The Complete H3/H3-R Tutorial (Mini-ABB) v1.0

- 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>)

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- 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>)</td>

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Image of AH3-R.

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Image of BH3-R.

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Image of BH3.</td>

Image of CH3-R.</td>

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<td valign="top" align="left">Step 1.

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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

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setup.exe file. This will automatically create an icon on your desktop so you can open PowerPod. When the program is opened, click on

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"Help" and review the manual. It's a good idea to familiarize yourself with the interworkings of the program before proceeding with

the tutorial.</td>

Figure 1.</td>

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<td valign="top" align="left" colspan="2">Step 2.

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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

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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

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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

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functioning properly. It will remain lit until it receives valid data. After that, it will blink when receiving data. The servos may jump but

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will not hold position yet. Consult the PowerPod manual if you have trouble connecting.</td>

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Figure 2-1.</td>

Figure 2-2.</td>

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<td valign="top" align="left">Step 3.

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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

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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

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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

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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

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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

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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.</td>

Figure 3.</td>

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<td valign="top" align="left">Step 4.

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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

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perpendicular to the chassis, and the knee to form a perfect right angle. (See Figures 4-1 and 4-2.)

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We are assuming that you have your servos plugged into the appropriate pins, according

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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,

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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

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you notice the associated joint move on the robot. After all joints are adjusted to your liking you can save the .hcf file.

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Note, the image in PowerPod represents the inline version, but the servo channels are

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the same for the round version.

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Figure 4.</td>

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Figure 4-1.</td>

Figure 4-2.</td>

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<td valign="top" align="left">Step 5.

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Open the master .pmp program. "H3 VX.36 - Master.pmp" is the current version as of the writing of this document.

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IDE: Choose the appropriate version.

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Control: PS2, Autonomous, or Serial.

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H3 Legs: 3DOF-A, 3DOF-B, 3DOF-C, or 3DOF (Old).

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H3 Body: Round or inline.

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PS2 sticks dead zone: Small, Normal, Large.

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Tibia Angle: + values set foot tip away from knee. Value of +20 recommended for 3DOF-C leg.

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Auto Legs Down: If enabled, lowers lifted tripod after period of inactivity.

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Remember to click save to update your config file! Then click on "Build

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Basic Program" to create your custom program.

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Figure 5.</td>

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<td valign="top" align="left">Step 6.

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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

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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

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the TTL serial communication posts. The black wire is closest to the edge of the board, and the yellow wire is on RX.</td>

Figure 6.</td>

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<td valign="top" align="left">Step 7.

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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

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same screws. Attach the red and black wires from the SSC-32 to the VS input, with black on (-) and red on (+).

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For both chassis styles, make sure that the ABC buttons / LED jumpers are removed.

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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

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the board and yellow is on the I/O pin. Consult the manual for the Bot Board if needed.</td>

Figure 7.</td>

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<td valign="top" align="left">Step 8.

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Install the Playstation 2 cable as illustrated in Figure 8-1 and 8-2.

Figure 8-1.

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Figure 8-2.</td>

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<td valign="top" align="left">Step 9.

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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

be.</td>

Figure 9.</td>

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<td valign="top" align="left">Step 10.

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Download the BASIC Atom IDE. Install and

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run the IDE to allow programming the chip.

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Connect the serial data cable to the PC's serial port. This can be recognized by having

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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

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IOGear USB-to-Serial adaptor.</td>

Figure 10.</td>

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<td valign="top" align="left">Step 11. Download the Program

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Download the program from the PowerPod program into the BASIC Atom IDE. Program the Atom. Install

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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

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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

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servo offsets, the legs should be perfectly aligned. Remove power to the robot.</td>

Figure 11.</td>

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<td valign="top" align="left">Step 12. Controlling the Robot

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Make sure your PS2 controller is turned on. The software switches the controller to analog mode. However, some controllers may need to be put

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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

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or is not functioning. You can test the controller with a Playstation 2 to verify that it is working.

