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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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