Changes for page BRAT Biped Autonomous Tutorial
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... ... @@ -1,1 +1,1 @@ 1 -se rvo-erector-set-robots-kits.ses-v1-robots.ses-v1-bipeds.WebHome1 +ses-v1.ses-v1-robots.ses-v1-bipeds.WebHome - Content
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... ... @@ -1,356 +1,259 @@ 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> 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> 23 + 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> 161 161 </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> 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> 356 356 {{/html}}