Last modified by Eric Nantel on 2024/07/03 09:20
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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"><b><font size="2" face="Verdana">AL5 Programming Tutorial - PS2 RC<br>
5 Rev. 1.</font></b>
6 <p><b><font size="2" face="Verdana">Updated 01/11/2012</font></b></p>
7 <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
8 <p><font face="Verdana, Helvetica, sans-serif" size="2">The purpose of this guide is to set up the robot arm to be controlled via a Playstation
9 2 game controller.</font></p>
10 <p><font face="Verdana, Helvetica, sans-serif" size="2"><b>Note</b>, the PS2 control programs have been verified to work with Lynxmotion wireless controllers. We cannot guarantee that non-Lynxmotion controllers will
11 work.</font></p>
12
13 <font size="2" face="Verdana, Helvetica, sans-serif"><b>What you'll need to get started:</b><br></font>
14 <ul>
Eric Nantel 22.1 15 <li><font size="2" face="Verdana, Helvetica, sans-serif">Any of our <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/">AL5 arms</a></font></li>
16 <li><font size="2" face="Verdana, Helvetica, sans-serif"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/">BotBoarduino</a></font></li>
17 <li><font size="2" face="Verdana, Helvetica, sans-serif">PS2 Controller</font></li></ul></td>
Eric Nantel 21.1 18 <td align="center" valign="top" width="320"><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5-programming-tutorial-ps2-botboarduino/WebHome/bbuarm.jpg" border="2" hspace="10" width="320" height="240"><br>
Eric Nantel 20.1 19 <b>Image of arm.</b></font></td>
20 </tr>
21 <tr>
22 <td valign="top" align="left" colspan="2">&nbsp;</td>
23 </tr>
24 <tr>
25 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 1. </font></b><br>
26 </font><font size="2" face="Verdana">Install the BotBoarduino as shown in Figure 1. Wire the board as shown in the schematic and table below. Make sure the jumpers are all correct.
27 </font></td>
Eric Nantel 21.1 28 <td align="center" valign="top"><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/al5-programming-tutorial-ps2-botboarduino/WebHome/armbbu1.jpg" alt="" width="320" height="240" hspace="10" border="2"><br>
Eric Nantel 20.1 29 Figure 1.</font></td>
30 </tr>
31
32 <tr>
33 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">
34
35 </font></td>
36 </tr>
37 <tr>
38 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 2<font face="Verdana"><b>. </b></font></font></b><br>
Eric Nantel 22.1 39 <font size="2">Configure the BotBoarduino as illustrated in Table 2. For more information about setting up the force sensing resistor, look <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/">here</a>.</font></font></td>
Eric Nantel 20.1 40 <td align="center" valign="top"><table border="1" bordercolor="#000000" width="250">
41 <tbody><tr>
Eric Nantel 24.1 42 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size="2" face="Verdana">BotBoarduino
Eric Nantel 20.1 43 Jumpers</font></td>
44 </tr>
45 <tr>
Eric Nantel 24.1 46 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
47 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6.0vdc battery or wall pack to VS</font></td>
Eric Nantel 20.1 48 </tr>
49 <tr>
Eric Nantel 24.1 50 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
51 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">9.0vdc battery to VL</font></td>
Eric Nantel 20.1 52 </tr>
53 <tr>
Eric Nantel 24.1 54 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
55 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
Eric Nantel 20.1 56 </tr>
57 <tr>
Eric Nantel 24.1 58 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
59 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 0-3 Power Bus to VS</font></td>
Eric Nantel 20.1 60 </tr>
61 <tr>
Eric Nantel 24.1 62 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
63 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 4-7 Power Bus to VS</font></td>
Eric Nantel 20.1 64 </tr>
65 <tr>
Eric Nantel 24.1 66 <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
67 <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 12-15 Power Bus to 5V</font></td>
Eric Nantel 20.1 68 </tr>
69 </tbody></table><table border="1" bordercolor="#000000" width="250">
70 <tbody><tr>
Eric Nantel 24.1 71 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana"><font size="2" face="Verdana">BotBoarduino Connections</font></font></td>
Eric Nantel 20.1 72 </tr>
73 <tr>
Eric Nantel 24.1 74 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td>
75 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
76 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P8</font></td>
77 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Data</font></td>
Eric Nantel 20.1 78 </tr>
79 <tr>
Eric Nantel 24.1 80 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P2</font></td>
81 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base</font></td>
82 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P9</font></td>
83 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Clock</font></td>
Eric Nantel 20.1 84 </tr>
