Changes for page BRAT Biped Autonomous Tutorial
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... ... @@ -1,3 +1,259 @@ 1 -{{html wiki="false" clean="true"}} 1 +{{html wiki="false" clean="false"}} 2 +<style> 3 + .asm { font-family: Verdana, Helvetica, sans-serif; font-size: 14px; max-width: 960px; } 4 + .asm-step { background: #fff; border: 1px solid #ddd; border-radius: 8px; margin-bottom: 1.5rem; overflow: hidden; } 5 + .asm-step-header { background: #F5A800; display: flex; align-items: stretch; justify-content: space-between; } 6 + .asm-step-name { padding: 0.6rem 1rem; font-weight: bold; font-size: 15px; color: #2C1A00; } 7 + .asm-step-num { background: #1a1a1a; color: white; padding: 0.6rem 1.1rem; font-weight: bold; font-size: 15px; display: flex; align-items: center; white-space: nowrap; } 8 + .asm-step-body { display: flex; flex-wrap: wrap; gap: 1.25rem; padding: 1rem; align-items: flex-start; } 9 + .asm-step-text { flex: 1 1 250px; font-size: 13px; line-height: 1.6; } 10 + .asm-step-figure { flex: 0 1 280px; text-align: center; } 11 + .asm-step-figure img { max-width: 100%; height: auto; border: 1px solid #ccc; border-radius: 4px; } 12 + .asm-step-figure span { display: block; font-size: 12px; color: #666; margin-top: 0.3rem; } 13 + .asm-figures { display: flex; flex-wrap: wrap; gap: 0.75rem; } 14 + .asm-fullwidth { padding: 1rem; border-top: 1px solid #eee; font-size: 13px; overflow-x: auto; } 15 + .ref-table { border-collapse: collapse; font-size: 12px; } 16 + .ref-table th { background: #ccc; border: 1px solid #aaa; padding: 0.3rem 0.6rem; text-align: center; } 17 + .ref-table td { border: 1px solid #ddd; padding: 0.3rem 0.6rem; text-align: center; } 18 + .ref-table tr:nth-child(odd) td { background: #f9f9f9; } 19 + .ref-table tr:nth-child(even) td { background: #fff; } 20 + .asm-warning { color: #c00; font-weight: bold; } 21 + .asm h1 { font-size: 18px; margin-bottom: 0.25rem; } 22 +</style> 2 2 24 +<div class="asm"> 25 + 26 + <!-- Header --> 27 + <div style="padding: 0.5rem 0 1rem 0; display:flex; flex-wrap:wrap; gap:1.5rem; align-items:flex-start;"> 28 + <div style="flex:1 1 300px;"> 29 + <h1 class="asm">Biped BRAT Autonomous Tutorial</h1> 30 + <p><b>Updated December 20, 2011</b></p> 31 + <p><span class="asm-warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p> 32 + <p><b>Hardware required:</b> Bot Board II, BASIC Atom Pro 28, Sharp GP2D12 sensor, Buffered 2-Axis Accelerometer (DE-11).</p> 33 + <p><b>Software & downloads:</b></p> 34 + <ul style="padding-left:1.2rem; margin-top:0.25rem; line-height:1.8;"> 35 + <li>BASIC Micro Studio</li> 36 + <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratosf3.zip">BRAT Servo Offset Finder Program v3</a></li> 37 + <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat1.zip">Autonomous Walk Code</a></li> 38 + <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat2.zip">Autonomous GP2D12 Code</a> — Videos: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/avoid01.mpg">Avoiding obstacle</a> · <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/break01.mpg">Taking a break</a> · <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/walkaway.mpg">Proximity beeps</a></li> 39 + <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat3.zip">Autonomous 1-Axis Accelerometer Code</a> — Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup01.mpg">Getting up front and back</a></li> 40 + <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat4.zip">Autonomous 2-Axis Accelerometer Code</a> — Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup02.mpg">Getting up front and side</a></li> 41 + </ul> 42 + </div> 43 + <div style="text-align:center; flex:0 1 280px;"> 44 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat00.