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Eric Nantel 20.1 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 -->06/07/2012<!-- #EndDate --></font></strong></p>
8 <p><font size="2" face="Verdana, Helvetica, sans-serif">This guide applies to the <b>BotBoarduino</b>.</font></p>
9 <p><font size="2" face="Verdana, Helvetica, sans-serif">The purpose of this guide is to use the Hexapod Calibration program to calibrate the servos and to program the Botboarduino for PS2 remote 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 our Lynxmotion wireless controllers. We cannot guarantee that
14 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<br>
17 &nbsp; - BotBoarduino<br>
18 &nbsp; - PS2 Cable / PS2 Wireless Controller<br>
19 &nbsp; - Hexapod 3 / 3-R</font></p>
20 <p><b><font size="2" face="Verdana, Helvetica, sans-serif">Software:<br>
Eric Nantel 21.1 21 </font></b><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp; - Hexapod Calibration (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynx-hexapod-calibration-software/" target="_blank">download</a>)<br>
Eric Nantel 20.1 22 &nbsp; - Arduino Software (<a href="http://arduino.cc/en/Main/Software" target="_blank">download</a>)</font></p></td>
Eric Nantel 24.1 23 <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-v2-bbu/WebHome/hexa.jpg" border="2" hspace="10" ><br>
Eric Nantel 20.1 24 <font size="2"><strong>Image of AH3-R.</strong></font></font></td>
25 </tr>
26 <tr>
Eric Nantel 24.1 27 <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-v2-bbu/WebHome/hexb.jpg" border="2" hspace="10" ><br>
Eric Nantel 20.1 28 <font size="2"><strong>Image of BH3-R.</strong></font></font></td>
29 </tr><tr>
Eric Nantel 24.1 30 <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-v2-bbu/WebHome/hexi.jpg" border="2" hspace="10" ><br>
Eric Nantel 20.1 31 <font size="2"><strong>Image of BH3.</strong></font></font></td>
Eric Nantel 24.1 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-v2-bbu/WebHome/hexc.jpg" border="2" hspace="10" ><br>
Eric Nantel 20.1 33 <font size="2"><strong>Image of CH3-R.</strong></font></font></td>
34 </tr>
35 <tr>
36 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
37 </tr>
38 <tr>
39 <td valign="top" align="center" colspan="2">
40 <hr noshade="" color="#808080">
41 </td>
42 </tr>
43 <tr>
44 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
45 </tr>
46 <tr>
47 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 1.<br>
48 </b>Set the robot up on a stand such as a CD spindle. Connect the USB cable to your PC and to the Botboarduino. Power up the robot.
49 Verify that the green LED on the Botboarduino and SSC-32 light up. Note, the SSC-32's LED is NOT a power indicator. Its purpose is to light up, indicating that the SSC-32
50 is functioning properly. It will remain lit until it receives serial data. After that, it will blink when receiving data. The servos may jump
51 but will not hold position yet. </font></td>
52 </tr>
53 <tr>
54 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
55 </tr>
56 <tr>
Eric Nantel 24.1 57 <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-v2-bbu/WebHome/hex02a.jpg" border="2" hspace="10" ><br>
Eric Nantel 20.1 58 Figure 1-1.</font></td>
Eric Nantel 24.1 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-v2-bbu/WebHome/hex02b.jpg" border="2" hspace="10" ><br>
Eric Nantel 20.1 60 Figure 1-2.</font></td>
61 </tr>
62 <tr>
63 <td valign="top" align="left" colspan="2"><br class="pb"></td>
64 </tr>
65 <tr>
66 <td valign="top" align="left"><p><font face="Verdana" size="2"><b>Step 2.</b><br>
67 You will need to modify a 6" servo extender cable. Remove the header pins from the cable so you
68 have two female ends. Then use an exacto knife to gently pry the tab up to pull the red wire free on one end. Cover the exposed female connector
69 with heat shrink to avoid accidental shorts.</font></p>
70 <p><font face="Verdana" size="2">Remove the TX and RX jumpers from the lower-right corner of the SSC-32, and plug the unmodified end of the
71 cable in. Yellow on TX, red on RX, and black on ground.</font></p>
72 <p><font face="Verdana" size="2">Plug in some extra lengths of 18-24awg wires to VL on the SSC-32, with the 9vdc battery clip. These will be
73 used to run power to the BotBoarduino.</font></p></td>
Eric Nantel 24.1 74 <td align="left" valign="top"><p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-3-4-dof-hexapods/the-complete-h3-h3-r-tutorial-v2-bbu/WebHome/scmod01.jpg" alt="" hspace="10" border="2"><br>
Eric Nantel 20.1 75 Figure 2.</font></p></td>
76 </tr>
77 <tr>
78 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
79 </tr>
80 <tr>
81 <td valign="top" align="left"><font face="Verdana, Helvetica, sans-serif"><font size="2"><b>Step 3.</b><br>
