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8 +<title></title>
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13 +<body><table border="0" cellpadding="0" cellspacing="0" >
14 + <tbody><tr>
15 + <td valign="top" align="left"><b><font face="Verdana" size="2">Biped BRAT Autonomous Water Bottle Attacking Tutorial.</font></b>
16 + <p><font face="Verdana" size="2"><b>Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" --></b>
17 + <!-- #BeginDate format:Am3 -->03/27/2012<!-- #EndDate --></font>
18 + </p>
19 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
20 + <p><font face="Verdana" size="2"><b>Note:</b> This tutorial uses the Bot Board II, BASIC Atom Pro 28, and a Sharp GP2D12 sensor.</font></p>
21 + <p><font face="Verdana" size="2"><b>Software:</b><br>
22 + &nbsp;&nbsp;- <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl" target="_blank">BASIC Micro Studio</a><br>
23 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous-water-bottle/WebHome/mechosf.bas">BRAT Mech Servo Offset Finder Program</a>
24 + (09/17/09)<br>
25 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous-water-bottle/WebHome/abrat5.bas">Autonomous Water Bottle Attack Code</a>
26 + (09/17/09)<br>
27 + &nbsp; -- Video: <a href="http://youtube.com/watch?v=fmpcNlfv1oI" target="_blank">Water Bottle Seek-and-Destroy 1 (youtube)</a><br>
28 + &nbsp; -- Video: <a href="http://youtube.com/watch?v=pt_7JQS3d9M" target="_blank">Water Bottle Seek-and-Destroy 2 (youtube)</a><br>
29 + &nbsp; -- Video: <a href="http://youtube.com/watch?v=hlKGp7ozSDg" target="_blank">Water Bottle Seek-and-Destroy 3 (youtube)</a></font></p></td>
30 + <td align="center" valign="top" width="320"><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-bipeds/brat-biped-autonomous-water-bottle/WebHome/bratwb00.jpg" border="2" hspace="10" ><br>
31 + <strong>Image of Biped BRAT.</strong></font></td>
32 + </tr>
33 + <tr>
34 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
35 + </tr>
36 + <tr>
37 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 1.</b><br>
38 + Depending on how you've built your BRAT, you may have to change the orientation of the "U" channel to match Figure 1.</font></td>
39 + <td align="left" valign="top" >
40 + <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-bipeds/brat-biped-autonomous-water-bottle/WebHome/bratwb01.jpg" border="2" hspace="10" ><br>
41 + Figure 1.</font></p></td>
42 + </tr>
43 + <tr>
44 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
45 + </tr>
46 + <tr>
47 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 2.</b><br>
48 + Attach an ASB-18 to a multi-purpose bracket as shown in Figure 2 using the included hardware.</font></td>
49 + <td align="left" valign="top" >
50 + <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-bipeds/brat-biped-autonomous-water-bottle/WebHome/bratwb02.jpg" border="2" hspace="10" ><br>
51 + Figure 2.</font></p></td>
52 + </tr>
53 + <tr>
54 + <td valign="top" align="left" colspan="2"><br class="pb">
55 + </td>
56 + </tr>
57 + <tr>
58 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br>
59 + Attach a long "C" bracket to the multi-purpose bracket as shown. Refer to Figure 3-1 for detailed information.</font>
60 + <p align="center"><font face="Verdana" size="2"><img hspace="10" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous-water-bottle/WebHome/ballb01.GIF" border="2"><br>
61 + Figure 3-1.</font></p></td>
62 + <td align="left" valign="top" >
63 + <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-bipeds/brat-biped-autonomous-water-bottle/WebHome/bratwb03.jpg" border="2" hspace="10" ><br>
64 + Figure 3-2.</font></p></td>
65 + </tr>
66 + <tr>
67 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
68 + </tr>
69 + <tr>
70 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 4.</b><br>
71 + Attach the pan assembly and electronics carrier to the "U" channel as shown. Refer to Figure 4-1 for detailed information.</font>
72 + <p align="center"><font face="Verdana" size="2"><img hspace="10" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous-water-bottle/WebHome/brat01.gif" border="2"><br>
73 + Figure 4-1.</font></p></td>
74 + <td align="left" valign="top" >
