Wiki source code of BRAT Biped Autonomous Tutorial
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1 | {{html wiki="false" clean="true"}} |
2 | <body><table border="0" cellpadding="0" cellspacing="0" > |
3 | <tbody><tr> |
4 | <td valign="top" align="left"><b><font face="Verdana" size="2">Biped BRAT Autonomous Tutorial.</font></b> |
5 | <p><b><font face="Verdana" size="2">Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" --> |
6 | <!-- #BeginDate format:Am3 -->12/20/2011<!-- #EndDate --> |
7 | </font></b></p> |
8 | <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p> |
9 | <p><font face="Verdana" size="2"><b>Note:</b> This tutorial uses the Bot Board II, BASIC Atom Pro 28, a Sharp GP2D12 sensor, and a Buffered |
10 | 2-Axis Accelerometer (DE-11).</font></p> |
11 | <p><font face="Verdana" size="2"><b>Software:</b><br> |
12 | - BASIC Micro Studio<br> |
13 | - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratosf3.zip">BRAT Servo Offset Finder |
14 | Program v3</a> (09/16/09)<br> |
15 | - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat1.zip">Autonomous Walk Code</a> |
16 | (09/16/09)<br> |
17 | - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat2.zip">Autonomous GP2D12 Code</a> |
18 | (09/16/09)<br> |
19 | -- Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/avoid01.mpg">Avoiding an obstacle (mpg)</a><br> |
20 | -- Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/break01.mpg">Taking a break (mpg)</a><br> |
21 | -- Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/walkaway.mpg">Demonstrating proximity beeps (mpg)</a><br> |
22 | - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat3.zip">Autonomous 1-Axis Accelerometer Code</a> |
23 | (09/16/09)<br> |
24 | -- Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup01.mpg">Getting up front and back (mpg)</a><br> |
25 | - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat4.zip">Autonomous 2-Axis Accelerometer Code</a> |
26 | (09/16/09)<br> |
27 | -- Video: <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup02.mpg">Getting up front and side (mpg)</a></font></p></td> |
28 | <td align="center" valign="top" width="320"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat00.jpg" border="2" hspace="10" ><br> |
29 | <strong>Image of Biped BRAT.</strong></font></td> |
30 | </tr> |
31 | <tr> |
32 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> |
33 | </tr> |
34 | <tr> |
35 | <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 1.</b><br> |
36 | Make sure your servos are plugged into the appropriate channels, as shown in Table 1.</font> |
37 | <p><font face="Verdana" size="2">*Note, P9 is used by the speaker, so we can't plug a servo in there.</font></p></td> |
38 | <td align="left" valign="top" > |
39 | <div align="center"> |
40 | <center> |
41 | <table border="1" bordercolor="#FFFFFF" > |
42 | <tbody><tr> |
43 | <td > |
44 | <div align="center"> |
45 | <table border="1" bordercolor="#000000" > |
46 | <tbody><tr> |
47 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Bot Board I/O</b></font></td> |
48 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Connection</b></font></td> |
49 | </tr> |
50 | <tr> |
51 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P4</font></td> |
52 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Ankle</font></td> |
53 | </tr> |
54 | <tr> |
55 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P5</font></td> |
56 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Knee</font></td> |
57 | </tr> |
58 | <tr> |
59 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P6</font></td> |
60 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Hip</font></td> |
61 | </tr> |
62 | <tr> |
63 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P7</font></td> |
64 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Ankle</font></td> |
65 | </tr> |
66 | <tr> |
67 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P8</font></td> |
68 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Knee</font></td> |
69 | </tr> |
70 | <tr> |
71 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P10</font></td> |
72 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Hip</font></td> |
73 | </tr> |
74 | </tbody></table> |
75 | </div></td> |
76 | </tr> |
77 | <tr> |
78 | <td bordercolor="#FFFFFF"> |
79 | <p align="center"><font face="Verdana" size="2">Table 1.</font></p></td> |
80 | </tr> |
81 | </tbody></table> |
82 | </center></div> |
83 | </td> |
84 | </tr> |
85 | <tr> |
86 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> |
87 | </tr> |
88 | <tr> |
89 | <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 2.</b><br> |
90 | Make sure the Bot Board's jumpers are set according to Table 2.</font> |
91 | <p><font face="Verdana" size="2">Refer to Figure 2 for help with jumper settings.</font></p> |