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;"> 45 + <p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Biped BRAT.</b></p> 46 + </div> 47 + </div> 48 + 49 + <!-- Step 1 --> 50 + <div class="asm-step"> 51 + <div class="asm-step-header"> 52 + <div class="asm-step-name">Autonomous — Verify Servo Channel Connections</div> 53 + <div class="asm-step-num">Step 1 / 10</div> 54 + </div> 55 + <div class="asm-step-body"> 56 + <div class="asm-step-text"> 57 + <p>Make sure your servos are plugged into the appropriate channels per Table 1. Note: P9 is used by the speaker and cannot be used for a servo.</p> 58 + </div> 59 + <div class="asm-step-figure" style="flex: 0 1 auto;"> 60 + <table class="ref-table" style="width:auto;"> 61 + <tr><th>Bot Board I/O</th><th>Connection</th></tr> 62 + <tr><td>P4</td><td>Left Ankle</td></tr> 63 + <tr><td>P5</td><td>Left Knee</td></tr> 64 + <tr><td>P6</td><td>Left Hip</td></tr> 65 + <tr><td>P7</td><td>Right Ankle</td></tr> 66 + <tr><td>P8</td><td>Right Knee</td></tr> 67 + <tr><td>P10</td><td>Right Hip</td></tr> 68 + </table> 69 + <span style="margin-top:0.4rem;">Table 1.</span> 70 + </div> 71 + </div> 72 + </div> 73 + 74 + <!-- Step 2 --> 75 + <div class="asm-step"> 76 + <div class="asm-step-header"> 77 + <div class="asm-step-name">Autonomous — Configure Bot Board II Jumpers</div> 78 + <div class="asm-step-num">Step 2 / 10</div> 79 + </div> 80 + <div class="asm-step-body"> 81 + <div class="asm-step-text"> 82 + <p>Set the Bot Board II jumpers per Table 2. The VS to AX0 jumper enables the program to monitor servo battery voltage — when the battery is low the robot can beep a warning. Refer to Figure 2 for the jumper layout.</p> 83 + </div> 84 + <div class="asm-step-figure" style="flex: 0 1 auto;"> 85 + <table class="ref-table" style="width:auto; margin-bottom:0.5rem;"> 86 + <tr><th colspan="2">Bot Board II Jumper Settings (Table 2)</th></tr> 87 + <tr><td>Enable</td><td>A, B, and C buttons</td></tr> 88 + <tr><td>5V</td><td>I/O Group 0–3</td></tr> 89 + <tr><td>VS</td><td>I/O Groups 4–7 and 8–11</td></tr> 90 + <tr><td>Enable</td><td>SPKEN (Speaker Enable)</td></tr> 91 + <tr><td>Enable</td><td>VS (Servo Voltage) to AX0 (P16)</td></tr> 92 + </table> 93 + <span>Table 2.</span> 94 + </div> 95 + </div> 96 + <div class="asm-fullwidth"> 97 + <p style="font-weight:bold; margin-bottom:0.4rem;">Figure 2 — Jumper diagram</p> 98 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/autobrat.gif" style="max-width:100%; border:1px solid #ccc; border-radius:4px;"> 99 + </div> 100 + </div> 101 + 102 + <!-- Step 3 --> 103 + <div class="asm-step"> 104 + <div class="asm-step-header"> 105 + <div class="asm-step-name">Autonomous — Find Servo Offsets</div> 106 + <div class="asm-step-num">Step 3 / 10</div> 107 + </div> 108 + <div class="asm-step-body"> 109 + <div class="asm-step-text"> 110 + <p>Download and install 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/WebHome/bratosf3.zip">BRAT Servo Offset Finder Program v3</a>, load it into the IDE, and program the Atom Pro. Then use the buttons to find offsets:</p> 111 + <ul style="margin-top:0.5rem; padding-left:1.2rem;"> 112 + <li><b>A</b> — decrease servo offset by 5µs</li> 113 + <li><b>C</b> — increase servo offset by 5µs</li> 114 + <li><b>B</b> — change which servo is being adjusted, and save offsets (order shown in Figure 3)</li> 115 + </ul> 116 + <p>If the Speaker is enabled, pressing B plays a tone that rises in pitch as you cycle through servos, and drops to a longer tone when returning to Start.</p> 117 + </div> 118 + <div class="asm-step-figure"> 119 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratosf3.jpg"> 120 + <span>Figure 3 — Servo offset finder sequence.</span> 121 + </div> 122 + </div> 123 + </div> 124 + 125 + <!