82 We need to set up the SSC-32 to communicate with the BotBoarduino.
83 Remove the DB9-enable jumpers and install the unmodified end of your 6" servo extender cable 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>
84 <p><font size="2" face="Verdana, Helvetica, sans-serif">See the schematic below for detailed information.</font></p></td>
Eric Nantel 24.1 85 <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-v2-bbu/WebHome/ssc01.jpg" alt="" border="2"></font><br>
Eric Nantel 20.1 86 <font size="2" face="Verdana, Helvetica, sans-serif">Figure 3.</font></td>
87 </tr>
88 <tr>
89 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
90 </tr>
91 <tr>
92 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 4.</b><br>
93 Remove the 3/8 x 4-40 screws that hold the SSC-32 in place. Install the BotBoarduino as illustrated in Figure 4 using the
94 same screws. Attach the red and black wires from the SSC-32 to the VL input, with black on (-) and red on (+). Plug the red wire of your modified cable into pin 12 and the yellow wire to pin 13.</font><font face="Verdana, Helvetica, sans-serif"><font size="2"> Install the Playstation 2 cable as illustrated in Figure 4-1.</font></font>
95 <p> <font size="2" face="Verdana, Helvetica, sans-serif">Note: Refer only to Figure 4-1 for connection information.
96 The cable colors in the picture may be outdated. If your cable's colors do
Eric Nantel 28.1 97 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/botboarduino/botboarduino-manual/#aglance">here</a>.</font></p>
Eric Nantel 24.1 98 <p 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-v2-bbu/WebHome/wire08s.gif" alt="" border="2"><br>
Eric Nantel 20.1 99 <font size="2">Figure 4-1.</font></font></p></td>
Eric Nantel 24.1 100 <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-v2-bbu/WebHome/bbu01.jpg" alt="" border="2"></font><br>
Eric Nantel 20.1 101 <font size="2" face="Verdana, Helvetica, sans-serif">Figure 4.</font></td>
102 </tr>
103 <tr>
104 <td valign="top" align="left" colspan="2"><br class="pb"></td>
105 </tr>
106 <tr>
107 <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>
108 <font size="2">Double check your connections against the schematic below.</font></font></p>
109 <div align="center">
110 <center>
111 <table border="1" bordercolor="#FFFFFF">
112 <tbody><tr>
Eric Nantel 21.1 113 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Servo Letter Definitions</font></p></td>
Eric Nantel 20.1 114 </tr>
115 <tr>
Eric Nantel 21.1 116 <td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b>&nbsp;L</b>eft<br>
Eric Nantel 20.1 117 &nbsp;<b>R</b>ight</font></td>
Eric Nantel 21.1 118 <td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b>&nbsp;R</b>ear<br>
Eric Nantel 20.1 119 &nbsp;<b>M</b>iddle<br>
120 &nbsp;<b>F</b>ront</font></td>
Eric Nantel 21.1 121 <td bordercolor="#C0C0C0" align="left" valign="middle"><font size="2" face="Verdana, Helvetica, sans-serif"><b>&nbsp;K</b>nee<br>
Eric Nantel 20.1 122 &nbsp;<b>V</b>ertical<br>
123 &nbsp;<b>H</b>orizontal</font></td>
124 </tr>
125 </tbody></table>
126 </center>
127 </div>
Eric Nantel 24.1 128 <p 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-v2-bbu/WebHome/bbuhex01.png" alt="" border="0"><br>
Eric Nantel 20.1 129 <font size="2"> Schematic.</font></font></p></td>
130 </tr>
131 <tr>
132 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
133 </tr>
134 <tr>
135 <td valign="top" align="left"><p><font face="Verdana, Helvetica, sans-serif"><strong><font size="2">Step 5. Download the Program</font></strong><font size="2"><br>
136 </font></font><font size="2" face="Verdana, Helvetica, sans-serif">Download the Arduino software from <a href="http://arduino.cc/en/Main/Software" target="_blank">here</a>.
