Wiki source code of BRAT Biped Autonomous Tutorial

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Eric Nantel 20.1 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>
Eric Nantel 21.1 12 &nbsp;&nbsp;- BASIC Micro Studio<br>
Eric Nantel 20.1 13 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratosf3.zip">BRAT Servo Offset Finder
14 Program v3</a> (09/16/09)<br>
15 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat1.zip">Autonomous Walk Code</a>
16 (09/16/09)<br>
17 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat2.zip">Autonomous GP2D12 Code</a>
18 (09/16/09)<br>
19 &nbsp; -- 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 &nbsp; -- 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 &nbsp; -- 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 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat3.zip">Autonomous 1-Axis Accelerometer Code</a>
23 (09/16/09)<br>
24 &nbsp; -- 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 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat4.zip">Autonomous 2-Axis Accelerometer Code</a>
26 (09/16/09)<br>
27 &nbsp; -- 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">&nbsp;</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>
Eric Nantel 21.1 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>
Eric Nantel 20.1 49 </tr>
50 <tr>
Eric Nantel 21.1 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>
Eric Nantel 20.1 53 </tr>
54 <tr>
Eric Nantel 21.1 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>
Eric Nantel 20.1 57 </tr>
58 <tr>
Eric Nantel 21.1 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>
Eric Nantel 20.1 61 </tr>
62 <tr>
Eric Nantel 21.1 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>
Eric Nantel 20.1 65 </tr>
66 <tr>
Eric Nantel 21.1 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>
Eric Nantel 20.1 69 </tr>
70 <tr>
Eric Nantel 21.1 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>
Eric Nantel 20.1 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">&nbsp;</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>
Eric Nantel 21.1 103 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="2"><b>Bot Board II
Eric Nantel 20.1 104 Jumper Settings</b></font></td>
105 </tr>
106 <tr>
Eric Nantel 21.1 107 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
Eric Nantel 20.1 108
Eric Nantel 21.1 109 <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">A, B, and C buttons</font></td>
Eric Nantel 20.1 110 </tr>
111 <tr>
Eric Nantel 21.1 112 <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>
Eric Nantel 20.1 114 </tr>
115 <tr>
Eric Nantel 21.1 116 <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>
Eric Nantel 20.1 118 </tr>
119 <tr>
Eric Nantel 21.1 120 <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>
Eric Nantel 20.1 122 </tr>
123 <tr>
Eric Nantel 21.1 124 <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>
Eric Nantel 20.1 126 </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">&nbsp;<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">&nbsp;</font></td>
150 </tr>
151 <tr>
152 <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br>
Eric Nantel 21.1 153 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>
Eric Nantel 20.1 154 <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">&nbsp;</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">&nbsp;</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>
Eric Nantel 21.1 237 <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>
Eric Nantel 20.1 239 </tr>
240 <tr>
Eric Nantel 21.1 241 <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>
Eric Nantel 20.1 243 </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">&nbsp;</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 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/avoid01.mpg">Avoiding an obstacle (mpg)</a><br>
274 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/break01.mpg">Taking a break (mpg)</a><br>
275 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/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>
Eric Nantel 21.1 296 <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>
Eric Nantel 20.1 298 </tr>
299 <tr>
Eric Nantel 21.1 300 <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>
Eric Nantel 20.1 302 (Used for Front-to-back tilt)</font></td>
303 </tr>
304 <tr>
Eric Nantel 21.1 305 <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>
Eric Nantel 20.1 307 (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">&nbsp;</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&nbsp;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 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/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">&nbsp;</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 &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup02.mpg">Getting up front and side (mpg)</a></font></p></td>
353 </tr>
354 </tbody></table>
355 </body>
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