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Eric Nantel 25.1 4 <td valign="top" align="left" rowspan="2"><strong><font size="2" face="Verdana, Helvetica, sans-serif">The Complete H3/H3-R Tutorial
Eric Nantel 21.1 5 v1.0</font></strong>
6 <p><strong><font size="2" face="Verdana, Helvetica, sans-serif">Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->04/30/2009<!--webbot
7 bot="Timestamp" i-checksum="12526" endspan -->.</font></strong></p>
8 <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
9 create a custom Basic Atom 28 program for PS2 remote control. You will also be able to create a program for autonomous or serial control.</font></p>
10 <p><font size="2" face="Verdana, Helvetica, sans-serif"><b>Note</b>, we used the round hexapod for the images in the tutorial, however,
11 everything still applies to the inline hexapod.</font></p>
12 <p><b><font size="2" face="Verdana, Helvetica, sans-serif">Note</font></b><font size="2" face="Verdana, Helvetica, sans-serif">, the PS2 control
13 programs have been verified to work with the Madcatz, Pelican, Hiteck and Lynxmotion wireless controllers. However, we cannot guarantee that
14 future versions of the non-Lynxmotion controllers will work.</font></p>
15 <p><font size="2" face="Verdana, Helvetica, sans-serif"><strong>Hardware:<br>
16 </strong>&nbsp; - SSC-32 / Bot Board / BASIC Atom 28<br>
17 &nbsp; - PS2 Cable / PS2 Wireless Controller -OR- RC-Style Stick Radio<br>
18 &nbsp; - Hexapod 3 / 3-R</font></p>
19 <p><b><font size="2" face="Verdana, Helvetica, sans-serif">Software:<br>
20 </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>
Eric Nantel 24.1 21 &nbsp; - Basic Micro Atom IDE<br>
Eric Nantel 21.1 22 &nbsp;&nbsp;&nbsp; - Note, only ver 2.2.1.1, 5.3.0.0, and 5.3.1.3 are supported.<br>
23 &nbsp;&nbsp;&nbsp; - Note, if your Basic Atom chip has a "Rev-D" label on the bottom, you <i>must</i> use IDE v5.3.1.3.</font></p>
24 <p><font size="2" face="Verdana, Helvetica, sans-serif"><b>Resources:</b><br>
25 &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-m-abb/WebHome/eh3r11.jpg" target="_blank">eh3r11.jpg</a>)<br>
26 &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-m-abb/WebHome/eh3r12.jpg" target="_blank">eh3r12.jpg</a>)</font></p></td>
Eric Nantel 25.1 27 <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-m-abb/WebHome/ah3r02s.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 28 <font size="2"><strong>Image of AH3-R.<br>
29 &nbsp;</strong></font></font></td>
30 </tr>
31 <tr>
Eric Nantel 25.1 32 <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-m-abb/WebHome/bh3r00.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 33 <font size="2"><strong>Image of BH3-R.<br>
34 &nbsp;</strong></font></font></td>
35 </tr><tr>
Eric Nantel 25.1 36 <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-m-abb/WebHome/bh313.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 37 <font size="2"><strong>Image of BH3.</strong></font></font></td>
Eric Nantel 25.1 38 <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-m-abb/WebHome/ch3r00.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 39 <font size="2"><strong>Image of CH3-R.</strong></font></font></td>
40 </tr>
41 <tr>
Eric Nantel 25.1 42 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
Eric Nantel 21.1 43 </tr>
44 <tr>
Eric Nantel 25.1 45 <td valign="top" align="center" colspan="2">
46 <hr noshade="" color="#808080">
Eric Nantel 21.1 47 </td>
48 </tr>
49 <tr>
Eric Nantel 25.1 50 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
Eric Nantel 21.1 51 </font></td>
52 </tr>
53 <tr>
Eric Nantel 25.1 54 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 1.<br>
Eric Nantel 21.1 55 </b>Download the PowerPod program from <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/powerpod/">here</a>. Just unzip the zip file and run the
56 setup.exe file. This will automatically create an icon on your desktop so you can open PowerPod. When the program is opened, click on
57 "Help" and review the manual. It's a good idea to familiarize yourself with the interworkings of the program before proceeding with
58 the tutorial.</font></td>
Eric Nantel 25.1 59 <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-m-abb/WebHome/powerpod.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 60 Figure 1.</font></td>
61 </tr>
62 <tr>
Eric Nantel 25.1 63 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 2.<br>
Eric Nantel 21.1 64 </b>Set the robot up on a stand such as a CD spindle. Connect the DB9 cable to your PC and to the SSC-32. If your PC does not have a serial
65 port, you can use a quality USB-to-Serial adapter cable. Install a 6vdc battery to the quick-connect cable. You can turn on the power to verify