137 Install and run the program to allow programming the chip. You can download the code for your robot <a href="https://github.com/Lynxmotion/3DOF-4DOF-Hex/raw/master/BotBoarduino/3%20DoF%20Ready/BotBoarduino_CH3R_PS2_2016-03-08.zip">here</a>. </font></p>
138 <p><font size="2" face="Verdana, Helvetica, sans-serif">Extract the .zip file to a folder named "BotBoarduino_CH3R_PS2".</font><font size="2" face="Verdana, Helvetica, sans-serif"> The folder name IS required. Open BotBoarduino_CH3R_PS2.ino in the arduino software, turn on the robot, and click upload (the small arrow pointing to the right.)</font></p>
139 <p><font size="2" face="Verdana, Helvetica, sans-serif">Please note that in some cases you may have to reverse the Attention/Command/Data connector for the PS2 receiver to function with the BotBoarduino</font></p></td>
Eric Nantel 24.1 140 <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-v2-bbu/WebHome/arduinos.jpg" alt="" hspace="10" border="2"><br>
Eric Nantel 20.1 141 <font size="2">Figure 5.</font></font></td>
142 </tr>
143 <tr>
144 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"> </font></td>
145 </tr>
146 <tr>
147 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 6.</b><br>
Eric Nantel 21.1 148 At this point, the robot is able to move around. However, since the legs are not calibrated, it will look very sloppy. Download the Hexapod Calibration program to calibrate the robot's legs <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynx-hexapod-calibration-software/">here</a>. Just unzip the zip file and run the installer. This will automatically create an icon on your desktop so you can easily run it. </font></td>
Eric Nantel 24.1 149 <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-v2-bbu/WebHome/calib00.jpg" alt="" hspace="10" border="2"><br>
Eric Nantel 20.1 150 Figure 6.</font></td>
151 </tr>
152 <tr>
153 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">
154 </font></td>
155 </tr>
156 <tr>
157 <td valign="top" align="left"><p><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 7.</b><br>
158 Hold the "A" button on the BotBoarduino and apply power to the robot. This will force the robot into a calibration mode. Open the Hexapod Calibration program. The program will automatically detect a connected SSC-32 on ports 1-30 and will display the SSC-32's firmware version when connected. </font></p>
159 <p><font size="2" face="Verdana, Helvetica, sans-serif">Click "All=1500" to enable the servos. The robot's legs should move quickly into position as in Figures 8-1 or 8-2, and should hold
160 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
161 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
162 powerup. </font></p>
163 <p><font size="2" face="Verdana, Helvetica, sans-serif">If the legs are holding position but look radically different, then a mistake may have been made in the assembly. To correct this, you
164 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
165 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></p>
166 <p><font size="2" face="Verdana, Helvetica, sans-serif">Note, you can click on "inline" if you do not have a circular chassis for a more accurate visual representation.</font></p></td>
Eric Nantel 24.1 167 <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-v2-bbu/WebHome/calib01.jpg" border="2" hspace="10" ><br>
Eric Nantel 20.1 168 Figure 7.</font></td>
169 </tr>
170 <tr>
171 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
172 </tr>
173 <tr>
174 <td valign="top" align="left"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Step 8.</b><br>
175 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
176 perpendicular to the chassis and for the knee to form a perfect right angle. (See Figures 8-2 and 8-3.)</font>
177 <p><font size="2" face="Verdana, Helvetica, sans-serif">We are assuming that you have your servos plugged into the appropriate pins, according
178 to the assembly guide. Select a hip servo by clicking on the corresponding radio button. Move the Offset slider around until the joint is aligned. You can move it using the scroll wheel or arrow keys for fine tuning. </font></p>