-- Step 4 --> 126 + <div class="asm-step"> 127 + <div class="asm-step-header"> 128 + <div class="asm-step-name">Autonomous — Calibrate Robot to Neutral Position</div> 129 + <div class="asm-step-num">Step 4 / 10</div> 130 + </div> 131 + <div class="asm-step-body"> 132 + <div class="asm-step-text"> 133 + <p>Place the robot as close to neutral as possible and turn it on. It should hold the neutral position resembling Figures 4-1 through 4-3. If any joint is off by more than 15°, remove the servo horn, rotate to align, and reattach. Use the A, B, and C buttons to fine-tune.</p> 134 + <p>Note: HS-422 hip servos may oscillate when the robot is lifted off the ground — this is normal and minimal when walking. Higher voltage makes oscillations worse. Higher-power servos (HS-475, HS-485, HS-645) do not exhibit this.</p> 135 + <p><span class="asm-warning">After adjusting all servos to match Figures 4-1 through 4-3, pressing B saves the offset values to the Atom Pro's EEPROM.</span></p> 136 + </div> 137 + <div class="asm-figures"> 138 + <div class="asm-step-figure"> 139 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat10.jpg"> 140 + <span>Figure 4-1 (front view).</span> 141 + </div> 142 + <div class="asm-step-figure"> 143 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat07.jpg"> 144 + <span>Figure 4-2 (side view).</span> 145 + </div> 146 + <div class="asm-step-figure"> 147 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat04.jpg"> 148 + <span>Figure 4-3 (rear view).</span> 149 + </div> 150 + </div> 151 + </div> 152 + </div> 153 + 154 + <!-- Step 5 --> 155 + <div class="asm-step"> 156 + <div class="asm-step-header"> 157 + <div class="asm-step-name">Autonomous — Load Basic Walk Code</div> 158 + <div class="asm-step-num">Step 5 / 10</div> 159 + </div> 160 + <div class="asm-step-body"> 161 + <div class="asm-step-text"> 162 + <p>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/WebHome/abrat1.zip">BRAT Autonomous Walk Code</a>, load it into the IDE, and program your BRAT.</p> 163 + <p>The BRAT will now walk autonomously following this sequence: walk × 3, turn, long-stride × 2, kick, turn, stop. To customise behavior, modify the code between the labels "main" and "move", or create new sequences following the format below the "move" label.</p> 164 + </div> 165 + </div> 166 + </div> 167 + 168 + <!-- Step 6 --> 169 + <div class="asm-step"> 170 + <div class="asm-step-header"> 171 + <div class="asm-step-name">Autonomous — Mount & Connect GP2D12 Sensor</div> 172 + <div class="asm-step-num">Step 6 / 10</div> 173 + </div> 174 + <div class="asm-step-body"> 175 + <div class="asm-step-text"> 176 + <p>Use double-sided tape to attach the GP2D12 sensor to the BRAT's head area, facing the front. Exact position is not critical. Plug the sensor into the channel shown in Table 6.</p> 177 + <table class="ref-table" style="width:auto; margin-top:0.5rem;"> 178 + <tr><th>Bot Board I/O</th><th>Connection</th></tr> 179 + <tr><td>P19 (AX3)</td><td>GP2D12 Sensor</td></tr> 180 + </table> 181 + <p style="font-size:11px; color:#666; margin-top:0.3rem;">Table 6.</p> 182 + </div> 183 + <div class="asm-step-figure"> 184 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratsens.jpg"> 185 + <span>Figure 6 — GP2D12 sensor mounted.</span> 186 + </div> 187 + </div> 188 + </div> 189 + 190 + <!-- Step 7 --> 191 + <div class="asm-step"> 192 + <div class="asm-step-header"> 193 + <div class="asm-step-name">Autonomous — Load GP2D12 Obstacle Avoidance Code</div> 194 + <div class="asm-step-num">Step 7 / 10</div> 195 + </div> 196 + <div class="asm-step-body"> 197 + <div class="asm-step-text"> 198 + <p>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/WebHome/abrat2.zip">BRAT Autonomous GP2D12 Code</a>, load it into the IDE, and program your BRAT.