Changes for page BRAT Biped Autonomous Tutorial
Last modified by Eric Nantel on 2024/07/03 09:21
Change comment: Uploaded new attachment "getup02.mpg", version 1.1
Summary
-
Page properties (1 modified, 0 added, 0 removed)
-
Attachments (0 modified, 0 added, 1 removed)
Details
- Page properties
-
- Content
-
... ... @@ -1,356 +1,3 @@ 1 1 {{html wiki="false" clean="true"}} 2 -<body><table border="0" cellpadding="0" cellspacing="0" > 3 - <tbody><tr> 4 - <td valign="top" align="left"><b><font face="Verdana" size="2">Biped BRAT Autonomous Tutorial.</font></b> 5 - <p><b><font face="Verdana" size="2">Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" --> 6 - <!-- #BeginDate format:Am3 -->12/20/2011<!-- #EndDate --> 7 - </font></b></p> 8 - <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p> 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 - 2-Axis Accelerometer (DE-11).</font></p> 11 - <p><font face="Verdana" size="2"><b>Software:</b><br> 12 - - BASIC Micro Studio<br> 13 - - <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 - Program v3</a> (09/16/09)<br> 15 - - <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> 16 - (09/16/09)<br> 17 - - <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> 18 - (09/16/09)<br> 19 - -- 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/avoid01.mpg">Avoiding an obstacle (mpg)</a><br> 20 - -- 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/break01.mpg">Taking a break (mpg)</a><br> 21 - -- 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/walkaway.mpg">Demonstrating proximity beeps (mpg)</a><br> 22 - - <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> 23 - (09/16/09)<br> 24 - -- 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 (mpg)</a><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/WebHome/abrat4.zip">Autonomous 2-Axis Accelerometer Code</a> 26 - (09/16/09)<br> 27 - -- 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 (mpg)</a></font></p></td> 28 - <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/WebHome/brat00.jpg" border="2" hspace="10" ><br> 29 - <strong>Image of Biped BRAT.</strong></font></td> 30 - </tr> 31 - <tr> 32 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 33 - </tr> 34 - <tr> 35 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 1.</b><br> 36 - Make sure your servos are plugged into the appropriate channels, as shown in Table 1.</font> 37 - <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> 38 - <td align="left" valign="top" > 39 - <div align="center"> 40 - <center> 41 - <table border="1" bordercolor="#FFFFFF" > 42 - <tbody><tr> 43 - <td > 44 - <div align="center"> 45 - <table border="1" bordercolor="#000000" > 46 - <tbody><tr> 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 - </tr> 50 - <tr> 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 - </tr> 54 - <tr> 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 - </tr> 58 - <tr> 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 - </tr> 62 - <tr> 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 - </tr> 66 - <tr> 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 - </tr> 70 - <tr> 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 - </tr> 74 - </tbody></table> 75 - </div></td> 76 - </tr> 77 - <tr> 78 - <td bordercolor="#FFFFFF"> 79 - <p align="center"><font face="Verdana" size="2">Table 1.</font></p></td> 80 - </tr> 81 - </tbody></table> 82 - </center></div> 83 - </td> 84 - </tr> 85 - <tr> 86 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 87 - </tr> 88 - <tr> 89 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 2.</b><br> 90 - Make sure the Bot Board's jumpers are set according to Table 2.</font> 91 - <p><font face="Verdana" size="2">Refer to Figure 2 for help with jumper settings.</font></p> 92 - <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, 93 - the robot can beep in warning.</font></p></td> 94 - <td align="left" valign="top" > 95 - <div align="center"> 96 - <center> 97 - <table border="1" bordercolor="#FFFFFF" > 98 - <tbody><tr> 99 - <td > 100 - <div align="center"> 101 - <table border="1" bordercolor="#000000" > 102 - <tbody><tr> 103 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="2"><b>Bot Board II 104 - Jumper Settings</b></font></td> 105 - </tr> 106 - <tr> 107 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td> 108 - 109 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">A, B, and C buttons</font></td> 110 - </tr> 111 - <tr> 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 - </tr> 115 - <tr> 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 - </tr> 119 - <tr> 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 - </tr> 123 - <tr> 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 - </tr> 127 - </tbody></table> 128 - </div></td> 129 - </tr> 130 - <tr> 131 - <td bordercolor="#FFFFFF"> 132 - <p align="center"><font face="Verdana" size="2">Table 2.</font></p></td> 133 - </tr> 134 - </tbody></table> 135 - </center></div> 136 - </td> 137 - </tr> 138 - <tr> 139 - <td valign="top" align="left" colspan="2"><br class="pb"> 140 - </td> 141 - </tr> 142 - <tr> 143 - <td valign="top" align="left" colspan="2"> 144 - <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/WebHome/autobrat.gif" border="0" hspace="10"><br> 145 - Figure 2.