to learn to fly. You can limit the speed of
280 walking via Left and Right on the D-Pad. Up and Down on the D-Pad increases or decreases the amount of leg lift. Start toggles extra leg lift at
281 the knee (knee angle shift).</font></p>
282 <p><font size="2" face="Verdana, Helvetica, sans-serif">Press Select to switch between Walking mode and Body Move mode. In Body Move mode, the
283 right joystick moves the body horizontally (two axis rotation). The left joystick has four different formats. Mode 0 affects height and
284 rotation. Mode 1 affects height and side-to-side tilt. Mode 3 affects front-to-back tilt and rotation. Mode 4 affects two axis tilt.</font></p>
285 <p><font size="2" face="Verdana, Helvetica, sans-serif">By attaching a servo to Pin 31 on the SSC-32, the servo will automatically pan in the
286 direction of walking. The default is limited to 180° using a standard servo, and will mirror the direction when walking backwards. If a 360°
287 geared servo is used, the software can be configured to use the entire range of motion by uncommenting that section of the program.</font></p>
288 <p><font size="2" face="Verdana, Helvetica, sans-serif">By attaching servos to Pins 29 and 30 on the SSC-32, a manual pan and tilt or Little
289 Grip (rotate, open/close) can be added. Use R1/R2 and L1/L2 to control the servos. Note, this function is only available in Body Move Mode.</font></p>
290 </td>
291 <td valign="top" >
292 <div align="center">
293 <center>
294 <table border="1" bordercolor="#FFFFFF">
295 <tbody><tr>
296 <td bordercolor="#808080" bgcolor="#C0C0C0">
297 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
298 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
299 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walking Mode (default)</font></p></td>
300 </tr>
301 <tr>
302 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
303 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch modes</font></td>
304 </tr>
305 <tr>
306 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right Joystick</font></td>
307 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Speed and Direction for
308 translation</font></td>
309 </tr>
310 <tr>
311 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left Joystick</font></td>
312 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X-Axis: Rotational movement<br>
313 Y-Axis: Ride height</font></td>
314 </tr>
315 <tr>
316 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L1</font></td>
317 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Preset: Tile Floor</font></td>
318 </tr>
319 <tr>
320 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L2</font></td>
321 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Preset: Default</font></td>
322 </tr>
323 <tr>
324 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L3</font></td>
325 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Locks ride height</font></td>
326 </tr>
327 <tr>
328 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R1</font></td>
329 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Preset: Tall Grass</font></td>
330 </tr>
331 <tr>
332 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
333 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Preset: Body Low</font></td>
334 </tr>
335 <tr>
336 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R3</font></td>
337 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Horn</font></td>
338 </tr>
339 <tr>
340 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Start</font></td>
341 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Knee angle shift<br>
342 (Max ground clearance)</font></td>
343 </tr>
344 <tr>
345 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad L and R</font></td>
346 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left: Speed increase<br>
347 Right: Speed decrease<br>
348 (Fast &lt;- Normal -&gt; Slow)</font></td>
349 </tr>
350 <tr>
351 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad U and D</font></td>
352 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Up: Leg lift increase<br>
353 Down: Leg lift decrease</font></td>
354 </tr>
355 <tr>
356 <td bordercolor="#C0C0C0" align="center"><u><font size="2" face="Verdana, Helvetica, sans-serif">/\</font></u><font size="2" face="Verdana, Helvetica, sans-serif">
357 Triangle</font></td>
358 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Lowers body, then removes servo
359 pulses. Press again to return to walk mode (cold start).</font></td>
360 </tr>
361 <tr>
362 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O Circle</font></td>
363 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">All servos = 1500mS</font></td>
364 </tr>
365 <tr>
366 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X</font></td>
367 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">"Attack Mode"</font></td>
368 </tr>
369 <tr>
370 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">[] Square</font></td>
371 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">"Learning to Fly"</font></td>
372 </tr>
373 <tr>
374 <td bordercolor="#808080" bgcolor="#C0C0C0">
375 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
376 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
377 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body Move Mode</font></p></td>
378 </tr>
379 <tr>
380 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