92 | <p><font face="Verdana" size="2">*Note, the VS to AX0 jumper enables the program to monitor the servo battery voltage. When the battery is low, |
93 | the robot can beep in warning.</font></p></td> |
94 | <td align="left" valign="top" > |
95 | <div align="center"> |
96 | <center> |
97 | <table border="1" bordercolor="#FFFFFF" > |
98 | <tbody><tr> |
99 | <td > |
100 | <div align="center"> |
101 | <table border="1" bordercolor="#000000" > |
102 | <tbody><tr> |
103 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="2"><b>Bot Board II |
104 | Jumper Settings</b></font></td> |
105 | </tr> |
106 | <tr> |
107 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td> |
108 | |
109 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">A, B, and C buttons</font></td> |
110 | </tr> |
111 | <tr> |
112 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">5v</font></td> |
113 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Group 0-3</font></td> |
114 | </tr> |
115 | <tr> |
116 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">VS</font></td> |
117 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Groups 4-7 and 8-11</font></td> |
118 | </tr> |
119 | <tr> |
120 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td> |
121 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">SPKEN (Speaker Enable)</font></td> |
122 | </tr> |
123 | <tr> |
124 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td> |
125 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">VS (Servo Voltage) to AX0 (P16)</font></td> |
126 | </tr> |
127 | </tbody></table> |
128 | </div></td> |
129 | </tr> |
130 | <tr> |
131 | <td bordercolor="#FFFFFF"> |
132 | <p align="center"><font face="Verdana" size="2">Table 2.</font></p></td> |
133 | </tr> |
134 | </tbody></table> |
135 | </center></div> |
136 | </td> |
137 | </tr> |
138 | <tr> |
139 | <td valign="top" align="left" colspan="2"><br class="pb"> |
140 | </td> |
141 | </tr> |
142 | <tr> |
143 | <td valign="top" align="left" colspan="2"> |
144 | <p align="center"><font face="Verdana" size="2"> <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/autobrat.gif" border="0" hspace="10"><br> |
145 | Figure 2.</font></p> |
146 | </td> |
147 | </tr> |
148 | <tr> |
149 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> |
150 | </tr> |
151 | <tr> |
152 | <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br> |
153 | Download and install the BASIC Micro Studio. Download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratosf3.zip">BRAT Servo Offset Finder program</a>, and load it into the IDE.</font> |
154 | <p><font face="Verdana" size="2">Program the Atom Pro, and follow these instructions to find your robot's offsets.</font></p> |
155 | <ul> |
156 | <li><font face="Verdana" size="2">Press A to decrease the servo offset by 5us.</font></li> |
157 | <li><font face="Verdana" size="2">Press C to increase the servo offset by 5us.</font></li> |
158 | <li><font face="Verdana" size="2">Press B to change which servo is being manipulated, and to |
159 | save your offsets. The order of the |
160 | program is shown in Figure 3.</font></li> |
161 | </ul> |
162 | <p><font face="Verdana" size="2">Note, if you have the Speaker enabled, when you press the B button you will hear a short tone. The tone will |
163 | raise in pitch when you change from servo to servo, and will lower in pitch and be longer when you get back to Start.</font></p></td> |
164 | <td align="left" valign="top" > |
165 | <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratosf3.jpg" border="2" hspace="10" ><br> |
166 | Figure 3.</font></p></td> |
167 | </tr> |
168 | <tr> |
169 | <td valign="top" align="left" colspan="2"><br class="pb"> |
170 | </td> |
171 | </tr> |
172 | <tr> |
173 | <td valign="top" align="left"><font face="Verdana" size="2"><b>Step |
174 | 4.</b><br> |
175 | Place the robot in a position as close to neutral as possible, and turn it on. Your robot should go to and hold the neutral position, and should |
176 | resemble figures 4-1 through 4-3. If the joints are off by more than 15° you may have made an error in assembly. To correct this, remove the |
177 | center screw from the round servo horn, pull the servo horn off the servo, rotate until it's aligned, then reattach the servo horn.</font> |
178 | <p><font face="Verdana" size="2">Use the A, B, and C buttons to straighten the BRAT as shown in Figures |
179 | 4-1, 4-2, and 4-3.</font></p> |
180 | <p><font face="Verdana" size="2">Note, if you are building the robot with HS-422 servos, you will notice the hip servos oscillate if the robot |
181 | is lifted off the ground. This is normal, and is due to the lower power servo. When the robot is walking, the effects are minimal. Using a |
182 | voltage that is higher than 6vdc will make the oscillations worse. When building a robot with more powerful servos such as HS-475, |