</font></p> 146 - </td> 147 - </tr> 148 - <tr> 149 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 150 - </tr> 151 - <tr> 152 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br> 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 - <p><font face="Verdana" size="2">Program the Atom Pro, and follow these instructions to find your robot's offsets.</font></p> 155 - <ul> 156 - <li><font face="Verdana" size="2">Press A to decrease the servo offset by 5us.</font></li> 157 - <li><font face="Verdana" size="2">Press C to increase the servo offset by 5us.</font></li> 158 - <li><font face="Verdana" size="2">Press B to change which servo is being manipulated, and to 159 - save your offsets. The order of the 160 - program is shown in Figure 3.</font></li> 161 - </ul> 162 - <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 163 - 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> 164 - <td align="left" valign="top" > 165 - <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/WebHome/bratosf3.jpg" border="2" hspace="10" ><br> 166 - Figure 3.</font></p></td> 167 - </tr> 168 - <tr> 169 - <td valign="top" align="left" colspan="2"><br class="pb"> 170 - </td> 171 - </tr> 172 - <tr> 173 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 174 - 4.</b><br> 175 - 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 176 - resemble figures 4-1 through 4-3. If the joints are off by more than 15° you may have made an error in assembly. To correct this, remove the 177 - 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> 178 - <p><font face="Verdana" size="2">Use the A, B, and C buttons to straighten the BRAT as shown in Figures 179 - 4-1, 4-2, and 4-3.</font></p> 180 - <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 181 - 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 182 - voltage that is higher than 6vdc will make the oscillations worse. When building a robot with more powerful servos such as HS-475, 183 - HS-485, or HS-645, you 184 - will not see this effect.</font></p> 185 - <p><font face="Verdana" size="2"><b>After you've cycled through the servos and adjusted them to match Figures 186 - 4-1 through 4-3, pressing the B button again will save your servo offset 187 - values to the Atom Pro's EEPROM.</b></font></p> 188 - </td> 189 - <td align="left" valign="top" > 190 - <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/WebHome/brat10.jpg" border="2" hspace="10" ><br> 191 - Figure 4-1.</font></p></td> 192 - </tr> 193 - <tr> 194 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 195 - </tr> 196 - <tr> 197 - <td valign="top" align="left"> 198 - <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/WebHome/brat07.jpg" border="2" hspace="10" ><br> 199 - Figure 4-2.</font></p> 200 - </td> 201 - <td align="left" valign="top" > 202 - <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/WebHome/brat04.jpg" border="2" hspace="10" ><br> 203 - Figure 4-3.</font></p></td> 204 - </tr> 205 - <tr> 206 - <td valign="top" align="left" colspan="2"><br class="pb"> 207 - </td> 208 - </tr> 209 - <tr> 210 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 211 - 5.</b><br> 212 - 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/WebHome/abrat1.zip">BRAT Autonomous Walk Code</a>, load it into the 213 - IDE, and program your BRAT.</font> 214 - <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to walk around! The autonomous walk program will make the BRAT 215 - follow this sequence: walk, walk, walk, turn, long-stride, long-stride, kick, turn, stop.</font></p> 216 - <p><font face="Verdana" size="2">To change the behavior of your robot, you can modify the code below the label "main" and above the 217 - label "move". You can also create sequences following the format shown in the code below the label "move". We will provide 218 - several more code examples including common sensors.</font></p></td> 219 - </tr> 220 - <tr> 221 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 222 - </tr> 223 - <tr> 224 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 225 - 6.</b><br> 226 - Use double-sided tape to attach the GP2D12 sensor to the BRAT's head area. The exact position doesn't matter too much, as long as the sensor is 227 - facing toward the front of the robot.</font> 228 - <p><font face="Verdana" size="2">Plug the sensor in to the channel shown in the following table.</font></p> 229 - <div align="center"> 230 - <center> 231 - <table border="1" bordercolor="#FFFFFF" > 232 - <tbody><tr> 233 - <td > 234 - <div align="center"> 235 - <table border="1" bordercolor="#000000" > 236 - <tbody><tr> 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 - </tr> 240 - <tr> 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 - </tr> 244 - </tbody></table> 245 - </div></td> 246 - </tr> 247 - <tr> 248 - <td bordercolor="#FFFFFF"> 249 - <p align="center"><font face="Verdana" size="2">Table 6.</font></p></td> 250 - </tr> 251 - </tbody></table> 252 - </center></div> 253 - </td> 254 - <td align="left" valign="top" > 255 - <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/WebHome/bratsens.jpg" border="2" hspace="10" ><br> 256 - Figure 6.</font></p></td> 257 - </tr> 258 - <tr> 259 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 260 - </tr> 261 - <tr> 262 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 263 - 7.