85 <tr>
Eric Nantel 24.1 86 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P3</font></td>
87 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Shoulder</font></td>
88 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P10</font></td>
89 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist</font></td>
Eric Nantel 20.1 90 </tr>
91 <tr>
Eric Nantel 24.1 92 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P4</font></td>
93 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Elbow</font></td>
94 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P11</font></td>
95 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper</font></td>
Eric Nantel 20.1 96 </tr>
97 <tr>
Eric Nantel 24.1 98 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P5</font></td>
99 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
100 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P12</font></td>
101 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate</font></td>
Eric Nantel 20.1 102 </tr>
103 <tr>
Eric Nantel 24.1 104 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P6</font></td>
105 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Attention</font></td>
106 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P13</font></td>
107 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
Eric Nantel 20.1 108 </tr>
109 <tr>
Eric Nantel 24.1 110 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P7</font></td>
111 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Command</font></td>
112 <td width="25" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">A2</font></td>
113 <td width="100" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Force Sensing Resistor</font></td>
Eric Nantel 20.1 114 </tr>
115
116 </tbody></table>
117 <font size="2" face="Verdana">Table 2.</font></td>
118 </tr>
119 <tr>
120 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
121 </font></td>
122 </tr>
123 <tr>
124 <td valign="top" align="left" colspan="2"><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>
125 <font size="2">Double check your connections against the schematic below.</font></font>
Eric Nantel 22.1 126 <p><font face="Verdana" size="2">Note: You can check your PS2 cable's colors and the functions they represent <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 21.1 127 <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-arms/al5-programming-tutorial-ps2-botboarduino/WebHome/bbups2arm.png" alt="" width="650" height="311" border="0"><br>
Eric Nantel 20.1 128 <font size="2">Schematic.</font></font></p></td>
129 </tr>
130 <tr>
131 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb">
132 </font></td>
133 </tr>
134 <tr>
135 <td valign="top" align="left"><p><font face="Verdana"><b><font size="2">Step 3<font face="Verdana"><b>. </b></font></font></b><br>
136 <font size="2">Download and install the <a href="http://arduino.cc/en/Main/Software">Arduino Software</a></font></font><font size="2" face="Verdana">. You will need to install the <a href="https://github.com/Lynxmotion/Arduino-PS2X/raw/master/PS2X_lib.zip" target="_blank">PS2X library</a>. You can find instructions on installing the library <a href="http://arduino.cc/en/Reference/Libraries">here</a>. Download the code for the arm <a href="https://github.com/Lynxmotion/Arms/zipball/Botboarduino" target="_blank">here</a>. </font></p>
137 <p><font size="2" face="Verdana">Open the .ino file in the IDE and locate the section
138 of code to the right located near the top of the file. Remove the comments (double forward slash) from in front of the arm you are using. For example, if you are using an AL5D, the text should look like Table 3. The code is set to default to the AL5D arm. If you use another arm, be sure to add a comment before the AL5D line. </font></p>
139 <p><font size="2" face="Verdana">If you are using a FSR on the gripper, be sure to uncomment the line "#define FSRG".</font> </p>
140 <p><font size="2" face="Verdana">When you are finished, save your program and click "Program."</font></p></td>
141 <td align="center" valign="top"><div align="center">
142 <center>
143 </center><table border="0">
144 <tbody><tr>
145 <td ><div align="center">
146 <center>
147 </center><table border="1" bordercolor="#000000" width="400">
148 <tbody><tr>
Eric Nantel 24.1 149 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Arm Selection in Program</font></td>
Eric Nantel 20.1 150 </tr>
151
152 <tr>
Eric Nantel 24.1 153 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><p align="left"><font face="Courier New" size="2">//comment to disable the Force Sensitive Resister on the gripper<br>
Eric Nantel 20.1 154 //#define FSRG<br>
155 <br>
156 //Select which arm by uncommenting the corresponding line<br>
157 //#define AL5A<br>
158 //#define AL5B<br>
159 #define AL5D</font></p></td>
160 </tr>
161 </tbody></table>
162 </div></td>
163 </tr>
164 <tr>
165 <td ><p align="center"><font size="2" face="Verdana">Table 3</font></p></td>
166 </tr>
167
168 </tbody></table>
169 </div></td>
170 </tr>
171 <tr>