</p> 199 + <p>The BRAT can now roam without bumping into obstacles. The sensor is read before each step. A short low beep means nothing is detected; the beep rises in pitch as objects get closer. At ~8" the robot backs up one step, turns left two steps, then continues. A looping counter periodically puts the robot into a resting position. LEDs illuminate based on the current command.</p> 200 + <p>Videos: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/avoid01.mpg">Avoiding obstacle</a> · <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/break01.mpg">Taking a break</a> · <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/walkaway.mpg">Proximity beeps</a></p> 201 + </div> 202 + </div> 203 + </div> 204 + 205 + <!-- Step 8 --> 206 + <div class="asm-step"> 207 + <div class="asm-step-header"> 208 + <div class="asm-step-name">Autonomous — Mount & Connect Accelerometer</div> 209 + <div class="asm-step-num">Step 8 / 10</div> 210 + </div> 211 + <div class="asm-step-body"> 212 + <div class="asm-step-text"> 213 + <p>Use double-sided tape to attach the accelerometer to the BRAT's head area. <span class="asm-warning">Axis orientation is critical — follow the orientation shown in Figure 8 exactly.</span> Plug the sensor into the channels shown in Table 8.</p> 214 + <table class="ref-table" style="width:auto; margin-top:0.5rem;"> 215 + <tr><th>Bot Board I/O</th><th>Connection</th></tr> 216 + <tr><td>P17 (AX1)</td><td>Accelerometer Y Axis (front-to-back tilt)</td></tr> 217 + <tr><td>P18 (AX2)</td><td>Accelerometer X Axis (side-to-side tilt)</td></tr> 218 + </table> 219 + <p style="font-size:11px; color:#666; margin-top:0.3rem;">Table 8.</p> 220 + </div> 221 + <div class="asm-step-figure"> 222 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratacc.jpg"> 223 + <span>Figure 8 — Accelerometer orientation.</span> 224 + </div> 225 + </div> 226 + </div> 227 + 228 + <!-- Step 9 --> 229 + <div class="asm-step"> 230 + <div class="asm-step-header"> 231 + <div class="asm-step-name">Autonomous — Load 1-Axis Accelerometer Code</div> 232 + <div class="asm-step-num">Step 9 / 10</div> 233 + </div> 234 + <div class="asm-step-body"> 235 + <div class="asm-step-text"> 236 + <p>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/WebHome/abrat3.zip">BRAT Autonomous 1-Axis Accelerometer Code</a>, load it into the IDE, and program your BRAT.</p> 237 + <p>This program uses only the Y Axis to detect front-to-back tilt — the BRAT can tell when it has fallen forward or backward and get back up. The X Axis will be incorporated in Step 10.</p> 238 + <p>Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup01.mpg">Getting up front and back</a></p> 239 + </div> 240 + </div> 241 + </div> 242 + 243 + <!-- Step 10 --> 244 + <div class="asm-step"> 245 + <div class="asm-step-header"> 246 + <div class="asm-step-name">Autonomous — Load 2-Axis Accelerometer Code</div> 247 + <div class="asm-step-num">Step 10 / 10</div> 248 + </div> 249 + <div class="asm-step-body"> 250 + <div class="asm-step-text"> 251 + <p>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/WebHome/abrat4.zip">BRAT Autonomous 2-Axis Accelerometer Code</a>, load it into the IDE, and program your BRAT.</p> 252 + <p>This version adds the X Axis for side-to-side tilt detection — if the BRAT falls onto its side it will roll over to get back up. It also includes an improved "get up from back" routine for robots with heavy cabling, and a "startled" behaviour: if the BRAT is resting and the GP2D12 suddenly detects an object, it will lean back and beep.</p> 253 + <p>Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup02.mpg">Getting up front and side</a></p> 254 + </div> 255 + </div> 256 + </div> 257 + 258 +</div> 3 3 {{/html}}
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