66 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 is
67 functioning properly. It will remain lit until it receives valid data. After that, it will blink when receiving data. The servos may jump but
68 will not hold position yet. Consult the PowerPod manual if you have trouble connecting.</font></td>
69 </tr>
70 <tr>
Eric Nantel 25.1 71 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
Eric Nantel 21.1 72 </tr>
73 <tr>
Eric Nantel 25.1 74 <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-m-abb/WebHome/bh311.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 75 Figure 2-1.</font></td>
Eric Nantel 25.1 76 <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-m-abb/WebHome/h3r104.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 77 Figure 2-2.</font></td>
78 </tr>
79 <tr>
Eric Nantel 25.1 80 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
Eric Nantel 21.1 81 </tr>
82 <tr>
Eric Nantel 25.1 83 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 3.</b><br>
Eric Nantel 21.1 84 Click "All=1500" to enable the servos. The robot's legs should move quickly into position as in Figures 2-1 or 2-2, and should hold
85 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
86 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
87 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
88 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
89 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>
Eric Nantel 25.1 90 <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-m-abb/WebHome/ppod01.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 91 Figure 3.</font></td>
92 </tr>
93 <tr>
Eric Nantel 25.1 94 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
Eric Nantel 21.1 95 </font></td>
96 </tr>
97 <tr>
Eric Nantel 25.1 98 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 4.</b><br>
Eric Nantel 21.1 99 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
100 perpendicular to the chassis, and the knee to form a perfect right angle. (See Figures 4-1 and 4-2.)</font>
101 <p><font size="2" face="Verdana, Helvetica, sans-serif">We are assuming that you have your servos plugged into the appropriate pins, according
102 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,
103 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
104 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>
105 <p><font size="2" face="Verdana, Helvetica, sans-serif">Note, the image in PowerPod represents the inline version, but the servo channels are
106 the same for the round version.</font></p>
107 </td>
Eric Nantel 25.1 108 <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-m-abb/WebHome/ppod02.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 109 Figure 4.</font></td>
110 </tr>
111 <tr>
Eric Nantel 25.1 112 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
Eric Nantel 21.1 113 </tr>
114 <tr>
Eric Nantel 25.1 115 <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-m-abb/WebHome/h3r106.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 116 Figure 4-1.</font></td>
Eric Nantel 25.1 117 <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-m-abb/WebHome/h3r105.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 118 Figure 4-2.</font></td>
119 </tr>
120 <tr>
Eric Nantel 25.1 121 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
Eric Nantel 21.1 122 </tr>
123 <tr>
Eric Nantel 25.1 124 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 5.</b><br>
Eric Nantel 21.1 125 Open the master .pmp program. "H3 VX.36 - Master.pmp" is the current version as of the writing of this document.</font>
126 <p><font size="2" face="Verdana, Helvetica, sans-serif"><b>IDE:</b> Choose the appropriate version.<br>
127 <b>Control:</b> PS2, Autonomous, or Serial.<br>
128 <b>H3 Legs:</b> 3DOF-A, 3DOF-B, 3DOF-C, or 3DOF (Old).<br>
129 <b>H3 Body:</b> Round or inline.<br>
130 <b>PS2 sticks dead zone:</b> Small, Normal, Large.<br>
131 <b>Tibia Angle:</b> + values set foot tip away from knee. Value of +20 recommended for 3DOF-C leg.<br>
132 <b>Auto Legs Down:</b> If enabled, lowers lifted tripod after period of inactivity.</font></p>
133 <p><font size="2" face="Verdana, Helvetica, sans-serif"><b>Remember to click save to update your config file!</b> Then click on "Build
134 Basic Program" to create your custom program.</font></p>
135 </td>
Eric Nantel 25.1 136 <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-m-abb/WebHome/powerpod.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 137 Figure 5.</font></td>
138 </tr>
139 <tr>
Eric Nantel 25.1 140 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
Eric Nantel 21.1 141 </tr>
142 <tr>
