Last modified by Eric Nantel on 2024/07/03 09:21
From version < 20.1 >
edited by Eric Nantel
on 2023/01/23 10:03
To version < 22.1 >
edited by Eric Nantel
on 2023/01/23 10:17
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Title
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1 -brat-biped-autonomous
1 +BRAT Biped Autonomous Tutorial
Content
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9 9   <p><font face="Verdana" size="2"><b>Note:</b> This tutorial uses the Bot Board II, BASIC Atom Pro 28, a Sharp GP2D12 sensor, and a Buffered
10 10   2-Axis Accelerometer (DE-11).</font></p>
11 11   <p><font face="Verdana" size="2"><b>Software:</b><br>
12 - &nbsp;&nbsp;- <a href="http://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl" target="_blank">BASIC Micro Studio</a><br>
12 + &nbsp;&nbsp;- BASIC Micro Studio<br>
13 13   &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/WebHome/bratosf3.zip">BRAT Servo Offset Finder
14 14   Program v3</a> (09/16/09)<br>
15 15   &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/WebHome/abrat1.zip">Autonomous Walk Code</a>
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44 44   <div align="center">
45 45   <table border="1" bordercolor="#000000" >
46 46   <tbody><tr>
47 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Bot Board I/O</b></font></td>
48 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Connection</b></font></td>
47 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Bot Board I/O</b></font></td>
48 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Connection</b></font></td>
49 49   </tr>
50 50   <tr>
51 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P4</font></td>
52 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Ankle</font></td>
51 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P4</font></td>
52 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Ankle</font></td>
53 53   </tr>
54 54   <tr>
55 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P5</font></td>
56 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Knee</font></td>
55 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P5</font></td>
56 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Knee</font></td>
57 57   </tr>
58 58   <tr>
59 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P6</font></td>
60 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Hip</font></td>
59 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P6</font></td>
60 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Hip</font></td>
61 61   </tr>
62 62   <tr>
63 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P7</font></td>
64 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Ankle</font></td>
63 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P7</font></td>
64 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Ankle</font></td>
65 65   </tr>
66 66   <tr>
67 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P8</font></td>
68 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Knee</font></td>
67 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P8</font></td>
68 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Knee</font></td>
69 69   </tr>
70 70   <tr>
71 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P10</font></td>
72 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Hip</font></td>
71 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P10</font></td>
72 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Hip</font></td>
73 73   </tr>
74 74   </tbody></table>
75 75   </div></td>
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100 100   <div align="center">
101 101   <table border="1" bordercolor="#000000" >
102 102   <tbody><tr>
103 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="1"><b>Bot Board II
103 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="2"><b>Bot Board II
104 104   Jumper Settings</b></font></td>
105 105   </tr>
106 106   <tr>
107 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td>
107 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
108 108  
109 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">A, B, and C buttons</font></td>
109 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">A, B, and C buttons</font></td>
110 110   </tr>
111 111   <tr>
112 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">5v</font></td>
113 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">I/O Group 0-3</font></td>
112 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">5v</font></td>
113 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Group 0-3</font></td>
114 114   </tr>
115 115   <tr>
116 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">VS</font></td>
117 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">I/O Groups 4-7 and 8-11</font></td>
116 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">VS</font></td>
117 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Groups 4-7 and 8-11</font></td>
118 118   </tr>
119 119   <tr>
120 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td>
121 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">SPKEN (Speaker Enable)</font></td>
120 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
121 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">SPKEN (Speaker Enable)</font></td>
122 122   </tr>
123 123   <tr>
124 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td>
125 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">VS (Servo Voltage) to AX0 (P16)</font></td>
124 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
125 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VS (Servo Voltage) to AX0 (P16)</font></td>
126 126   </tr>
127 127   </tbody></table>
128 128   </div></td>
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150 150   </tr>
151 151   <tr>
152 152   <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br>
153 - Download and install the <a href="http://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/WebHome/bratosf3.zip">BRAT Servo Offset Finder program</a>, and load it into the IDE.</font>
153 + 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/WebHome/bratosf3.zip">BRAT Servo Offset Finder program</a>, and load it into the IDE.</font>
154 154   <p><font face="Verdana" size="2">Program the Atom Pro, and follow these instructions to find your robot's offsets.</font></p>
155 155   <ul>
156 156   <li><font face="Verdana" size="2">Press A to decrease the servo offset by 5us.</font></li>
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234 234   <div align="center">
235 235   <table border="1" bordercolor="#000000" >
236 236   <tbody><tr>
237 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Bot Board I/O</b></font></td>
238 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Connection</b></font></td>
237 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Bot Board I/O</b></font></td>
238 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Connection</b></font></td>
239 239   </tr>
240 240   <tr>
241 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P19 (AX3)</font></td>
242 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">GP2D12 Sensor</font></td>
241 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P19 (AX3)</font></td>
242 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">GP2D12 Sensor</font></td>
243 243   </tr>
244 244   </tbody></table>
245 245   </div></td>
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293 293   <div align="center">
294 294   <table border="1" bordercolor="#000000" >
295 295   <tbody><tr>
296 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Bot Board I/O</b></font></td>
297 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Connection</b></font></td>
296 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Bot Board I/O</b></font></td>
297 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Connection</b></font></td>
298 298   </tr>
299 299   <tr>
300 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P17 (AX1)</font></td>
301 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Accelerometer Sensor - Y Axis<br>
300 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P17 (AX1)</font></td>
301 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Accelerometer Sensor - Y Axis<br>
302 302   (Used for Front-to-back tilt)</font></td>
303 303   </tr>
304 304   <tr>
305 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P18 (AX2)</font></td>
306 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Accelerometer Sensor - X Axis<br>
305 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P18 (AX2)</font></td>
306 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Accelerometer Sensor - X Axis<br>
307 307   (Used for Side-to-side tilt)</font></td>
308 308   </tr>
309 309   </tbody></table>
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