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1 -BRAT Biped Autonomous Water Bottle Attacking Tutorial
1 +BRAT Biped Autonomous Water Bottle Attacking Tutorial.
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2 2  
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11 -
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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;- BASIC Micro Studio<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.zip">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.zip">Autonomous Water Bottle Attack Code</a>
26 - (09/17/09)</font></p></td>
27 - <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>
28 - <strong>Image of Biped BRAT.</strong></font></td>
29 - </tr>
30 - <tr>
31 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
32 - </tr>
33 - <tr>
34 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 1.</b><br>
35 - 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>
36 - <td align="left" valign="top" >
37 - <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>
38 - Figure 1.</font></p></td>
39 - </tr>
40 - <tr>
41 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
42 - </tr>
43 - <tr>
44 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 2.</b><br>
45 - Attach an ASB-18 to a multi-purpose bracket as shown in Figure 2 using the included hardware.</font></td>
46 - <td align="left" valign="top" >
47 - <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>
48 - Figure 2.</font></p></td>
49 - </tr>
50 - <tr>
51 - <td valign="top" align="left" colspan="2"><br class="pb">
52 - </td>
53 - </tr>
54 - <tr>
55 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br>
56 - Attach a long "C" bracket to the multi-purpose bracket as shown. Refer to Figure 3-1 for detailed information.</font>
57 - <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>
58 - Figure 3-1.</font></p></td>
59 - <td align="left" valign="top" >
60 - <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>
61 - Figure 3-2.</font></p></td>
62 - </tr>
63 - <tr>
64 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
65 - </tr>
66 - <tr>
67 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 4.</b><br>
68 - Attach the pan assembly and electronics carrier to the "U" channel as shown. Refer to Figure 4-1 for detailed information.</font>
69 - <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>
70 - Figure 4-1.</font></p></td>
71 - <td align="left" valign="top" >
72 - <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>
73 - Figure 4-2.</font></p></td>
74 - </tr>
75 - <tr>
76 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
77 - </tr>
78 - <tr>
79 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 5.</b><br>
80 - Insert the pan servo into the assembly and secure with servo attachment hardware and two #2 tapping screws.</font></td>
81 - <td align="left" valign="top" >
82 - <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>
83 - Figure 5.</font></p></td>
84 - </tr>
85 - <tr>
86 - <td valign="top" align="left" colspan="2"><br class="pb">
87 - </td>
88 - </tr>
89 - <tr>
90 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 6.</b><br>
91 - Attach the Bot Board II to the electronics carrier as shown, using four 1/4" hex socket cap screws.</font></td>
92 - <td align="left" valign="top" >
93 - <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>
94 - Figure 6.</font></p></td>
95 - </tr>
96 - <tr>
97 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
98 - </tr>
99 - <tr>
100 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 7.</b><br>
101 - 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
102 - shown in Figure 7.</font></td>
103 - <td align="left" valign="top" >
104 - <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>
105 - Figure 7.</font></p></td>
106 - </tr>
107 - <tr>
108 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
109 - </tr>
110 - <tr>
111 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 8.</b><br>
112 - Make sure your servos and sensor are plugged into the appropriate channels, as shown in Table 8.</font>
113 - <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>
114 - <td align="left" valign="top" >
115 - <div align="center">
116 - <center>
117 - <table border="1" bordercolor="#FFFFFF" >
118 - <tbody><tr>
119 - <td >
120 - <div align="center">
121 - <center>
122 - </center><table border="1" bordercolor="#000000" >
123 - <tbody><tr>
124 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Bot Board I/O</b></font></td>
125 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Connection</b></font></td>
126 - </tr>
127 - <tr>
128 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P4</font></td>
129 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Ankle</font></td>
130 -
131 - </tr>
132 - <tr>
133 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P5</font></td>
134 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Knee</font></td>
135 - </tr>
136 - <tr>
137 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P6</font></td>
138 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Hip</font></td>
139 - </tr>
140 - <tr>
141 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P7</font></td>
142 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Ankle</font></td>
143 - </tr>
144 - <tr>
145 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P8</font></td>
146 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Knee</font></td>
147 - </tr>
148 -
149 -
150 - <tr>
151 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P10</font></td>
152 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Hip</font></td>
153 - </tr>
154 - <tr>
155 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P11</font></td>
156 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Sensor
157 - Pan Servo</font></td>
158 - </tr>
159 - <tr>
160 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P19 (AX3)</font></td>
161 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">GP2D12</font></td>
162 - </tr>
163 - </tbody></table>
164 - </div></td>
165 - </tr>
166 - <tr>
167 - <td bordercolor="#FFFFFF">
168 - <p align="center"><font face="Verdana" size="2">Table 8.</font></p></td>
169 - </tr>
170 - </tbody></table>