Eric Nantel 25.1 143 <td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><font size="2"><b>Step 6.</b><br>
Eric Nantel 21.1 144 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 28. Change the baud
145 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 connector on
146 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></td>
Eric Nantel 25.1 147 <td align="center" valign="top" ><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v1-m-abb/WebHome/eh3r11.jpg" target="_blank"><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-m-abb/WebHome/eh3r11.jpg" ></font></a><br>
Eric Nantel 21.1 148 <font size="2" face="Verdana, Helvetica, sans-serif">Figure 6.</font></td>
149 </tr>
150 <tr>
Eric Nantel 25.1 151 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
Eric Nantel 21.1 152 </tr>
153 <tr>
Eric Nantel 25.1 154 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 7.</b><br>
Eric Nantel 21.1 155 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 7 using the
156 same screws. Attach the red and black wires from the SSC-32 to the VS input, with black on (-) and red on (+).</font>
157 <p><font size="2" face="Verdana, Helvetica, sans-serif">For both chassis styles, make sure that the ABC buttons / LED jumpers are removed.
158 Install the following jumpers: VS=VL, speaker enable, VL to I/O 4-7 bus. Install the DC-01 to I/O P15, where black is closest to the outside of
159 the board and yellow is on the I/O pin. Consult the manual for the Bot Board if needed.</font></p></td>
Eric Nantel 25.1 160 <td align="center" valign="top" ><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v1-m-abb/WebHome/eh3r12.jpg" target="_blank"><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-m-abb/WebHome/eh3r12.jpg" ></font></a><br>
Eric Nantel 21.1 161 <font size="2" face="Verdana, Helvetica, sans-serif">Figure 7.</font></td>
162 </tr>
163 <tr>
Eric Nantel 25.1 164 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
Eric Nantel 21.1 165 </tr>
166 <tr>
Eric Nantel 25.1 167 <td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 8.</font></b><br>
Eric Nantel 21.1 168 <font size="2">Install the Playstation 2 cable as illustrated in Figure 8-1 and 8-2.</font></font>
Eric Nantel 25.1 169 <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-m-abb/WebHome/wire07s.gif" ><br>
Eric Nantel 21.1 170 <font size="2">Figure 8-1.</font></font></p>
171 </td>
Eric Nantel 25.1 172 <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-m-abb/WebHome/ps2abb02.jpg" ></font><br>
Eric Nantel 21.1 173 <font size="2" face="Verdana, Helvetica, sans-serif">Figure 8-2.</font></td>
174 </tr>
175 <tr>
Eric Nantel 25.1 176 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
Eric Nantel 21.1 177 </font></td>
178 </tr>
179 <tr>
Eric Nantel 25.1 180 <td valign="top" align="left"><strong><font size="2" face="Verdana, Helvetica, sans-serif">Step 9.</font></strong><font size="2" face="Verdana, Helvetica, sans-serif"><br>
Eric Nantel 21.1 181 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 need
182 be.</font></td>
Eric Nantel 25.1 183 <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-m-abb/WebHome/eh3r13.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 184 <font size="2">Figure 9.</font></font></td>
185 </tr>
186 <tr>
Eric Nantel 25.1 187 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
Eric Nantel 21.1 188 </tr>
189 <tr>
Eric Nantel 25.1 190 <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>
Eric Nantel 26.1 191 Download the BASIC Atom IDE. Install and
Eric Nantel 21.1 192 run the IDE to allow programming the chip.</font>
193 <p><font size="2" face="Verdana, Helvetica, sans-serif">Connect the serial data cable to the PC's serial port. This can be recognized by having
194 9 pins that stick out. Connect the other end of the serial data cable to the Bot Board's DB9 port. Note, you can also use a BAFO BF-810 or
195 IOGear USB-to-Serial adaptor.</font></p></td>
Eric Nantel 25.1 196 <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-m-abb/WebHome/comp.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 197 <font size="2">Figure 10.</font></font></td>
198 </tr>
199 <tr>
Eric Nantel 25.1 200 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
Eric Nantel 21.1 201 </tr>
202 <tr>
Eric Nantel 25.1 203 <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 21.1 204 Download the program from the PowerPod program into the BASIC Atom IDE. Program the Atom. </font></font><font size="2" face="Verdana, Helvetica, sans-serif">Install
205 the PS2 controller receiver into the PS2 cable on the robot, and apply power. If all is well, you should hear a few short beeps, the legs should