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The shoulder buttons (L1, L2, R1, and R2) are used to adjust the height, leg lift, and

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gait speed quickly. The "Tile Floor" setting (L1) uses a fast speed and slightly lower leg lift. "Tall Grass" (R1) uses

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maximum ride height and leg lift, and slower speed. "Body Low" (R2) lowers the robot's ride height.

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The default is Walking mode. Use the Right joystick to move the robot around without

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turning (this is called "translation"). The Left joystick's X-Axis (horizontal) rotates the robot as it moves. The Left joystick's

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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

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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

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(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

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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

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the knee (knee angle shift).

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Press Select to switch between Walking mode and Body Move mode. In Body Move mode, the

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right joystick moves the body horizontally (two axis rotation). The left joystick has four different formats. Mode 0 affects height and

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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.

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By attaching a servo to Pin 31 on the SSC-32, the servo will automatically pan in the

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direction of walking. The default is limited to 180° using a standard servo, and will mirror the direction when walking backwards. If a 360°

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geared servo is used, the software can be configured to use the entire range of motion by uncommenting that section of the program.

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By attaching servos to Pins 29 and 30 on the SSC-32, a manual pan and tilt or Little

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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.

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Button</td>

Walking Mode (default)</td>

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<td bordercolor="#C0C0C0" align="center">Select</td>

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<td bordercolor="#C0C0C0" align="center">Switch modes</td>

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<td bordercolor="#C0C0C0" align="center">Right Joystick</td>

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<td bordercolor="#C0C0C0" align="center">Speed and Direction for

translation</td>

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<td bordercolor="#C0C0C0" align="center">Left Joystick</td>

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<td bordercolor="#C0C0C0" align="center">X-Axis: Rotational movement

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Y-Axis: Ride height</td>

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<td bordercolor="#C0C0C0" align="center">Preset: Tile Floor</td>

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<td bordercolor="#C0C0C0" align="center">Preset: Default</td>

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<td bordercolor="#C0C0C0" align="center">Locks ride height</td>

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<td bordercolor="#C0C0C0" align="center">Preset: Tall Grass</td>

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<td bordercolor="#C0C0C0" align="center">Preset: Body Low</td>

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<td bordercolor="#C0C0C0" align="center">Start</td>

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<td bordercolor="#C0C0C0" align="center">Knee angle shift

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(Max ground clearance)</td>

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<td bordercolor="#C0C0C0" align="center">Left: Speed increase

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Right: Speed decrease

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(Fast <- Normal -> Slow)</td>

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<td bordercolor="#C0C0C0" align="center">Up: Leg lift increase

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Down: Leg lift decrease</td>

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<td bordercolor="#C0C0C0" align="center">/\

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Triangle</td>

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<td bordercolor="#C0C0C0" align="center">Lowers body, then removes servo

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pulses. Press again to return to walk mode (cold start).</td>

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<td bordercolor="#C0C0C0" align="center">O Circle</td>

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<td bordercolor="#C0C0C0" align="center">All servos = 1500mS</td>

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<td bordercolor="#C0C0C0" align="center">"Attack Mode"</td>

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<td bordercolor="#C0C0C0" align="center">[] Square</td>

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<td bordercolor="#C0C0C0" align="center">"Learning to Fly"</td>

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Button</td>

Body Move Mode</td>

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<td bordercolor="#C0C0C0" align="center">Select</td>

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<td bordercolor="#C0C0C0" align="center">Switch modes</td>

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<td bordercolor="#C0C0C0" align="center">Right Joystick</td>

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<td bordercolor="#C0C0C0" align="center">Move body horizontally

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(two axis translation)</td>

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<td bordercolor="#C0C0C0" align="center">Left Joystick</td>

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<td bordercolor="#C0C0C0" align="center">Change Left Joystick function

(See text)</td>

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<td bordercolor="#C0C0C0" align="center">Left: Speed increase

