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1 -ses-v1.ses-v1-robots.ses-v1-bipeds.WebHome
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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">PS2 Biped BRAT Mech 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, wireless PS2 controller/receiver, two PicoSwitches (DE-03).</p>
33 - <p><b>Software &amp; 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-ps2-mech/WebHome/mechosf.zip">BRAT Servo Offset Finder Program</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-ps2-mech/WebHome/bmech1-2.zip">PS2 Mech Control Code v1.2</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">PS2
5 + Biped BRAT Mech Tutorial.</font></b>
6 + <p><b><font face="Verdana" size="2">Updated
7 + <!-- #BeginDate format:Am3 -->12/20/2011<!-- #EndDate --></font></b>
8 + </p>
9 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
10 + <p><font face="Verdana" size="2"><b>Note:</b> This tutorial uses the Bot Board II, BASIC Atom Pro 28, a wireless PS2
11 + controller/receiver, and two PicoSwitches (DE-03).</font></p>
12 + <p><font face="Verdana" size="2"><b>Software:</b><br>
13 + &nbsp;&nbsp;- BASIC Micro Studio<br>
14 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/mechosf.zip">BRAT Servo Offset Finder Program</a>
15 + (09/17/09)<br>
16 + &nbsp; - <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bmech1-2.zip">PS2 Mech Control Code v1.2</a>
17 + (11/11/2009)</font>
18 + </p></td>
19 + <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-ps2-mech/WebHome/bratm14.jpg" border="2" hspace="10" ><br>
20 + <strong>Image of Biped BRAT mech.</strong></font></td>
21 + </tr>
22 + <tr>
23 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
24 + </tr>
25 + <tr>
26 + <td valign="top" align="left" colspan="2">
27 + <p><font face="Verdana" size="2"><b>Overview:</b> This tutorial will show
28 + how to build a BRAT-based mech using the hardware and components that we
29 + used in our build. This is NOT the only way to do a BRAT-based mech,
30 + though! Keep in mind that if you deviate from the components we used, you
31 + may have to make changes to the code we've provided, and the assembly
32 + instructions listed here may not match exactly. Have fun, and experiment!</font></p></td>
33 + </tr>
34 + <tr>
35 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
36 + </tr>
37 + <tr>
38 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 1.</b><br>
39 + Depending on how you've installed the aluminum channel on your BRAT, you
40 + may have to change it.</font>
41 + <p><font face="Verdana" size="2">For the Mech project, you'll need to make
42 + sure the aluminum channel is oriented as shown in Figure 1. If yours is
43 + different, you'll have to rebuild it.</font>
44 + </p></td>
45 + <td align="left" valign="top" >
46 + <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-ps2-mech/WebHome/bratm03.jpg" border="2" hspace="10" ><br>
47 + Figure 1.</font>
48 + </p></td>
49 + </tr>
50 + <tr>
51 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
52 + </tr>
53 + <tr>
54 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 2.</b><br>
55 + After rebuilding, make sure your bot looks like Figure 2. If it does, move
56 + on to Step 3.</font></td>
57 + <td align="left" valign="top" >
58 + <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-ps2-mech/WebHome/bratm04.jpg" border="2" hspace="10" ><br>
59 + Figure 2.</font>
60 + </p></td>
61 + </tr>
62 + <tr>
63 + <td valign="top" align="left" colspan="2"><br class="pb">
64 + </td>
65 + </tr>
66 + <tr>
67 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
68 + 3.</b><br>
69 + Attach an ASB-24 bracket to the aluminum channel as shown. Use 2-56 screws
70 + and nuts.</font>
71 + <p><font face="Verdana" size="2">The bracket will be off-center, but the
72 + servo horn will be center aligned.</font></p>
73 + </td>
74 + <td align="left" valign="top" >
75 + <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-ps2-mech/WebHome/bratm05.jpg" border="2" hspace="10" ><br>
76 + Figure 3.</font>
77 + </p></td>
78 + </tr>
79 + <tr>
80 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
81 + </tr>
82 + <tr>
83 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
84 + 4.</b><br>
85 + Attach a suitable servo to the ASB-24; we used an HS-645. In our
86 + experience, the turret was a bit shaky with an HS-475 or HS-485.</font>
87 + <p><font face="Verdana" size="2">Remove the servo horn. This servo
88 + will rotate the gun platform turret. Plug the servo in to P11 on the Bot Board
89 + II. A wiring diagram is shown below.</font></p>
90 + </td>
91 + <td align="left" valign="top" >
92 + <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-ps2-mech/WebHome/bratm06.jpg" border="2" hspace="10" ><br>
93 + Figure 4.</font>
94 + </p></td>
95 + </tr>
96 + <tr>
97 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
98 + </tr>
99 + <tr>
100 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
101 + 5.</b><br>
102 + For our gun platform turret, we used the add-on base rotate (ABR-01). A MPSH-01
103 + will support the camera, while a HUB-08 attached to ASB-06 will support
104 + the guns.</font>
105 + <p><font face="Verdana" size="2">Use 2-56 screws and nuts to attach the
106 + brackets as shown using the innermost holes. You will need to use a
107 + 5/64" drill bit to add holes for the outermost screws as shown. Do
108 + this carefully! Make sure everything is aligned properly before drilling!</font></p>
109 + <p><font face="Verdana" size="2">Use 2-56 screws and nuts to attach the
110 + HUB-08s to the ASB-06s.</font></p></td>
111 + <td align="left" valign="top" >
112 + <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-ps2-mech/WebHome/bratm08.jpg" border="2" hspace="10" ><br>
113 + Figure 5.</font>
114 + </p></td>
115 + </tr>
116 + <tr>
117 + <td valign="top" align="left" colspan="2"><br class="pb">
118 + </td>
119 + </tr>
120 + <tr>
121 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
122 + 6.</b><br>
123 + The guns we used can be purchased <a href="http://www.toyeast.com/v3/pdtdetail.asp?pdt_id=A02102961" target="_blank">here</a>.