172 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
173 </tr>
174 <tr>
175 <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 4<font face="Verdana"><b>. </b></font></font></b><br>
176 </font><font size="2" face="Verdana">Consult Table 4 for information on controlling the arm.</font></td>
177 <td align="center" valign="top"><div align="center">
178 <center>
179 <table border="0">
180 <tbody><tr>
181 <td ><div align="center">
182 <table border="1" bordercolor="#000000" width="400">
183 <tbody><tr>
Eric Nantel 24.1 184 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2 Controls</font></td>
Eric Nantel 20.1 185 </tr>
186 <tr>
Eric Nantel 24.1 187 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy U</font></td>
188 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Angle Up</font></td>
189 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy U</font></td>
190 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Up</font></td>
Eric Nantel 20.1 191 </tr>
192 <tr>
Eric Nantel 24.1 193 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy D</font></td>
194 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Angle Down</font></td>
195 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy D</font></td>
196 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Down</font></td>
Eric Nantel 20.1 197 </tr>
198 <tr>
Eric Nantel 24.1 199 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy L</font></td>
200 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate Left</font></td>
201 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy L</font></td>
202 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Back</font></td>
Eric Nantel 20.1 203 </tr>
204 <tr>
Eric Nantel 24.1 205 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy R</font></td>
206 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Rotate Right</font></td>
207 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy R</font></td>
208 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Away</font></td>
Eric Nantel 20.1 209 </tr>
210 <tr>
Eric Nantel 24.1 211 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L1</font></td>
212 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CW</font></td>
213 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R1</font></td>
214 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Close</font></td>
Eric Nantel 20.1 215 </tr>
216 <tr>
Eric Nantel 24.1 217 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L2</font></td>
218 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CCW</font></td>
219 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R2</font></td>
220 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Open</font></td>
Eric Nantel 20.1 221 </tr>
222 <tr>
Eric Nantel 24.1 223 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L3</font></td>
224 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
225 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R3</font></td>
226 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
Eric Nantel 20.1 227 </tr>
228 <tr>
Eric Nantel 24.1 229 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad U</font></td>
230 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Increase Speed</font></td>
231 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Tri</font></td>
232 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Center Wrist Rotate</font></td>
Eric Nantel 20.1 233 </tr>
234 <tr>
Eric Nantel 24.1 235 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad D</font></td>
236 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Decrease Speed</font></td>
237 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">X</font></td>
238 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Fully Open Gripper</font></td>
Eric Nantel 20.1 239 </tr>
240 <tr>
Eric Nantel 24.1 241 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad L</font></td>
242 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
243 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Squ</font></td>
244 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
Eric Nantel 20.1 245 </tr>
246 <tr>
Eric Nantel 24.1 247 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad R</font></td>
248 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
249 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">O</font></td>
250 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
Eric Nantel 20.1 251 </tr>
252 <tr>
Eric Nantel 24.1 253 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Start</font></td>
254 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Enable/Disable Arm</font></td>
255 <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Select</font></td>
256 <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
Eric Nantel 20.1 257 </tr>
258 </tbody></table>
259 </div></td>
260 </tr>
261 <tr>
262 <td ><p align="center"><font size="2" face="Verdana">Table 4</font></p></td>
263 </tr>
264 </tbody></table>
265 </center>
266 </div></td>
267 </tr>
268 </tbody></table>
269 </body>
Eric Nantel 23.1 270 {{/html}}
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