</b><br> 264 - 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/WebHome/abrat2.zip">BRAT Autonomous GP2D12 Code</a>, load it into the 265 - IDE, and program your BRAT.</font> 266 - <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to roam without bumping into anything! We also added a 267 - "behavior" looping counter so the robot will periodically go into a resting position. You can edit the pauses to change how long it 268 - rests and you can change the value of the looping counter to change how often it rests. The GP2D12 sensor is read before each step when the 269 - robot is walking forward. You will hear a short low beep if nothing is detected. If an object is detected, the beep raises in pitch depending on 270 - how close the object is. When the object is about 8" away, the robot will back up one step, turn left two steps, then continue forward. The 271 - code also illuminates LEDs depending on which command is being processed.</font></p> 272 - <p><font face="Verdana" size="2">Check out these videos:<br> 273 - - <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 an obstacle (mpg)</a><br> 274 - - <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 (mpg)</a><br> 275 - - <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">Demonstrating proximity beeps (mpg)</a></font></p></td> 276 - </tr> 277 - <tr> 278 - <td valign="top" align="left" colspan="2"><br class="pb"> 279 - </td> 280 - </tr> 281 - <tr> 282 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 283 - 8.</b><br> 284 - Use double-sided tape to attach the accelerometer sensor to the BRAT's head area. With the accelerometer, the sensor's <i>physical position</i> 285 - isn't as important as the <i>axis orientation</i>. Make sure you follow the orientation shown in Figure 286 - 8.</font> 287 - <p><font face="Verdana" size="2">Plug the sensor in to the channel shown in the following table.</font></p> 288 - <div align="center"> 289 - <center> 290 - <table border="1" bordercolor="#FFFFFF" > 291 - <tbody><tr> 292 - <td > 293 - <div align="center"> 294 - <table border="1" bordercolor="#000000" > 295 - <tbody><tr> 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 - </tr> 299 - <tr> 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 - (Used for Front-to-back tilt)</font></td> 303 - </tr> 304 - <tr> 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 - (Used for Side-to-side tilt)</font></td> 308 - </tr> 309 - </tbody></table> 310 - </div></td> 311 - </tr> 312 - <tr> 313 - <td bordercolor="#FFFFFF"> 314 - <p align="center"><font face="Verdana" size="2">Table 8.</font></p></td> 315 - </tr> 316 - </tbody></table> 317 - </center></div> 318 - </td> 319 - <td align="left" valign="top" > 320 - <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/WebHome/bratacc.jpg" border="2" hspace="10" ><br> 321 - Figure 8.</font></p></td> 322 - </tr> 323 - <tr> 324 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 325 - </tr> 326 - <tr> 327 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 328 - 9.</b><br> 329 - 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/WebHome/abrat3.zip">BRAT Autonomous 1-Axis Accelerometer Code</a>, load it into the 330 - IDE, and program your BRAT.</font> 331 - <p><font face="Verdana" size="2"><i>For this program, we are only using the values from the Y Axis.</i> The Y Axis measures the 332 - front-to-back tilt, so the BRAT can tell when it has fallen onto its back or front. We will incorporate the X Axis in a later program.</font></p> 333 - <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to roam without bumping into anything, and get back up if it falls!</font></p> 334 - <p><font face="Verdana" size="2">Check out this video:<br> 335 - - <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 (mpg)</a></font></p></td> 336 - </tr> 337 - <tr> 338 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 339 - </tr> 340 - <tr> 341 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 342 - 10.</b><br> 343 - 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/WebHome/abrat4.zip">BRAT Autonomous 2-Axis Accelerometer Code</a>, load it into the 344 - IDE, and program your BRAT.</font> 345 - <p><font face="Verdana" size="2">For this program, we have added the accelerometer's X Axis to measure side-to-side tilt. Now if the BRAT falls 346 - onto its side, it will know to roll over in order to get back up. We have also incorporated a more advanced "get up from back" 347 - routine, which will enable robots with lots of cabling or weight in the back to stand one foot at a time. Additionally, we've added a 348 - "startled" behavior. If the BRAT is in resting mode and something is suddenly detected by the GP2D12 sensor, the BRAT will be 349 - startled, lean back, and beep.</font></p> 350 - <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to roam without bumping into anything, and get back up if it falls!</font></p> 351 - <p><font face="Verdana" size="2">Check out this video:<br> 352 - - <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 (mpg)</a></font></p></td> 353 - </tr> 354 -</tbody></table> 355 -</body> 2 + 356 356 {{/html}}
- walkaway.mpg
-
- Author
-
... ... @@ -1,1 +1,0 @@ 1 -xwiki:XWiki.ENantel - Size
-
... ... @@ -1,1 +1,0 @@ 1 -1.3 MB - Content