75 + <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-bipeds/brat-biped-autonomous-water-bottle/WebHome/bratwb04.jpg" border="2" hspace="10" ><br>
76 + Figure 4-2.</font></p></td>
77 + </tr>
78 + <tr>
79 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
80 + </tr>
81 + <tr>
82 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 5.</b><br>
83 + Insert the pan servo into the assembly and secure with servo attachment hardware and two #2 tapping screws.</font></td>
84 + <td align="left" valign="top" >
85 + <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-bipeds/brat-biped-autonomous-water-bottle/WebHome/bratwb05.jpg" border="2" hspace="10" ><br>
86 + Figure 5.</font></p></td>
87 + </tr>
88 + <tr>
89 + <td valign="top" align="left" colspan="2"><br class="pb">
90 + </td>
91 + </tr>
92 + <tr>
93 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 6.</b><br>
94 + Attach the Bot Board II to the electronics carrier as shown, using four 1/4" hex socket cap screws.</font></td>
95 + <td align="left" valign="top" >
96 + <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-bipeds/brat-biped-autonomous-water-bottle/WebHome/bratwb06.jpg" border="2" hspace="10" ><br>
97 + Figure 6.</font></p></td>
98 + </tr>
99 + <tr>
100 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
101 + </tr>
102 + <tr>
103 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 7.</b><br>
104 + Using double-sided tape, attach the GP2D12 sensor to the front of the pan Long "C" bracket as shown. Make sure to orient the sensor as
105 + shown in Figure 7.</font></td>
106 + <td align="left" valign="top" >
107 + <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-bipeds/brat-biped-autonomous-water-bottle/WebHome/bratwb07.jpg" border="2" hspace="10" ><br>
108 + Figure 7.</font></p></td>
109 + </tr>
110 + <tr>
111 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
112 + </tr>
113 + <tr>
114 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 8.</b><br>
115 + Make sure your servos and sensor are plugged into the appropriate channels, as shown in Table 8.</font>
116 + <p><font face="Verdana" size="2">*Note, P9 is used by the speaker, so we can't plug a servo in there.</font></p></td>
117 + <td align="left" valign="top" >
118 + <div align="center">
119 + <center>
120 + <table border="1" bordercolor="#FFFFFF" >
121 + <tbody><tr>
122 + <td >
123 + <div align="center">
124 + <center>
125 + </center><table border="1" bordercolor="#000000" >
126 + <tbody><tr>
127 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Bot Board I/O</b></font></td>
128 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Connection</b></font></td>
129 + </tr>
130 + <tr>
131 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P4</font></td>
132 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Ankle</font></td>
133 +
134 + </tr>
135 + <tr>
136 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P5</font></td>
137 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Knee</font></td>
138 + </tr>
139 + <tr>
140 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P6</font></td>
141 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Hip</font></td>
142 + </tr>
143 + <tr>
144 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P7</font></td>
145 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Ankle</font></td>
146 + </tr>
147 + <tr>
148 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P8</font></td>
149 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Knee</font></td>
150 + </tr>
151 +
152 +
153 + <tr>
154 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P10</font></td>
155 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Hip</font></td>
156 + </tr>
157 + <tr>
158 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P11</font></td>
159 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Sensor
160 + Pan Servo</font></td>
161 + </tr>
162 + <tr>
163 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P19 (AX3)</font></td>
164 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">GP2D12</font></td>
165 + </tr>
166 + </tbody></table>
167 + </div></td>
168 + </tr>
169 + <tr>
170 + <td bordercolor="#FFFFFF">
171 + <p align="center"><font face="Verdana" size="2">Table 8.</font></p></td>
