Last modified by Eric Nantel on 2024/07/03 09:20
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2 <body><table border="0" cellpadding="0" cellspacing="0" >
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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>
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>
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>
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>
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>
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>
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>
40 <td align="center" valign="top"><table border="1" bordercolor="#000000" width="250">
41 <tbody><tr>
42 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font size="2" face="Verdana">BotBoarduino
43 Jumpers</font></td>
44 </tr>
45 <tr>
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>
48 </tr>
49 <tr>
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>
52 </tr>
53 <tr>
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>
56 </tr>
57 <tr>
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>
60 </tr>
61 <tr>
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>
64 </tr>
65 <tr>
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>
68 </tr>
69 </tbody></table><table border="1" bordercolor="#000000" width="250">
70 <tbody><tr>
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>
72 </tr>
73 <tr>
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>
78 </tr>
79 <tr>
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>
84 </tr>
85 <tr>
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>
90 </tr>
91 <tr>
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>
96 </tr>
97 <tr>
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>
102 </tr>
103 <tr>
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>
108 </tr>
109 <tr>
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>
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>
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>
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>
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>
149 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Arm Selection in Program</font></td>
150 </tr>
151
152 <tr>
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>
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>
184 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2 Controls</font></td>
185 </tr>
186 <tr>
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>
191 </tr>
192 <tr>
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>
197 </tr>
198 <tr>
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>
203 </tr>
204 <tr>
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>
209 </tr>
210 <tr>
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>
215 </tr>
216 <tr>
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>
221 </tr>
222 <tr>
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>
227 </tr>
228 <tr>
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>
233 </tr>
234 <tr>
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>
239 </tr>
240 <tr>
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>
245 </tr>
246 <tr>
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>
251 </tr>
252 <tr>
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>
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>
270 {{/html}}
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