Changes for page BRAT Biped Autonomous Water Bottle Attacking Tutorial
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... ... @@ -1,321 +1,3 @@ 1 1 {{html wiki="false" clean="true"}} 2 2 3 -<!-- saved from url=(0051)https://www.lynxmotion.com/images/html/build133.htm --> 4 -<html><head><meta http-equiv="Content-Type" content="text/html; charset=windows-1252"> 5 -<meta name="GENERATOR" content="Microsoft FrontPage 4.0"> 6 -<meta name="ProgId" content="FrontPage.Editor.Document"> 7 -<link rel="stylesheet" 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/default.css" type="text/css"> 8 -<title></title> 9 -</head> 10 - 11 - 12 - 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 - - <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl" target="_blank">BASIC Micro Studio</a><br> 23 - - <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 - - <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 - -- Video: <a href="http://youtube.com/watch?v=fmpcNlfv1oI" target="_blank">Water Bottle Seek-and-Destroy 1 (youtube)</a><br> 28 - -- Video: <a href="http://youtube.com/watch?v=pt_7JQS3d9M" target="_blank">Water Bottle Seek-and-Destroy 2 (youtube)</a><br> 29 - -- 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"> </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"> </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"> </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"> </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"> </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"> </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"> </font></td> 232 - </tr> 233 - <tr> 234 - <td valign="top" align="left" colspan="2"> 235 - <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/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"> </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&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"> </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 - - <a href="http://youtube.com/watch?v=fmpcNlfv1oI" target="_blank">Water Bottle Seek-and-Destroy 1 (youtube)</a><br> 316 - - <a href="http://youtube.com/watch?v=pt_7JQS3d9M" target="_blank">Water Bottle Seek-and-Destroy 2 (youtube)</a><br> 317 - - <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}}