206 snap to position, and slowly lift the body up. Then the two tripods will lift and lower once. At this point, if you properly calibrated the
207 servo offsets, the legs should be perfectly aligned. Remove power to the robot.</font></td>
Eric Nantel 25.1 208 <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-m-abb/WebHome/rc01.jpg" border="2" hspace="10" ><br>
Eric Nantel 21.1 209 <font size="2">Figure 11.</font></font></td>
210 </tr>
211 <tr>
Eric Nantel 25.1 212 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
Eric Nantel 21.1 213 </font></td>
214 </tr>
215 <tr>
Eric Nantel 25.1 216 <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>
Eric Nantel 21.1 217 Make sure your PS2 controller is turned on. The software switches the controller to analog mode. However, some controllers may need to be put
218 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
219 or is not functioning. You can test the controller with a Playstation 2 to verify that it is working.</font>
220 <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
221 gait speed quickly. The "Tile Floor" setting (L1) uses a fast speed and slightly lower leg lift. "Tall Grass" (R1) uses
222 maximum ride height and leg lift, and slower speed. "Body Low" (R2) lowers the robot's ride height.</font></p>
223 <p><font size="2" face="Verdana, Helvetica, sans-serif">The default is Walking mode. Use the Right joystick to move the robot around without
224 turning (this is called "translation"). The Left joystick's X-Axis (horizontal) rotates the robot as it moves. The Left joystick's
225 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
226 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
227 (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
228 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
229 the knee (knee angle shift).</font></p>
230 <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
231 right joystick moves the body horizontally (two axis rotation). The left joystick has four different formats. Mode 0 affects height and
232 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>
233 <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
234 direction of walking. The default is limited to 180° using a standard servo, and will mirror the direction when walking backwards. If a 360°
235 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>
236 <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
237 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>
238 </td>
Eric Nantel 25.1 239 <td valign="top" >
Eric Nantel 21.1 240 <div align="center">
241 <center>
Eric Nantel 25.1 242 <table border="1" bordercolor="#FFFFFF">
Eric Nantel 21.1 243 <tbody><tr>
Eric Nantel 25.1 244 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 24.1 245 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
Eric Nantel 25.1 246 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 24.1 247 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walking Mode (default)</font></p></td>
Eric Nantel 21.1 248 </tr>
249 <tr>
Eric Nantel 25.1 250 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
251 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch modes</font></td>
Eric Nantel 21.1 252 </tr>
253 <tr>
Eric Nantel 25.1 254 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right Joystick</font></td>
255 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Speed and Direction for
Eric Nantel 21.1 256 translation</font></td>
257 </tr>
258 <tr>
Eric Nantel 25.1 259 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left Joystick</font></td>
260 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X-Axis: Rotational movement<br>
Eric Nantel 21.1 261 Y-Axis: Ride height</font></td>
262 </tr>
263 <tr>
Eric Nantel 25.1 264 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L1</font></td>
265 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Preset: Tile Floor</font></td>
Eric Nantel 21.1 266 </tr>
267 <tr>
Eric Nantel 25.1 268 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L2</font></td>
269 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Preset: Default</font></td>
Eric Nantel 21.1 270 </tr>
271 <tr>
Eric Nantel 25.1 272 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L3</font></td>
273 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Locks ride height</font></td>
Eric Nantel 21.1 274 </tr>
275 <tr>
Eric Nantel 25.1 276 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R1</font></td>
277 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Preset: Tall Grass</font></td>
Eric Nantel 21.1 278 </tr>
279 <tr>
Eric Nantel 25.1 280 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
