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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>
321 321  {{/html}}
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