172 + </tr>
173 + </tbody></table>
174 + </center></div>
175 + </td>
176 + </tr>
177 + <tr>
178 + <td valign="top" align="left" colspan="2"><br class="pb">
179 + </td>
180 + </tr>
181 + <tr>
182 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 9.</b><br>
183 + Make sure the Bot Board's jumpers are set according to Table 9.</font>
184 + <p><font face="Verdana" size="2">Refer to Figure 9 for help with jumper settings.</font></p>
185 + <p><font face="Verdana" size="2">*Note, the VS to AX0 jumper enables the program to monitor the servo battery voltage. When the battery is low,
186 + the robot can beep in warning.</font></p></td>
187 + <td align="left" valign="top" >
188 + <div align="center">
189 + <center>
190 + <table border="1" bordercolor="#FFFFFF" >
191 + <tbody><tr>
192 + <td >
193 + <div align="center">
194 + <table border="1" bordercolor="#000000" >
195 + <tbody><tr>
196 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="2"><b>Bot Board II
197 + Jumper Settings</b></font></td>
198 + </tr>
199 + <tr>
200 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
201 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">A, B, and C buttons</font></td>
202 + </tr>
203 + <tr>
204 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">5v</font></td>
205 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Group 0-3</font></td>
206 + </tr>
207 + <tr>
208 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">VS</font></td>
209 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Groups 4-7 and 8-11</font></td>
210 + </tr>
211 + <tr>
212 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
213 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">SPKEN (Speaker Enable)</font></td>
214 + </tr>
215 + <tr>
216 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
217 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VS (Servo Voltage) to AX0 (P16)</font></td>
218 + </tr>
219 + </tbody></table>
220 + </div></td>
221 + </tr>
222 + <tr>
223 + <td bordercolor="#FFFFFF">
224 + <p align="center"><font face="Verdana" size="2">Table 9.</font></p></td>
225 + </tr>
226 + </tbody></table>
227 + </center></div>
228 + </td>
229 + </tr>
230 + <tr>
231 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
232 + </tr>
233 + <tr>
234 + <td valign="top" align="left" colspan="2">
235 + <p align="center"><font face="Verdana" size="2">&nbsp;<img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous-water-bottle/WebHome/abrat2.gif" border="0" hspace="10" ><br>
236 + Figure 9.</font></p>
237 + </td>
238 + </tr>
239 + <tr>
240 + <td valign="top" align="left" colspan="2"><br class="pb">
241 + </td>
242 + </tr>
243 + <tr>
244 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br>
245 + Download and install the <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl" target="_blank">BASIC Micro Studio</a>. Download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous-water-bottle/WebHome/mechosf.bas">BRAT Mech Servo Offset Finder program</a>, and load it into the IDE.</font>
246 + <p><font face="Verdana" size="2">Program the Atom Pro, and follow these instructions to find your robot's offsets.</font></p>
247 + <ul>
248 + <li><font face="Verdana" size="2">Press A to decrease the servo offset by 5us.</font></li>
249 + <li><font face="Verdana" size="2">Press C to increase the servo offset by 5us.</font></li>
250 + <li><font face="Verdana" size="2">Press B to change which servo is being manipulated, and to
251 + save your offsets. The order of the
252 + program is shown in Figure 10.</font></li>
253 + </ul>
254 + <p><font face="Verdana" size="2">Note, if you have the Speaker enabled, when you press the B button you will hear a short tone. The tone will
255 + raise in pitch when you change from servo to servo, and will lower in pitch and be longer when you get back to Start.</font></p></td>
256 + <td align="left" valign="top" >
257 + <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-bipeds/brat-biped-autonomous-water-bottle/WebHome/mechosf1.jpg" border="2" hspace="10" ><br>
258 + Figure 10.</font></p></td>
259 + </tr>
260 + <tr>
261 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
262 + </tr>
263 + <tr>