179 <p><font size="2" face="Verdana, Helvetica, sans-serif">After aligning the hip servo, move on to the next closest servo to the body. Finally adjusting the knee servo last. Align the rest of the robot's legs in this manner. When you move to another servo, the previous one is marked as red to show your progress.</font></p>
180 <p>&nbsp;</p>
181 </td>
Eric Nantel 24.1 182 <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-v2-bbu/WebHome/calib02.jpg" border="2" hspace="10" ><br>
Eric Nantel 20.1 183 Figure 8-1.</font></td>
184 </tr>
185 <tr>
186 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif">&nbsp;</font><br class="pb"></td>
187 </tr>
188 <tr>
Eric Nantel 24.1 189 <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-v2-bbu/WebHome/hex04a.jpg" border="2" hspace="10" ><br>
Eric Nantel 20.1 190 Figure 8-2.</font></td>
Eric Nantel 24.1 191 <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-v2-bbu/WebHome/hex04b.jpg" border="2" hspace="10" ><br>
Eric Nantel 20.1 192 Figure 8-3.</font></td>
193 </tr>
194 <tr>
195 <td valign="top" align="left" colspan="2"><br class="pb"></td>
196 </tr>
197 <tr>
198 <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>
199 Mount the PS2 cable to the chassis. We used some double-sided foam tape to stick the PS2 cable on the bottom of the robot as shown. This makes it easier to swap controllers if
200 needed.</font></td>
Eric Nantel 24.1 201 <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-v2-bbu/WebHome/h3r09.jpg" border="2" hspace="10" ><br>
Eric Nantel 20.1 202 <font size="2">Figure 9.</font></font></td>
203 </tr>
204 <tr>
205 <td valign="top" align="left" colspan="2"><br class="pb"></td>
206 </tr>
207 <tr>
208 <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana, Helvetica, sans-serif">Step 10. Controlling the
209 Robot</font></b><font size="2" face="Verdana, Helvetica, sans-serif"><br>
210 The default is Walking
211 mode 1. Use the Left joystick to move the robot around without
212 turning (this is called "translation"), and the Right joystick rotates the robot as it moves. Up and Down on the D-Pad increases or
213 decreases the height of the body. The Triangle button puts the body at 35mm from the ground. The Circle button puts the body onto the floor in a
214 'resting' position. Press Triangle or Up on the D-Pad to raise the body.</font>
215 <p><font size="2" face="Verdana, Helvetica, sans-serif">There are four special "body moves" functions that are triggered by pressing
216 L1, L2, Circle, or X. While in one of these modes, the hexapod does not
217 walk. The joysticks and some buttons change function depending on which mode is toggled on; see
218 Table 10 for details.</font></p></td>
219 </tr>
220 <tr>
221 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
222 </font></td>
223 </tr>
224 <tr>
225 <td valign="top" align="left" colspan="2"><div align="center">
226 <center>
227 <table border="0">
228 <tbody><tr>
229 <td valign="top"><table border="1" bordercolor="#000000">
230 <tbody><tr>
Eric Nantel 21.1 231 <td bordercolor="#808080" bgcolor="#C0C0C0"><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
232 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Function</font></p></td>
Eric Nantel 20.1 233 </tr>
234 <tr>
Eric Nantel 21.1 235 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Common
Eric Nantel 20.1 236 Controls</b></font></p></td>
237 </tr>
238 <tr>
Eric Nantel 21.1 239 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Start</font></td>
240 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn robot on/off</font></td>
Eric Nantel 20.1 241 </tr>
242 <tr>
Eric Nantel 21.1 243 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R3</font></td>
244 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
Eric Nantel 20.1 245 between Walk mode 1 (default) and Walk mode 2</font></td>
246 </tr>
247 <tr>
Eric Nantel 21.1 248 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L1</font></td>
249 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 20.1 250 Shift mode</font></td>
251 </tr>
252 <tr>
Eric Nantel 21.1 253 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L2</font></td>