124 + The website sells several versions of this gun. Make sure you get the
125 + "airsoft barrel mechanism" version, NOT the "IR barrel
126 + mechanism" version. <b>Remember, if you use different guns, you may have to modify the code,
127 + and our assembly instructions may not work for you.</b></font>
128 + <p><font face="Verdana" size="2"><b>Wiring instructions are shown in
129 + Figure 12.</b> Don't worry about connecting the guns until you get there.</font></p>
130 + <p><font face="Verdana" size="2">We had to drill the center hole of the
131 + HUB-08s to .25" to accommodate mounting the guns we used. The gun's
132 + mounting posts have ridges that need to be filed or cut down, in order to
133 + fit into the HUB-08.</font></p>
134 + <p><font face="Verdana" size="2">We attached our guns to the HUB-08s using
135 + epoxy. Hold or clamp the gun tightly to the hub, and make sure to give it
136 + plenty of time to set before moving on.</font></p></td>
137 + <td align="left" valign="top" >
138 + <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-ps2-mech/WebHome/bratm10.jpg" border="2" hspace="10" ><br>
139 + Figure 6.</font>
140 + </p></td>
141 + </tr>
142 + <tr>
143 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
144 + </tr>
145 + <tr>
146 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
147 + 7.</b><br>
148 + Use the servo horn screw to attach the gun platform turret to the HS-645 servo.</font>
149 + <p><font face="Verdana" size="2">This completes the mechanical assembly.
150 + Because every servo is unique in its center position, we need to calibrate
151 + the software to the servos. To do this, follow the next steps.</font></p>
152 + </td>
153 + <td align="left" valign="top" >
154 + <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-ps2-mech/WebHome/bratm11.jpg" border="2" hspace="10" ><br>
155 + Figure 7.</font>
156 + </p></td>
157 + </tr>
158 + <tr>
159 + <td valign="top" align="left" colspan="2"><br class="pb">
160 + </td>
161 + </tr>
162 + <tr>
163 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
164 + 8.</b><br>
165 + Make sure your Bot Board is set up as shown in Table 8 and Figure 8.</font>
166 + <p><font face="Verdana" size="2">You MUST have the buttons enabled in
167 + order to proceed.</font>
168 + </p></td>
169 + <td align="left" valign="top" >
170 + <div align="center">
171 + <center>
172 + <table border="1" bordercolor="#FFFFFF" >
173 + <tbody><tr>
174 + <td >
175 + <div align="center">
176 + <table border="1" bordercolor="#000000" >
177 + <tbody><tr>
178 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Bot Board I/O</b></font></td>
179 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Connection</b></font></td>
180 + </tr>
181 + <tr>
182 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P4</font></td>
183 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Ankle</font></td>
184 + </tr>
185 + <tr>
186 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P5</font></td>
187 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Knee</font></td>
188 + </tr>
189 + <tr>
190 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P6</font></td>
191 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Hip</font></td>
192 + </tr>
193 + <tr>
194 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P7</font></td>
195 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Ankle</font></td>
196 + </tr>
197 + <tr>
198 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P8</font></td>
199 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Knee</font></td>
200 + </tr>
201 + <tr>
202 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P10</font></td>
203 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Hip</font></td>
204 + </tr>
205 + <tr>
206 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P11</font></td>
207 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Turret
208 + Rotation</font></td>
209 + </tr>
210 + <tr>
211 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="2"><b>Bot Board II
212 + Jumper Settings</b></font></td>
213 + </tr>
214 + <tr>
215 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
216 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">A, B, and C buttons</font></td>
217 + </tr>
218 + <tr>
219 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">VS</font></td>