381 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch modes</font></td>
382 </tr>
383 <tr>
384 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right Joystick</font></td>
385 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move body horizontally<br>
386 (two axis translation)</font></td>
387 </tr>
388 <tr>
389 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left Joystick</font></td>
390 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">(See text)</font></td>
391 </tr>
392 <tr>
393 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L3</font></td>
394 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Change Left Joystick function<br>
395 (See text)</font></td>
396 </tr>
397 <tr>
398 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R3</font></td>
399 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Horn</font></td>
400 </tr>
401 <tr>
402 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad L and R</font></td>
403 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left: Speed increase<br>
404 Right: Speed decrease<br>
405 (Fast &lt;- Normal -&gt; Slow)</font></td>
406 </tr>
407 <tr>
408 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad U and D</font></td>
409 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Up: Leg lift increase<br>
410 Down: Leg lift decrease<br>
411 (Affects Walking mode only)</font></td>
412 </tr>
413 <tr>
414 <td bordercolor="#C0C0C0" align="center"><u><font size="2" face="Verdana, Helvetica, sans-serif">/\</font></u><font size="2" face="Verdana, Helvetica, sans-serif">
415 Triangle</font></td>
416 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Lowers body, then removes servo
417 pulses. Press again to return to walk mode (cold start).</font></td>
418 </tr>
419 <tr>
420 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O Circle</font></td>
421 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">All servos = 1500mS</font></td>
422 </tr>
423 <tr>
424 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X</font></td>
425 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">"Attack Mode"</font></td>
426 </tr>
427 <tr>
428 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">[] Square</font></td>
429 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">"Learning to Fly"</font></td>
430 </tr>
431 <tr>
432 <td bordercolor="#FFFFFF" align="center" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">Table 12.</font></td>
433 </tr>
434 </tbody></table>
435 </center>
436 </div>
437 </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"><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">Step 13. Autonomous
445 Program Information</font></strong><font size="2"><br>
446 You can use this program to create your own autonomous program or integrate your own remote control code. Just edit the lines in movequery sub
447 routine. The variables that effect the motion of the robot are as follows:</font></font>
448 <p><font size="2" face="Verdana, Helvetica, sans-serif">Walking speed is defined by the XSpeed and YSpeed variables. The XSpeed variable has a
449 range of 120 (forward) to -120 (backwards). The YSpeed variable has a range of 120 (right) to -120 (left). Rotation is named Steering. It's not
450 really steering because if you try to turn while both XSpeed and YSpeed are 0, the robot will rotate in place. The range is 20 (right) to -20
451 (left) for steering and the speed of rotation is proportional to the value. The body height is set by the Height variable and also has a range
452 of -25 to 25.</font></p>
453 <p><font size="2" face="Verdana, Helvetica, sans-serif">For this version, to alter the LegUpShift (leg lift), you can utilize a range of 20
454 (close to floor) to 70 (about 2.5" from floor). If LegUpShift &gt; 45 the tripod Gait is modified to allow extra vertical movement and
455 GaitSpeed is limited to 8-4 range. Also, you'll have to move the body higher (by setting Height to -15 or -20 for example). If LegUpShift is
456 close to 70 it's recommended to use a 8-5 range for GaitSpeed. (If GaitSpeed is too fast, there won't be time for the extra vertical movement.)</font></p>
457 <p><font size="2" face="Verdana, Helvetica, sans-serif">To use it like a car, decrease XSpeed (from 0 to -120) to go forward, then use the
458 steering variable to turn, this way, the "head" will always look straight in the direction it walks. To use crab walk use only XSpeed
459 and YSpeed. The Head will always look in the same direction when controlled this way.</font></p>
460 </td>
461 </tr>
462 <tr>
463 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
464 </tr>
465 <tr>
466 <td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">Step 14. RC-Stick Radio RC (Requires
467 Atom PRO)<br>
468 Note,<b> this program is for the round chassis only!</b></font></strong><font size="2"><br>
469 This customer-submitted program is a modification of Laurent's code for PS2 control converted to be used with an RC-style stick radio remote
470 control.</font></font>
471 <p><font size="2" face="Verdana, Helvetica, sans-serif">This program is verified to work with a Multiplex Royal Evo 9 (and probably 12). There
472 are many different types of RC transmitters, and every type has its own limitations. We do not know if other types of RC controllers will work.</font></p>