254 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 20.1 255 Rotate mode</font></td>
256 </tr>
257 <tr>
Eric Nantel 21.1 258 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X</font></td>
259 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 20.1 260 GP Player mode</font></td>
261 </tr>
262 <tr>
Eric Nantel 21.1 263 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O Circle</font></td>
264 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 20.1 265 Single Leg mode</font></td>
266 </tr>
267 <tr>
Eric Nantel 21.1 268 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">[] Square</font></td>
269 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 20.1 270 Balance mode<br>
271 (Balance mode: Lifts and lowers body along with moving legs.)</font></td>
272 </tr>
273 <tr>
Eric Nantel 21.1 274 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><u>/\</u> Triangle</font></td>
275 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
Eric Nantel 20.1 276 between body at 35mm from ground (walking default) and body
277 lowered to ground</font></td>
278 </tr>
279 <tr>
Eric Nantel 21.1 280 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad Up</font></td>
281 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body up 10mm</font></td>
Eric Nantel 20.1 282 </tr>
283 <tr>
Eric Nantel 21.1 284 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad Down</font></td>
285 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Body down 10mm</font></td>
Eric Nantel 20.1 286 </tr>
287 <tr>
Eric Nantel 21.1 288 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad
Eric Nantel 20.1 289 Left</font></td>
Eric Nantel 21.1 290 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Decrease
Eric Nantel 20.1 291 speed by 50mS</font></td>
292 </tr>
293 <tr>
Eric Nantel 21.1 294 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">D-Pad
Eric Nantel 20.1 295 Right</font></td>
Eric Nantel 21.1 296 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Increase
Eric Nantel 20.1 297 speed by 50mS</font></td>
298 </tr>
299 <tr>
Eric Nantel 21.1 300 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Walk
Eric Nantel 20.1 301 Mode Controls</b><br>
302 (Default is Walk mode 1)</font></p></td>
303 </tr>
304 <tr>
Eric Nantel 21.1 305 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
306 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Change gaits</font></td>
Eric Nantel 20.1 307 </tr>
308 <tr>
Eric Nantel 21.1 309 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left Joystick</font></td>
310 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walk
Eric Nantel 20.1 311 mode 1: Walk/strafe<br>
312 Walk mode 2: Disabled</font></td>
313 </tr>
314 <tr>
Eric Nantel 21.1 315 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right Joystick</font></td>
316 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Walk
Eric Nantel 20.1 317 mode 1: Rotate<br>
318 Walk mode 2: Walk/rotate</font></td>
319 </tr>
320 <tr>
Eric Nantel 21.1 321 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R1</font></td>
322 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 20.1 323 double gait travel speed</font></td>
324 </tr>
325 <tr>
Eric Nantel 21.1 326 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
327 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Toggle
Eric Nantel 20.1 328 double gait travel length</font></td>
329 </tr>
330 </tbody></table></td>
331 <td valign="top">&nbsp;</td>
332 <td valign="top"><table border="1" bordercolor="#000000">
333 <tbody><tr>
Eric Nantel 21.1 334 <td bordercolor="#808080" bgcolor="#C0C0C0"><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Button</font></p></td>
335 <td bordercolor="#808080" bgcolor="#C0C0C0" align="center"><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Function</font></p></td>
Eric Nantel 20.1 336 </tr>
337 <tr>
Eric Nantel 21.1 338 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Shift
Eric Nantel 20.1 339 Mode Controls<br>
340 </b>(Special mode)</font></p></td>
341 </tr>
342 <tr>
Eric Nantel 21.1 343 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L1</font></td>