183 | HS-485, or HS-645, you |
184 | will not see this effect.</font></p> |
185 | <p><font face="Verdana" size="2"><b>After you've cycled through the servos and adjusted them to match Figures |
186 | 4-1 through 4-3, pressing the B button again will save your servo offset |
187 | values to the Atom Pro's EEPROM.</b></font></p> |
188 | </td> |
189 | <td align="left" valign="top" > |
190 | <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat10.jpg" border="2" hspace="10" ><br> |
191 | Figure 4-1.</font></p></td> |
192 | </tr> |
193 | <tr> |
194 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> |
195 | </tr> |
196 | <tr> |
197 | <td valign="top" align="left"> |
198 | <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat07.jpg" border="2" hspace="10" ><br> |
199 | Figure 4-2.</font></p> |
200 | </td> |
201 | <td align="left" valign="top" > |
202 | <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/brat04.jpg" border="2" hspace="10" ><br> |
203 | Figure 4-3.</font></p></td> |
204 | </tr> |
205 | <tr> |
206 | <td valign="top" align="left" colspan="2"><br class="pb"> |
207 | </td> |
208 | </tr> |
209 | <tr> |
210 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step |
211 | 5.</b><br> |
212 | Now download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat1.zip">BRAT Autonomous Walk Code</a>, load it into the |
213 | IDE, and program your BRAT.</font> |
214 | <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to walk around! The autonomous walk program will make the BRAT |
215 | follow this sequence: walk, walk, walk, turn, long-stride, long-stride, kick, turn, stop.</font></p> |
216 | <p><font face="Verdana" size="2">To change the behavior of your robot, you can modify the code below the label "main" and above the |
217 | label "move". You can also create sequences following the format shown in the code below the label "move". We will provide |
218 | several more code examples including common sensors.</font></p></td> |
219 | </tr> |
220 | <tr> |
221 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> |
222 | </tr> |
223 | <tr> |
224 | <td valign="top" align="left"><font face="Verdana" size="2"><b>Step |
225 | 6.</b><br> |
226 | Use double-sided tape to attach the GP2D12 sensor to the BRAT's head area. The exact position doesn't matter too much, as long as the sensor is |
227 | facing toward the front of the robot.</font> |
228 | <p><font face="Verdana" size="2">Plug the sensor in to the channel shown in the following table.</font></p> |
229 | <div align="center"> |
230 | <center> |
231 | <table border="1" bordercolor="#FFFFFF" > |
232 | <tbody><tr> |
233 | <td > |
234 | <div align="center"> |
235 | <table border="1" bordercolor="#000000" > |
236 | <tbody><tr> |
237 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Bot Board I/O</b></font></td> |
238 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Connection</b></font></td> |
239 | </tr> |
240 | <tr> |
241 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P19 (AX3)</font></td> |
242 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">GP2D12 Sensor</font></td> |
243 | </tr> |
244 | </tbody></table> |
245 | </div></td> |
246 | </tr> |
247 | <tr> |
248 | <td bordercolor="#FFFFFF"> |
249 | <p align="center"><font face="Verdana" size="2">Table 6.</font></p></td> |
250 | </tr> |
251 | </tbody></table> |
252 | </center></div> |
253 | </td> |
254 | <td align="left" valign="top" > |
255 | <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratsens.jpg" border="2" hspace="10" ><br> |
256 | Figure 6.</font></p></td> |
257 | </tr> |
258 | <tr> |
259 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> |
260 | </tr> |
261 | <tr> |
262 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step |
263 | 7.</b><br> |
264 | Now download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat2.zip">BRAT Autonomous GP2D12 Code</a>, load it into the |
265 | IDE, and program your BRAT.</font> |
266 | <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to roam without bumping into anything! We also added a |
267 | "behavior" looping counter so the robot will periodically go into a resting position. You can edit the pauses to change how long it |
268 | rests and you can change the value of the looping counter to change how often it rests. The GP2D12 sensor is read before each step when the |
269 | robot is walking forward. You will hear a short low beep if nothing is detected. If an object is detected, the beep raises in pitch depending on |
270 | how close the object is. When the object is about 8" away, the robot will back up one step, turn left two steps, then continue forward. The |
271 | code also illuminates LEDs depending on which command is being processed.</font></p> |
272 | <p><font face="Verdana" size="2">Check out these videos:<br> |
