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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>
Eric Nantel 20.1 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>
Eric Nantel 19.1 24 (09/17/09)<br>
Eric Nantel 20.1 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>
Eric Nantel 19.1 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>
Eric Nantel 20.1 242 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>
Eric Nantel 19.1 243 <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>
Eric Nantel 20.1 301 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
Eric Nantel 19.1 302 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>
Eric Nantel 20.1 311 <p><font face="Verdana" size="2"></font></p></td>
Eric Nantel 19.1 312 </tr>
313 </tbody></table>
314 </body></html>
Eric Nantel 1.1 315 {{/html}}
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