220 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">I/O Groups 4-7 and 8-11</font></td>
221 + </tr>
222 + <tr>
223 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td>
224 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">SPKEN (Speaker Enable)</font></td>
225 + </tr>
226 + </tbody></table>
227 + </div></td>
228 + </tr>
229 + <tr>
230 + <td bordercolor="#FFFFFF">
231 + <p align="center"><font face="Verdana" size="2">Table 8.</font></p></td>
232 + </tr>
233 + </tbody></table>
234 + </center></div>
235 + </td>
236 + </tr>
237 + <tr>
238 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
239 + </tr>
240 + <tr>
241 + <td valign="top" align="left" colspan="2">
242 + <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-ps2-mech/WebHome/bratmec2.gif" border="0" hspace="10"><br>
243 + Figure 8.</font></p>
244 + </td>
245 + </tr>
246 + <tr>
247 + <td valign="top" align="left" colspan="2"><br class="pb">
248 + </td>
249 + </tr>
250 + <tr>
251 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
252 + 9.</b><br>
253 + 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-ps2-mech/WebHome/mechosf.zip">BRAT Servo Offset Finder program</a>, and load it into the IDE.</font>
254 + <p><font face="Verdana" size="2">Program the Atom Pro, and follow these instructions to find your robot's offsets.</font></p>
255 + <ul>
256 + <li><font face="Verdana" size="2">Press A to decrease the servo offset by 5us.</font></li>
257 + <li><font face="Verdana" size="2">Press C to increase the servo offset by 5us.</font></li>
258 + <li><font face="Verdana" size="2">Press B to change which servo is being manipulated, and to
259 + save your offsets. The order of the
260 + program is shown in Figure 9.</font></li>
38 38   </ul>
39 - <p style="margin-top:0.75rem;"><b>Overview:</b> This tutorial shows how to build a BRAT-based mech using the components used in this build. This is not the only approach — if you use different components you may need to modify the code and assembly instructions. Have fun and experiment!</p>
40 - </div>
41 - <div style="text-align:center; flex:0 1 280px;">
42 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratm14.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
43 - <p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Biped BRAT Mech.</b></p>
44 - </div>
45 - </div>
46 -
47 - <!-- Step 1 -->
48 - <div class="asm-step">
49 - <div class="asm-step-header">
50 - <div class="asm-step-name">BRAT Mech — Orient U-Channel</div>
51 - <div class="asm-step-num">Step 1 / 15</div>
52 - </div>
53 - <div class="asm-step-body">
54 - <div class="asm-step-text">
55 - <p>Depending on how the aluminum channel was installed on your BRAT, you may need to change it. Orient the channel as shown in Figure 1 — if yours differs, you will need to rebuild it.</p>
56 - </div>
57 - <div class="asm-step-figure">
58 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratm03.jpg">
59 - <span>Figure 1.</span>
60 - </div>
61 - </div>
62 - </div>
63 -
64 - <!-- Step 2 -->
65 - <div class="asm-step">
66 - <div class="asm-step-header">
67 - <div class="asm-step-name">BRAT Mech — Verify Rebuilt Configuration</div>
68 - <div class="asm-step-num">Step 2 / 15</div>
69 - </div>
70 - <div class="asm-step-body">
71 - <div class="asm-step-text">
72 - <p>After rebuilding, make sure your robot matches Figure 2 before proceeding to Step 3.</p>
73 - </div>
74 - <div class="asm-step-figure">
75 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratm04.jpg">
76 - <span>Figure 2.</span>
77 - </div>
78 - </div>
79 - </div>
80 -
81 - <!-- Step 3 -->
82 - <div class="asm-step">
83 - <div class="asm-step-header">
84 - <div class="asm-step-name">BRAT Mech — Attach ASB-24 Bracket</div>
85 - <div class="asm-step-num">Step 3 / 15</div>
86 - </div>
87 - <div class="asm-step-body">
88 - <div class="asm-step-text">
89 - <p>Attach an ASB-24 bracket to the aluminum channel as shown using 2-56 screws and nuts. The bracket will be off-centre, but the servo horn will be centre-aligned.</p>
90 - </div>
91 - <div class="asm-step-figure">
92 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratm05.jpg">
93 - <span>Figure 3.</span>
94 - </div>
95 - </div>
96 - </div>
97 -
98 - <!-- Step 4 -->
99 - <div class="asm-step">