473 <p><font size="2" face="Verdana, Helvetica, sans-serif">This program uses a 6 channel RC receiver. When one function (rotation, height etc.) of
474 the robot is assigned to one RC channel, only 6 functions can be controlled. That is not enough. The basic functions, rotation and transition (2
475 axis), will be on dedicated channels. RC1 and RC2 for forward/backward and left/right, RC4 for rotation. The rest of functions should be
476 controlled by only 3 RC channels. 2 RC channels code function and last RC channel provides value for height or legupshift or speed. One three
477 state switch on the transmitter has been assigned to RC channel 5, one three state switch to RC channel 6 and one slider to RC 3. See Table 14-2
478 for details on these functions. It is quite complicated but with experimentation you should be able to understand how it works.</font></p></td>
479 <td valign="top" >
480 <div align="center">
481 <center>
482 <table border="1" bordercolor="#FFFFFF">
483 <tbody><tr>
484 <td bordercolor="#808080" bgcolor="#C0C0C0">
485 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Download</font></p>
486 </td>
487 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
488 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Description</font></p></td>
489 </tr>
490 <tr>
Eric Nantel 26.1 491 <td bordercolor="#C0C0C0" align="center"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v1-bbii/WebHome/eh3r6pro.zip"><font size="2" face="Verdana, Helvetica, sans-serif">eh3r6pro.zip</font></a></td>
Eric Nantel 22.1 492 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC Stick Radio Program</font></td>
493 </tr>
494 <tr>
495 <td bordercolor="#FFFFFF" align="center" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">Table 14-1</font></td>
496 </tr>
497 </tbody></table>
498 </center>
499 </div>
500 &nbsp;
501 <div align="center">
502 <center>
503 <table border="1" bordercolor="#FFFFFF">
504 <tbody><tr>
505 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
506 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC5</font></p>
507 </td>
508 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC6</font></td>
509 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
510 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Description</font></p></td>
511 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Note</font></td>
512 </tr>
513 <tr>
514 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
515 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
516 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Do nothing</font></td>
517 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Both 3-State switches are in
518 middle position</font></td>
519 </tr>
520 <tr>
521 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
522 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
523 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Attack pos</font></td>
524 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">--</font></td>
525 </tr>
526 <tr>
527 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
528 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
529 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Standby pos</font></td>
530 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">--</font></td>
531 </tr>
532 <tr>
533 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
534 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
535 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Do nothing</font></td>
536 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">--</font></td>
537 </tr>
538 <tr>
539 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
540 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
541 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Speed +,-</font></td>
542 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC3 provides value for speed
543 change</font></td>
544 </tr>
545 <tr>
546 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
547 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
548 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Legupshift +,-</font></td>
549 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC3 provides value for
550 legupshift change</font></td>
551 </tr>
552 <tr>
553 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
554 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
555 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Do nothing</font></td>
556 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">--</font></td>
557 </tr>
558 <tr>
559 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
560 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
561 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Fly pos</font></td>
562 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">--</font></td>
563 </tr>
564 <tr>
565 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
566 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
567 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Height +,-</font></td>
568 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC3 provides value for height
569 change</font></td>
570 </tr>
571 <tr>
572 <td bordercolor="#FFFFFF" align="center" colspan="4"><font size="2" face="Verdana, Helvetica, sans-serif">Table 14-2</font></td>
573 </tr>
574 </tbody></table>
575 </center>
576 </div>
577 </td>
578 </tr>
579 </tbody></table>
580 </body><
Eric Nantel 1.1 581 {{/html}}

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