273 | - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/avoid01.mpg">Avoiding an obstacle (mpg)</a><br> |
274 | - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/break01.mpg">Taking a break (mpg)</a><br> |
275 | - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/walkaway.mpg">Demonstrating proximity beeps (mpg)</a></font></p></td> |
276 | </tr> |
277 | <tr> |
278 | <td valign="top" align="left" colspan="2"><br class="pb"> |
279 | </td> |
280 | </tr> |
281 | <tr> |
282 | <td valign="top" align="left"><font face="Verdana" size="2"><b>Step |
283 | 8.</b><br> |
284 | Use double-sided tape to attach the accelerometer sensor to the BRAT's head area. With the accelerometer, the sensor's <i>physical position</i> |
285 | isn't as important as the <i>axis orientation</i>. Make sure you follow the orientation shown in Figure |
286 | 8.</font> |
287 | <p><font face="Verdana" size="2">Plug the sensor in to the channel shown in the following table.</font></p> |
288 | <div align="center"> |
289 | <center> |
290 | <table border="1" bordercolor="#FFFFFF" > |
291 | <tbody><tr> |
292 | <td > |
293 | <div align="center"> |
294 | <table border="1" bordercolor="#000000" > |
295 | <tbody><tr> |
296 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Bot Board I/O</b></font></td> |
297 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Connection</b></font></td> |
298 | </tr> |
299 | <tr> |
300 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P17 (AX1)</font></td> |
301 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Accelerometer Sensor - Y Axis<br> |
302 | (Used for Front-to-back tilt)</font></td> |
303 | </tr> |
304 | <tr> |
305 | <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P18 (AX2)</font></td> |
306 | <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Accelerometer Sensor - X Axis<br> |
307 | (Used for Side-to-side tilt)</font></td> |
308 | </tr> |
309 | </tbody></table> |
310 | </div></td> |
311 | </tr> |
312 | <tr> |
313 | <td bordercolor="#FFFFFF"> |
314 | <p align="center"><font face="Verdana" size="2">Table 8.</font></p></td> |
315 | </tr> |
316 | </tbody></table> |
317 | </center></div> |
318 | </td> |
319 | <td align="left" valign="top" > |
320 | <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/bratacc.jpg" border="2" hspace="10" ><br> |
321 | Figure 8.</font></p></td> |
322 | </tr> |
323 | <tr> |
324 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> |
325 | </tr> |
326 | <tr> |
327 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step |
328 | 9.</b><br> |
329 | Now download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat3.zip">BRAT Autonomous 1-Axis Accelerometer Code</a>, load it into the |
330 | IDE, and program your BRAT.</font> |
331 | <p><font face="Verdana" size="2"><i>For this program, we are only using the values from the Y Axis.</i> The Y Axis measures the |
332 | front-to-back tilt, so the BRAT can tell when it has fallen onto its back or front. We will incorporate the X Axis in a later program.</font></p> |
333 | <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to roam without bumping into anything, and get back up if it falls!</font></p> |
334 | <p><font face="Verdana" size="2">Check out this video:<br> |
335 | - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup01.mpg">Getting up front and back (mpg)</a></font></p></td> |
336 | </tr> |
337 | <tr> |
338 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> |
339 | </tr> |
340 | <tr> |
341 | <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step |
342 | 10.</b><br> |
343 | Now download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/abrat4.zip">BRAT Autonomous 2-Axis Accelerometer Code</a>, load it into the |
344 | IDE, and program your BRAT.</font> |
345 | <p><font face="Verdana" size="2">For this program, we have added the accelerometer's X Axis to measure side-to-side tilt. Now if the BRAT falls |
346 | onto its side, it will know to roll over in order to get back up. We have also incorporated a more advanced "get up from back" |
347 | routine, which will enable robots with lots of cabling or weight in the back to stand one foot at a time. Additionally, we've added a |
348 | "startled" behavior. If the BRAT is in resting mode and something is suddenly detected by the GP2D12 sensor, the BRAT will be |
349 | startled, lean back, and beep.</font></p> |
350 | <p><font face="Verdana" size="2">Congratulations, your BRAT will now be able to roam without bumping into anything, and get back up if it falls!</font></p> |
351 | <p><font face="Verdana" size="2">Check out this video:<br> |
352 | - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-autonomous/WebHome/getup02.mpg">Getting up front and side (mpg)</a></font></p></td> |
353 | </tr> |
354 | </tbody></table> |
355 | </body> |
356 | {{/html}} |