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Right: Speed decrease

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(Fast <- Normal -> Slow)</td>

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<td bordercolor="#C0C0C0" align="center">Up: Leg lift increase

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Down: Leg lift decrease

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(Affects Walking mode only)</td>

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<td bordercolor="#C0C0C0" align="center">/\

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Triangle</td>

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<td bordercolor="#C0C0C0" align="center">Lowers body, then removes servo

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pulses. Press again to return to walk mode (cold start).</td>

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<td bordercolor="#C0C0C0" align="center">O Circle</td>

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<td bordercolor="#C0C0C0" align="center">All servos = 1500mS</td>

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<td bordercolor="#C0C0C0" align="center">"Attack Mode"</td>

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<td bordercolor="#C0C0C0" align="center">[] Square</td>

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<td bordercolor="#C0C0C0" align="center">"Learning to Fly"</td>

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<td bordercolor="#FFFFFF" align="center" colspan="2">Table 12.</td>

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<td valign="top" align="left" colspan="2">Step 13. Autonomous

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Program Information

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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

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routine. The variables that effect the motion of the robot are as follows:

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Walking speed is defined by the XSpeed and YSpeed variables. The XSpeed variable has a

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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

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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

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(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

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of -25 to 25.

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For this version, to alter the LegUpShift (leg lift), you can utilize a range of 20

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(close to floor) to 70 (about 2.5" from floor). If LegUpShift > 45 the tripod Gait is modified to allow extra vertical movement and

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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

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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.)

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To use it like a car, decrease XSpeed (from 0 to -120) to go forward, then use the

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steering variable to turn, this way, the "head" will always look straight in the direction it walks. To use crab walk use only XSpeed

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and YSpeed. The Head will always look in the same direction when controlled this way.

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<td valign="top" align="left">Step 14. RC-Stick Radio RC (Requires

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Atom PRO)

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Note, this program is for the round chassis only!

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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

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control.

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This program is verified to work with a Multiplex Royal Evo 9 (and probably 12). There

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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.

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This program uses a 6 channel RC receiver. When one function (rotation, height etc.) of

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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

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axis), will be on dedicated channels. RC1 and RC2 for forward/backward and left/right, RC4 for rotation. The rest of functions should be

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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

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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

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for details on these functions. It is quite complicated but with experimentation you should be able to understand how it works.</td>

Download

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Description</td>

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<td bordercolor="#C0C0C0" align="center">RC Stick Radio Program</td>

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<td bordercolor="#FFFFFF" align="center" colspan="2">Table 14-1</td>

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RC5

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Description</td>

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<td bordercolor="#C0C0C0" align="center">Do nothing</td>

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<td bordercolor="#C0C0C0" align="center">Both 3-State switches are in

middle position</td>

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<td bordercolor="#C0C0C0" align="center">Attack pos</td>

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<td bordercolor="#C0C0C0" align="center">Standby pos</td>

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<td bordercolor="#C0C0C0" align="center">Do nothing</td>

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<td bordercolor="#C0C0C0" align="center">Speed +,-</td>

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<td bordercolor="#C0C0C0" align="center">RC3 provides value for speed

change</td>

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<td bordercolor="#C0C0C0" align="center">Legupshift +,-</td>

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<td bordercolor="#C0C0C0" align="center">RC3 provides value for

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legupshift change</td>

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<td bordercolor="#C0C0C0" align="center">Do nothing</td>

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<td bordercolor="#C0C0C0" align="center">Height +,-</td>

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<td bordercolor="#C0C0C0" align="center">RC3 provides value for height

change</td>

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<td bordercolor="#FFFFFF" align="center" colspan="4">Table 14-2</td>

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</center>

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<td valign="top" align="left" colspan="2">Step 15. Alternate Powering

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Configurations

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Consult the documentation for the Bot Board and SSC-32 to explore different options for powering the servos and electronics. 6vdc is the

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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

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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

and have fun. </td>

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