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<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> 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> 41 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> 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> 259 259 {{/html}}