344 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 20.1 345 Shift mode off</font></td>
346 </tr>
347 <tr>
Eric Nantel 21.1 348 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 20.1 349 Joystick</font></td>
Eric Nantel 21.1 350 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Shift
Eric Nantel 20.1 351 body X/Z</font></td>
352 </tr>
353 <tr>
Eric Nantel 21.1 354 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 20.1 355 Joystick</font></td>
Eric Nantel 21.1 356 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Shift
Eric Nantel 20.1 357 and rotate body Y</font></td>
358 </tr>
359 <tr>
Eric Nantel 21.1 360 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Rotate
Eric Nantel 20.1 361 Mode Controls<br>
362 </b>(Special mode)</font></p></td>
363 </tr>
364 <tr>
Eric Nantel 21.1 365 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">L2</font></td>
366 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 20.1 367 Rotate mode off</font></td>
368 </tr>
369 <tr>
Eric Nantel 21.1 370 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 20.1 371 Joystick</font></td>
Eric Nantel 21.1 372 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Rotate
Eric Nantel 20.1 373 body X/Z</font></td>
374 </tr>
375 <tr>
Eric Nantel 21.1 376 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 20.1 377 Joystick</font></td>
Eric Nantel 21.1 378 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Rotate
Eric Nantel 20.1 379 body Y</font></td>
380 </tr>
381 <tr>
Eric Nantel 21.1 382 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>Single
Eric Nantel 20.1 383 Leg Mode Controls<br>
384 </b>(Special mode)</font></p></td>
385 </tr>
386 <tr>
Eric Nantel 21.1 387 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">O
Eric Nantel 20.1 388 Circle</font></td>
Eric Nantel 21.1 389 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 20.1 390 Single Leg mode off</font></td>
391 </tr>
392 <tr>
Eric Nantel 21.1 393 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
394 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
Eric Nantel 20.1 395 legs</font></td>
396 </tr>
397 <tr>
Eric Nantel 21.1 398 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Left
Eric Nantel 20.1 399 Joystick</font></td>
Eric Nantel 21.1 400 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move
Eric Nantel 20.1 401 leg X/Z (relative)</font></td>
402 </tr>
403 <tr>
Eric Nantel 21.1 404 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Right
Eric Nantel 20.1 405 Joystick</font></td>
Eric Nantel 21.1 406 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Move
Eric Nantel 20.1 407 leg Y (absolute)</font></td>
408 </tr>
409 <tr>
Eric Nantel 21.1 410 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
411 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Hold/release
Eric Nantel 20.1 412 leg position</font></td>
413 </tr>
414 <tr>
Eric Nantel 21.1 415 <td bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><p align="center"><font size="2" face="Verdana, Helvetica, sans-serif"><b>GP
Eric Nantel 20.1 416 Player Mode Controls</b><br>
417 (Special mode; Requires GP firmware in SSC-32)</font></p></td>
418 </tr>
419 <tr>
Eric Nantel 21.1 420 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">X</font></td>
421 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Turn
Eric Nantel 20.1 422 GP Player mode off</font></td>
423 </tr>
424 <tr>
Eric Nantel 21.1 425 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Select</font></td>
426 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Switch
Eric Nantel 20.1 427 sequences</font></td>
428 </tr>
429 <tr>
Eric Nantel 21.1 430 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">R2</font></td>
431 <td bordercolor="#C0C0C0" align="center"><font size="2" face="Verdana, Helvetica, sans-serif">Start
Eric Nantel 20.1 432 sequences</font></td>
433 </tr>
434 </tbody></table></td>
435 </tr>
436 </tbody></table>
437 </center>
438 </div>
439 <div align="center"> <font size="2" face="Verdana, Helvetica, sans-serif"><b>PS2 Controls</b><br>
440 Table 10.</font> </div></td>
441 </tr>
442 </tbody></table>
443 </body>
Eric Nantel 1.1 444 {{/html}}

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