281 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Preset: Body Low</font></td>
Eric Nantel 21.1 282 </tr>
283 <tr>
Eric Nantel 25.1 284 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R3</font></td>
285 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Horn</font></td>
Eric Nantel 21.1 286 </tr>
287 <tr>
Eric Nantel 25.1 288 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Start</font></td>
289 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Knee angle shift<br>
Eric Nantel 21.1 290 (Max ground clearance)</font></td>
291 </tr>
292 <tr>
Eric Nantel 25.1 293 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad L and R</font></td>
294 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left: Speed increase<br>
Eric Nantel 21.1 295 Right: Speed decrease<br>
296 (Fast &lt;- Normal -&gt; Slow)</font></td>
297 </tr>
298 <tr>
Eric Nantel 25.1 299 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad U and D</font></td>
300 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Up: Leg lift increase<br>
Eric Nantel 21.1 301 Down: Leg lift decrease</font></td>
302 </tr>
303 <tr>
Eric Nantel 25.1 304 <td bordercolor="#C0C0C0" align="center"><u><font size="2" face="Verdana, Helvetica, sans-serif">/\</font></u><font size="2" face="Verdana, Helvetica, sans-serif">
Eric Nantel 21.1 305 Triangle</font></td>
Eric Nantel 25.1 306 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Lowers body, then removes servo
Eric Nantel 21.1 307 pulses. Press again to return to walk mode (cold start).</font></td>
308 </tr>
309 <tr>
Eric Nantel 25.1 310 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O Circle</font></td>
311 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">All servos = 1500mS</font></td>
Eric Nantel 21.1 312 </tr>
313 <tr>
Eric Nantel 25.1 314 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X</font></td>
315 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">"Attack Mode"</font></td>
Eric Nantel 21.1 316 </tr>
317 <tr>
Eric Nantel 25.1 318 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">[] Square</font></td>
319 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">"Learning to Fly"</font></td>
Eric Nantel 21.1 320 </tr>
321 <tr>
Eric Nantel 25.1 322 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 24.1 323 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
Eric Nantel 25.1 324 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 24.1 325 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body Move Mode</font></p></td>
Eric Nantel 21.1 326 </tr>
327 <tr>
Eric Nantel 25.1 328 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
329 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch modes</font></td>
Eric Nantel 21.1 330 </tr>
331 <tr>
Eric Nantel 25.1 332 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right Joystick</font></td>
333 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move body horizontally<br>
Eric Nantel 21.1 334 (two axis translation)</font></td>
335 </tr>
336 <tr>
Eric Nantel 25.1 337 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left Joystick</font></td>
338 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">(See text)</font></td>
Eric Nantel 21.1 339 </tr>
340 <tr>
Eric Nantel 25.1 341 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L3</font></td>
342 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Change Left Joystick function<br>
Eric Nantel 21.1 343 (See text)</font></td>
344 </tr>
345 <tr>
Eric Nantel 25.1 346 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R3</font></td>
347 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Horn</font></td>
Eric Nantel 21.1 348 </tr>
349 <tr>
Eric Nantel 25.1 350 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad L and R</font></td>
351 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left: Speed increase<br>
Eric Nantel 21.1 352 Right: Speed decrease<br>
353 (Fast &lt;- Normal -&gt; Slow)</font></td>
354 </tr>
355 <tr>
Eric Nantel 25.1 356 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad U and D</font></td>
357 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Up: Leg lift increase<br>
Eric Nantel 21.1 358 Down: Leg lift decrease<br>
359 (Affects Walking mode only)</font></td>
360 </tr>
361 <tr>
Eric Nantel 25.1 362 <td bordercolor="#C0C0C0" align="center"><u><font size="2" face="Verdana, Helvetica, sans-serif">/\</font></u><font size="2" face="Verdana, Helvetica, sans-serif">
Eric Nantel 21.1 363 Triangle</font></td>
Eric Nantel 25.1 364 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Lowers body, then removes servo
Eric Nantel 21.1 365 pulses. Press again to return to walk mode (cold start).</font></td>
366 </tr>
367 <tr>
