BRAT Biped Autonomous Water Bottle Attacking Tutorial

- <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)

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.zip">Autonomous Water Bottle Attack Code</a>

26

(09/17/09)</td>

27

28

Image of Biped BRAT.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 1.

35

Depending on how you've built your BRAT, you may have to change the orientation of the "U" channel to match Figure 1.</td>

Figure 1.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 2.

45

Attach an ASB-18 to a multi-purpose bracket as shown in Figure 2 using the included hardware.</td>

Figure 2.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 3.

56

Attach a long "C" bracket to the multi-purpose bracket as shown. Refer to Figure 3-1 for detailed information.

Figure 3-1.</td>

Figure 3-2.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 4.

68

Attach the pan assembly and electronics carrier to the "U" channel as shown. Refer to Figure 4-1 for detailed information.

Figure 4-1.</td>

Figure 4-2.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 5.

80

Insert the pan servo into the assembly and secure with servo attachment hardware and two #2 tapping screws.</td>

Figure 5.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 6.

91

Attach the Bot Board II to the electronics carrier as shown, using four 1/4" hex socket cap screws.</td>

Figure 6.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 7.

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.</td>

Figure 7.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 8.

112

Make sure your servos and sensor are plugged into the appropriate channels, as shown in Table 8.

113

*Note, P9 is used by the speaker, so we can't plug a servo in there.</td>

<td >

</center><table border="1" bordercolor="#000000" >

123

124

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Bot Board I/O</td>

125

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connection</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Left Ankle</td>

</tr>

<tr>

</tr>

<tr>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Ankle</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Knee</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right Hip</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Sensor

Pan Servo</td>

</tr>

<tr>

</tr>

</tbody></table>

</div></td>

</tr>

<tr>

Table 8.</td>

</tr>

</tbody></table>

</center></div>

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 9.

180

Make sure the Bot Board's jumpers are set according to Table 9.

181

Refer to Figure 9 for help with jumper settings.

182

*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.</td>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Bot Board II

Jumper Settings</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Enable</td>

198

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">A, B, and C buttons</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O Group 0-3</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O Groups 4-7 and 8-11</td>

207

</tr>

208

<tr>

209

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Enable</td>

210

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">SPKEN (Speaker Enable)</td>

211

</tr>

212

<tr>

213

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Enable</td>

214

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">VS (Servo Voltage) to AX0 (P16)</td>

</tr>

</tbody></table>

</div></td>

</tr>

<tr>

Table 9.</td>

</tr>

</tbody></table>

</center></div>

</td>

</tr>

<tr>

</tr>

<tr>

Figure 9.

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 10.

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.

243

Program the Atom Pro, and follow these instructions to find your robot's offsets.

244

<ul>

245

<li>Press A to decrease the servo offset by 5us.</li>

246

<li>Press C to increase the servo offset by 5us.</li>

247

<li>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.</li>

250

</ul>

251

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.</td>

Figure 10.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

262

11.

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&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.

266

Use the A, B, and C buttons to straighten the BRAT as shown in Figures

267

11-1, 11-2, and 11-3.

268

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.

273

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.

</td>

Figure 11-1.</td>

</tr>

<tr>

</td>

</tr>

<tr>

Figure 11-2.

</td>

Figure 11-3.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step

300

12.

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.

303

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.

307

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.

</td>

</tr>

</tbody></table>

</body></html>

Wiki source code of BRAT Biped Autonomous Water Bottle Attacking Tutorial

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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	- BASIC Micro Studio<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.zip">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.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"> </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"> </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"> </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"> </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"> </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"> </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"> </font></td>
229	</tr>
230	<tr>
231	<td valign="top" align="left" colspan="2">
232	<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>
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"> </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&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"> </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>
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