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26 <div class="asm">
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28 <!-- Header -->
29 <div style="padding: 0.5rem 0 1rem 0;">
30 <h1>AL5 Programming Tutorial — PS2 RC Rev. 1</h1>
31 <p><b>Updated January 11, 2012</b></p>
32 <p><span class="warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p>
33 <p>The purpose of this guide is to set up the robot arm to be controlled via a PlayStation 2 game controller using a <b>BotBoarduino</b>.</p>
34 <p>Note: PS2 control programs have been verified to work with Lynxmotion wireless controllers. Non-Lynxmotion controllers cannot be guaranteed.</p>
35 </div>
36
37 <!-- Requirements -->
38 <div class="asm-info">
39 <h2>What You'll Need</h2>
40 <p><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/" target="_blank">Any AL5 arm</a> · <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/" target="_blank">BotBoarduino</a> · PS2 Controller</p>
41 </div>
42
43 <!-- Step 1 -->
44 <div class="asm-step">
45 <div class="asm-step-header">
46 <div class="asm-step-name">AL5 PS2 RC (BotBoarduino) — Install Board</div>
47 <div class="asm-step-num">Step 1 / 4</div>
48 </div>
49 <div class="asm-step-body">
50 <div class="asm-step-text">
51 <p>Install the BotBoarduino as shown in Figure 1. Wire the board as shown in the schematic and Table 2 (Step 2). Verify all jumpers are correct.</p>
52 </div>
53 <div class="asm-step-figure">
54 <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">
55 <span>Figure 1.</span>
56 </div>
57 </div>
58 </div>
59
60 <!-- Step 2 — tables + schematic -->
61 <div class="asm-step">
62 <div class="asm-step-header">
63 <div class="asm-step-name">AL5 PS2 RC (BotBoarduino) — Configure Jumpers &amp; Connections</div>
64 <div class="asm-step-num">Step 2 / 4</div>
65 </div>
66 <div class="asm-step-body">
67 <div class="asm-step-text">
68 <p>Configure the BotBoarduino as illustrated in Table 2. For more information about setting up the force sensing resistor, see <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/" target="_blank">here</a>.</p>
69 </div>
70 </div>
71 <div class="asm-fullwidth">
72 <div style="display:flex; flex-wrap:wrap; gap:1.5rem; margin-bottom:1rem;">
73 <div style="flex:1 1 260px;">
74 <p style="font-weight:bold; margin-bottom:0.4rem;">BotBoarduino Jumpers</p>
75 <table class="ref-table" style="margin-bottom:0.75rem;">
76 <tr><th>Action</th><th>Setting</th></tr>
77 <tr><td>Connect</td><td>6.0VDC battery or wall pack to VS</td></tr>
78 <tr><td>Connect</td><td>9.0VDC battery to VL</td></tr>
79 <tr><td>Enable</td><td>Speaker</td></tr>
80 <tr><td>Connect</td><td>I/O 0-3 Power Bus to VS</td></tr>
81 <tr><td>Connect</td><td>I/O 4-7 Power Bus to VS</td></tr>
82 <tr><td>Connect</td><td>I/O 12-15 Power Bus to 5V</td></tr>
83 </table>
84 </div>
85 <div style="flex:1 1 260px;">
86 <p style="font-weight:bold; margin-bottom:0.4rem;">BotBoarduino Connections (Table 2)</p>
87 <table class="ref-table">
88 <tr><th>Pin</th><th>Function</th><th>Pin</th><th>Function</th></tr>
89 <tr><td>P1</td><td>N/A</td><td>P8</td><td>PS2 Data</td></tr>
90 <tr><td>P2</td><td>Base Rotate</td><td>P9</td><td>PS2 Clock</td></tr>
91 <tr><td>P3</td><td>Shoulder</td><td>P10</td><td>Wrist</td></tr>
92 <tr><td>P4</td><td>Elbow</td><td>P11</td><td>Gripper</td></tr>
93 <tr><td>P5</td><td>Speaker</td><td>P12</td><td>Wrist Rotate</td></tr>
94 <tr><td>P6</td><td>PS2 Attention</td><td>P13</td><td>N/A</td></tr>
95 <tr><td>P7</td><td>PS2 Command</td><td>A2</td><td>Force Sensing Resistor</td></tr>
96 </table>
97 </div>
98 </div>