Eric Nantel 25.1 368 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O Circle</font></td>
369 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">All servos = 1500mS</font></td>
Eric Nantel 21.1 370 </tr>
371 <tr>
Eric Nantel 25.1 372 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X</font></td>
373 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">"Attack Mode"</font></td>
Eric Nantel 21.1 374 </tr>
375 <tr>
Eric Nantel 25.1 376 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">[] Square</font></td>
377 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">"Learning to Fly"</font></td>
Eric Nantel 21.1 378 </tr>
379 <tr>
Eric Nantel 25.1 380 <td bordercolor="#FFFFFF" align="center" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">Table 12.</font></td>
Eric Nantel 21.1 381 </tr>
382 </tbody></table>
383 </center>
384 </div>
385 </td>
386 </tr>
387 <tr>
Eric Nantel 25.1 388 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
Eric Nantel 21.1 389 </font></td>
390 </tr>
391 <tr>
Eric Nantel 25.1 392 <td valign="top" align="left" colspan="2"><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">Step 13. Autonomous
Eric Nantel 21.1 393 Program Information</font></strong><font size="2"><br>
394 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
395 routine. The variables that effect the motion of the robot are as follows:</font></font>
396 <p><font size="2" face="Verdana, Helvetica, sans-serif">Walking speed is defined by the XSpeed and YSpeed variables. The XSpeed variable has a
397 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
398 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
399 (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
400 of -25 to 25.</font></p>
401 <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
402 (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
403 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
404 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>
405 <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
406 steering variable to turn, this way, the "head" will always look straight in the direction it walks. To use crab walk use only XSpeed
407 and YSpeed. The Head will always look in the same direction when controlled this way.</font></p>
408 </td>
409 </tr>
410 <tr>
Eric Nantel 25.1 411 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
Eric Nantel 21.1 412 </tr>
413 <tr>
Eric Nantel 25.1 414 <td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">Step 14. RC-Stick Radio RC (Requires
Eric Nantel 21.1 415 Atom PRO)<br>
416 Note,<b> this program is for the round chassis only!</b></font></strong><font size="2"><br>
417 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
418 control.</font></font>
419 <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
420 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>
421 <p><font size="2" face="Verdana, Helvetica, sans-serif">This program uses a 6 channel RC receiver. When one function (rotation, height etc.) of
422 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
423 axis), will be on dedicated channels. RC1 and RC2 for forward/backward and left/right, RC4 for rotation. The rest of functions should be
424 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
425 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
426 for details on these functions. It is quite complicated but with experimentation you should be able to understand how it works.</font></p></td>
Eric Nantel 25.1 427 <td valign="top" >
Eric Nantel 21.1 428 <div align="center">
429 <center>
430 <table border="1" bordercolor="#FFFFFF">
431 <tbody><tr>
432 <td bordercolor="#808080" bgcolor="#C0C0C0">
Eric Nantel 24.1 433 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Download</font></p>
Eric Nantel 21.1 434 </td>
435 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 24.1 436 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Description</font></p></td>
Eric Nantel 21.1 437 </tr>
438 <tr>
Eric Nantel 24.1 439 <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-m-abb/WebHome/eh3r6pro.zip"><font size="2" face="Verdana, Helvetica, sans-serif">eh3r6pro.zip</font></a></td>
440 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC Stick Radio Program</font></td>
Eric Nantel 21.1 441 </tr>
442 <tr>
443 <td bordercolor="#FFFFFF" align="center" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">Table 14-1</font></td>
444 </tr>
445 </tbody></table>
446 </center>
447 </div>
448 &nbsp;
449 <div align="center">
450 <center>
451 <table border="1" bordercolor="#FFFFFF">
452 <tbody><tr>
453 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 24.1 454 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC5</font></p>