264 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
265 + 11.</b><br>
266 + Place the robot in a position as close to neutral as possible, and turn it on. Your robot should go to and hold the neutral position, and should
267 + resemble figures 11-1 through 11-3. If the joints are off by more than 15&amp;deg; you may have made an error in assembly. To correct this, remove the
268 + center screw from the round servo horn, pull the servo horn off the servo, rotate until it's aligned, then reattach the servo horn.</font>
269 + <p><font face="Verdana" size="2">Use the A, B, and C buttons to straighten the BRAT as shown in Figures
270 + 11-1, 11-2, and 11-3.</font></p>
271 + <p><font face="Verdana" size="2">Note, if you are building the robot with HS-422 servos, you will notice the hip servos oscillate if the robot
272 + is lifted off the ground. This is normal, and is due to the lower power servo. When the robot is walking, the effects are minimal. Using a
273 + voltage that is higher than 6vdc will make the oscillations worse. When building a robot with more powerful servos such as HS-475,
274 + HS-485, or HS-645, you
275 + will not see this effect.</font></p>
276 + <p><font face="Verdana" size="2"><b>
277 + After you've cycled through the servos and adjusted them to match Figures
278 + 11-1 through 11-3, pressing the B button again will
279 + save your servo offset values to the Atom Pro's EEPROM.</b></font></p>
280 + </td>
281 + <td align="left" valign="top" >
282 + <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-bipeds/brat-biped-autonomous-water-bottle/WebHome/brat10.jpg" border="2" hspace="10" ><br>
283 + Figure 11-1.</font></p></td>
284 + </tr>
285 + <tr>
286 + <td valign="top" align="left" colspan="2"><br class="pb">
287 + </td>
288 + </tr>
289 + <tr>
290 + <td valign="top" align="left">
291 + <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-bipeds/brat-biped-autonomous-water-bottle/WebHome/brat07.jpg" border="2" hspace="10" ><br>
292 + Figure 11-2.</font></p>
293 + </td>
294 + <td align="left" valign="top" >
295 + <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-bipeds/brat-biped-autonomous-water-bottle/WebHome/brat04.jpg" border="2" hspace="10" ><br>
296 + Figure 11-3.</font></p></td>
297 + </tr>
298 + <tr>
299 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
300 + </tr>
301 + <tr>
302 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step
303 + 12.</b><br>
304 + Now download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous-water-bottle/WebHome/abrat5.bas">BRAT Autonomous Water Bottle Attack Code</a>, load it into the
305 + IDE, and program your BRAT.</font>
306 + <p><font face="Verdana" size="2">Your BRAT will now seek out an object in range, and once it gets close enough, it will kick the object. When
307 + you turn the robot on, it will beep three times, letting you know that the program was successfully downloaded. The BRAT will then scan the area
308 + in front of it, looking for a water bottle (or similar object). If the BRAT does not detect an object, it will turn in place, then scan again.
309 + This will repeat until the BRAT detects an object.</font></p>
310 + <p><font face="Verdana" size="2">When the BRAT detects an object, it will walk toward the object, turning to adjust the direction if needed.
311 + Once the BRAT is in "kicking range", it will beep. The BRAT will align itself into kicking position, then kick the object. After
312 + kicking, the BRAT will scan to make sure the object is down. After the object has been kicked down, the BRAT will once again start scanning for
313 + objects, starting the program loop over.</font></p>
314 + <p><font face="Verdana" size="2">Check out these videos:<br>
315 + &nbsp; - <a href="http://youtube.com/watch?v=fmpcNlfv1oI" target="_blank">Water Bottle Seek-and-Destroy 1 (youtube)</a><br>
316 + &nbsp; - <a href="http://youtube.com/watch?v=pt_7JQS3d9M" target="_blank">Water Bottle Seek-and-Destroy 2 (youtube)</a><br>
317 + &nbsp; - <a href="http://youtube.com/watch?v=hlKGp7ozSDg" target="_blank">Water Bottle Seek-and-Destroy 3 (youtube)</a></font></p></td>
318 + </tr>
319 +</tbody></table>
320 +</body></html>
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