99 <p><b>Schematic.</b> Double check your connections against the schematic below. You can check your PS2 cable colors and their functions <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/#aglance" target="_blank">here</a>.</p>
100 <div style="text-align:center;">
101 <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" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
102 <p style="font-size:12px; color:#666; margin-top:0.3rem;">Schematic.</p>
103 </div>
104 </div>
105 </div>
106
107 <!-- Step 3 -->
108 <div class="asm-step">
109 <div class="asm-step-header">
110 <div class="asm-step-name">AL5 PS2 RC (BotBoarduino) — Download &amp; Program</div>
111 <div class="asm-step-num">Step 3 / 4</div>
112 </div>
113 <div class="asm-step-body">
114 <div class="asm-step-text">
115 <p>Download and install the <a href="http://arduino.cc/en/Main/Software" target="_blank">Arduino Software</a>. Install the <a href="https://github.com/Lynxmotion/Arduino-PS2X/raw/master/PS2X_lib.zip" target="_blank">PS2X library</a> — instructions for installing libraries are <a href="http://arduino.cc/en/Reference/Libraries" target="_blank">here</a>. Download the arm code <a href="https://github.com/Lynxmotion/Arms/zipball/Botboarduino" target="_blank">here</a>.</p>
116 <p>Open the .ino file and locate the arm selection section near the top. Remove the comments (<code>//</code>) from in front of the arm you are using. The code defaults to AL5D — if using another arm, add <code>//</code> before the AL5D line (see Table 3).</p>
117 <p>If using an FSR on the gripper, uncomment the line <code>#define FSRG</code>.</p>
118 <p>When finished, save your program and click "Upload".</p>
119 </div>
120 <div class="asm-step-figure" style="flex: 0 1 340px;">
121 <p style="font-weight:bold; font-size:12px; margin-bottom:0.4rem;">Table 3 — Arm Selection</p>
122 <div class="code-block">//comment to disable the Force Sensitive Resister on the gripper
123 //#define FSRG
124
125 //Select which arm by uncommenting the corresponding line
126 //#define AL5A
127 //#define AL5B
128 #define AL5D</div>
129 </div>
130 </div>
131 </div>
132
133 <!-- Step 4 -->
134 <div class="asm-step">
135 <div class="asm-step-header">
136 <div class="asm-step-name">AL5 PS2 RC (BotBoarduino) — Controller Reference</div>
137 <div class="asm-step-num">Step 4 / 4</div>
138 </div>
139 <div class="asm-fullwidth">
140 <p style="font-weight:bold; margin-bottom:0.5rem;">PS2 Controls — Table 4</p>
141 <table class="ref-table">
142 <tr><th>Button</th><th>Function</th><th>Button</th><th>Function</th></tr>
143 <tr><td>L Joy Up</td><td>Gripper Angle Up</td><td>R Joy Up</td><td>Gripper Up</td></tr>
144 <tr><td>L Joy Down</td><td>Gripper Angle Down</td><td>R Joy Down</td><td>Gripper Down</td></tr>
145 <tr><td>L Joy Left</td><td>Base Rotate Left</td><td>R Joy Left</td><td>Gripper Back</td></tr>
146 <tr><td>L Joy Right</td><td>Base Rotate Right</td><td>R Joy Right</td><td>Gripper Away</td></tr>
147 <tr><td>L1</td><td>Wrist Rotate CW</td><td>R1</td><td>Gripper Close</td></tr>
148 <tr><td>L2</td><td>Wrist Rotate CCW</td><td>R2</td><td>Gripper Open</td></tr>
149 <tr><td>L3</td><td>N/A</td><td>R3</td><td>N/A</td></tr>
150 <tr><td>D-Pad Up</td><td>Increase Speed</td><td>△ Triangle</td><td>Center Wrist Rotate</td></tr>
151 <tr><td>D-Pad Down</td><td>Decrease Speed</td><td>X Cross</td><td>Fully Open Gripper</td></tr>
152 <tr><td>D-Pad Left</td><td>N/A</td><td>□ Square</td><td>N/A</td></tr>
153 <tr><td>D-Pad Right</td><td>N/A</td><td>O Circle</td><td>N/A</td></tr>
154 <tr><td>Start</td><td>Enable / Disable Arm</td><td>Select</td><td>N/A</td></tr>
155 </table>
156 </div>
157 </div>
158
159 </div>
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