Eric Nantel 21.1 455 </td>
Eric Nantel 24.1 456 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC6</font></td>
Eric Nantel 21.1 457 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center">
Eric Nantel 24.1 458 <p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Description</font></p></td>
459 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Note</font></td>
Eric Nantel 21.1 460 </tr>
461 <tr>
Eric Nantel 24.1 462 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
463 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
464 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Do nothing</font></td>
465 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Both 3-State switches are in
Eric Nantel 21.1 466 middle position</font></td>
467 </tr>
468 <tr>
Eric Nantel 24.1 469 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
470 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
471 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Attack pos</font></td>
472 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">--</font></td>
Eric Nantel 21.1 473 </tr>
474 <tr>
Eric Nantel 24.1 475 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
476 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
477 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Standby pos</font></td>
478 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">--</font></td>
Eric Nantel 21.1 479 </tr>
480 <tr>
Eric Nantel 24.1 481 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
482 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
483 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Do nothing</font></td>
484 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">--</font></td>
Eric Nantel 21.1 485 </tr>
486 <tr>
Eric Nantel 24.1 487 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
488 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
489 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Speed +,-</font></td>
490 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC3 provides value for speed
Eric Nantel 21.1 491 change</font></td>
492 </tr>
493 <tr>
Eric Nantel 24.1 494 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
495 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
496 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Legupshift +,-</font></td>
497 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC3 provides value for
Eric Nantel 21.1 498 legupshift change</font></td>
499 </tr>
500 <tr>
Eric Nantel 24.1 501 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
502 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">2</font></td>
503 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Do nothing</font></td>
504 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">--</font></td>
Eric Nantel 21.1 505 </tr>
506 <tr>
Eric Nantel 24.1 507 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
508 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">1</font></td>
509 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Fly pos</font></td>
510 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">--</font></td>
Eric Nantel 21.1 511 </tr>
512 <tr>
Eric Nantel 24.1 513 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
514 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">3</font></td>
515 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Height +,-</font></td>
516 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">RC3 provides value for height
Eric Nantel 21.1 517 change</font></td>
518 </tr>
519 <tr>
520 <td bordercolor="#FFFFFF" align="center" colspan="4"><font size="2" face="Verdana, Helvetica, sans-serif">Table 14-2</font></td>
521 </tr>
522 </tbody></table>
523 </center>
524 </div>
525 </td>
526 </tr>
527 <tr>
528 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
529 </tr>
530 <tr>
531 <td valign="top" align="left" colspan="2"><strong><font size="2" face="Verdana, Helvetica, sans-serif">Step 15. Alternate Powering
532 Configurations</font></strong><font size="2" face="Verdana, Helvetica, sans-serif"><br>
533 Consult the documentation for the Bot Board and SSC-32 to explore different options for powering the servos and electronics. 6vdc is the
534 recommended voltage for the servos. A single 9vdc battery can be used to power all of the VL (5vdc logic) regulators. This will increase the run
535 time as the servo batteries still have sufficient power for the servos even after the voltage is too low to power the VL regulators. Experiment
536 and have fun.&nbsp;</font></td>
537 </tr>
538 </tbody></table>
539 </body>
Eric Nantel 1.1 540 {{/html}}

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