171 - </center></div>
172 - </td>
173 - </tr>
174 - <tr>
175 - <td valign="top" align="left" colspan="2"><br class="pb">
176 - </td>
177 - </tr>
178 - <tr>
179 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 9.</b><br>
180 - Make sure the Bot Board's jumpers are set according to Table 9.</font>
181 - <p><font face="Verdana" size="2">Refer to Figure 9 for help with jumper settings.</font></p>
182 - <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,
183 - the robot can beep in warning.</font></p></td>
184 - <td align="left" valign="top" >
185 - <div align="center">
186 - <center>
187 - <table border="1" bordercolor="#FFFFFF" >
188 - <tbody><tr>
189 - <td >
190 - <div align="center">
191 - <table border="1" bordercolor="#000000" >
192 - <tbody><tr>
193 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="2"><b>Bot Board II
194 - Jumper Settings</b></font></td>
195 - </tr>
196 - <tr>
197 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
198 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">A, B, and C buttons</font></td>
199 - </tr>
200 - <tr>
201 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">5v</font></td>
202 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Group 0-3</font></td>
203 - </tr>
204 - <tr>
205 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">VS</font></td>
206 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Groups 4-7 and 8-11</font></td>
207 - </tr>
208 - <tr>
209 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
210 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">SPKEN (Speaker Enable)</font></td>
211 - </tr>
212 - <tr>
213 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
214 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VS (Servo Voltage) to AX0 (P16)</font></td>
215 - </tr>
216 - </tbody></table>
217 - </div></td>
218 - </tr>
219 - <tr>
220 - <td bordercolor="#FFFFFF">
221 - <p align="center"><font face="Verdana" size="2">Table 9.</font></p></td>
222 - </tr>
223 - </tbody></table>
224 - </center></div>
225 - </td>
226 - </tr>
227 - <tr>
228 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
229 - </tr>
230 - <tr>
231 - <td valign="top" align="left" colspan="2">
232 - <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>
233 - Figure 9.</font></p>
234 - </td>
235 - </tr>
236 - <tr>
237 - <td valign="top" align="left" colspan="2"><br class="pb">
238 - </td>
239 - </tr>
240 - <tr>
241 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br>
242 - Download and install the BASIC Micro Studio. 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.zip">BRAT Mech Servo Offset Finder program</a>, and load it into the IDE.</font>
243 - <p><font face="Verdana" size="2">Program the Atom Pro, and follow these instructions to find your robot's offsets.</font></p>
244 - <ul>
245 - <li><font face="Verdana" size="2">Press A to decrease the servo offset by 5us.</font></li>
246 - <li><font face="Verdana" size="2">Press C to increase the servo offset by 5us.</font></li>
247 - <li><font face="Verdana" size="2">Press B to change which servo is being manipulated, and to
248 - save your offsets. The order of the
249 - program is shown in Figure 10.</font></li>
250 - </ul>
251 - <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
252 - 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>
253 - <td align="left" valign="top" >
254 - <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>
255 - Figure 10.</font></p></td>
256 - </tr>
257 - <tr>
258 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
259 - </tr>
260 - <tr>
261 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
262 - 11.</b><br>
263 - 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
264 - 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
265 - 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>
266 - <p><font face="Verdana" size="2">Use the A, B, and C buttons to straighten the BRAT as shown in Figures
267 - 11-1, 11-2, and 11-3.</font></p>
268 - <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
269 - 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
270 - voltage that is higher than 6vdc will make the oscillations worse. When building a robot with more powerful servos such as HS-475,
271 - HS-485, or HS-645, you
272 - will not see this effect.</font></p>
273 - <p><font face="Verdana" size="2"><b>
274 - After you've cycled through the servos and adjusted them to match Figures
275 - 11-1 through 11-3, pressing the B button again will
276 - save your servo offset values to the Atom Pro's EEPROM.</b></font></p>
277 - </td>
278 - <td align="left" valign="top" >
279 - <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>
280 - Figure 11-1.</font></p></td>
281 - </tr>
282 - <tr>
283 - <td valign="top" align="left" colspan="2"><br class="pb">
284 - </td>
285 - </tr>
286 - <tr>
287 - <td valign="top" align="left">
288 - <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>
289 - Figure 11-2.</font></p>
290 - </td>
291 - <td align="left" valign="top" >
292 - <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>
293 - Figure 11-3.</font></p></td>
294 - </tr>
295 - <tr>
296 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
297 - </tr>
298 - <tr>
299 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step
300 - 12.</b><br>
301 - 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.zip">BRAT Autonomous Water Bottle Attack Code</a>, load it into the
302 - IDE, and program your BRAT.</font>
303 - <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
304 - 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
305 - 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.
306 - This will repeat until the BRAT detects an object.</font></p>
307 - <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.
308 - Once the BRAT is in "kicking range", it will beep. The BRAT will align itself into kicking position, then kick the object. After
309 - 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
310 - objects, starting the program loop over.</font></p>
311 - <p><font face="Verdana" size="2"></font></p></td>
312 - </tr>
313 -</tbody></table>
314 -</body></html>
315 315  {{/html}}
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