100 - <div class="asm-step-header">
101 - <div class="asm-step-name">BRAT Mech — Install Turret Rotation Servo</div>
102 - <div class="asm-step-num">Step 4 / 15</div>
103 - </div>
104 - <div class="asm-step-body">
105 - <div class="asm-step-text">
106 - <p>Attach a suitable servo to the ASB-24 — an HS-645 is recommended. In testing, the turret was unstable with HS-475 or HS-485 servos. Remove the servo horn. This servo rotates the gun platform turret. Plug it into <b>P11</b> on the Bot Board II.</p>
107 - </div>
108 - <div class="asm-step-figure">
109 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratm06.jpg">
110 - <span>Figure 4.</span>
111 - </div>
112 - </div>
113 - </div>
114 -
115 - <!-- Step 5 -->
116 - <div class="asm-step">
117 - <div class="asm-step-header">
118 - <div class="asm-step-name">BRAT Mech — Build Gun Platform Turret</div>
119 - <div class="asm-step-num">Step 5 / 15</div>
120 - </div>
121 - <div class="asm-step-body">
122 - <div class="asm-step-text">
123 - <p>The gun platform turret uses the add-on base rotate (ABR-01). A MPSH-01 supports the camera; HUB-08s attached to ASB-06s support the guns.</p>
124 - <p>Use 2-56 screws and nuts to attach brackets via the innermost holes as shown. Use a 5/64" drill bit to add holes for the outermost screws. <span class="asm-warning">Drill carefully — ensure everything is aligned properly before drilling!</span></p>
125 - <p>Use 2-56 screws and nuts to attach the HUB-08s to the ASB-06s.</p>
126 - </div>
127 - <div class="asm-step-figure">
128 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratm08.jpg">
129 - <span>Figure 5.</span>
130 - </div>
131 - </div>
132 - </div>
133 -
134 - <!-- Step 6 -->
135 - <div class="asm-step">
136 - <div class="asm-step-header">
137 - <div class="asm-step-name">BRAT Mech — Mount Guns</div>
138 - <div class="asm-step-num">Step 6 / 15</div>
139 - </div>
140 - <div class="asm-step-body">
141 - <div class="asm-step-text">
142 - <p>Use the airsoft barrel mechanism version of the gun (NOT the IR version). <span class="asm-warning">If you use different guns, you may need to modify the code — the assembly instructions may not apply.</span> Gun wiring is covered in Step 12.</p>
143 - <p>Drill the centre hole of the HUB-08s to .25" to accommodate the gun mounting posts. File or cut down the ridges on the posts to fit into the HUB-08. Attach the guns to the HUB-08s using epoxy — hold or clamp firmly and allow plenty of time to set before proceeding.</p>
144 - </div>
145 - <div class="asm-step-figure">
146 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratm10.jpg">
147 - <span>Figure 6.</span>
148 - </div>
149 - </div>
150 - </div>
151 -
152 - <!-- Step 7 -->
153 - <div class="asm-step">
154 - <div class="asm-step-header">
155 - <div class="asm-step-name">BRAT Mech — Attach Turret to Servo</div>
156 - <div class="asm-step-num">Step 7 / 15</div>
157 - </div>
158 - <div class="asm-step-body">
159 - <div class="asm-step-text">
160 - <p>Use the servo horn screw to attach the gun platform turret to the HS-645 servo. This completes the mechanical assembly. The next steps calibrate the software to the servos.</p>
161 - </div>
162 - <div class="asm-step-figure">
163 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratm11.jpg">
164 - <span>Figure 7.</span>
165 - </div>
166 - </div>
167 - </div>
168 -
169 - <!-- Step 8 -->
170 - <div class="asm-step">
171 - <div class="asm-step-header">
172 - <div class="asm-step-name">BRAT Mech — Configure Bot Board II</div>
173 - <div class="asm-step-num">Step 8 / 15</div>
174 - </div>
175 - <div class="asm-step-body">
176 - <div class="asm-step-text">
177 - <p>Set up the Bot Board per Table 8 and Figure 8. <span class="asm-warning">The buttons MUST be enabled to proceed.</span></p>
178 - </div>
179 - <div class="asm-step-figure" style="flex: 0 1 auto;">
180 - <table class="ref-table" style="width:auto; margin-bottom:0.5rem;">
181 - <tr><th>Bot Board I/O</th><th>Connection</th></tr>
182 - <tr><td>P4</td><td>Left Ankle</td></tr>
183 - <tr><td>P5</td><td>Left Knee</td></tr>
184 - <tr><td>P6</td><td>Left Hip</td></tr>
185 - <tr><td>P7</td><td>Right Ankle</td></tr>
186 - <tr><td>P8</td><td>Right Knee</td></tr>
187 - <tr><td>P10</td><td>Right Hip</td></tr>
188 - <tr><td>P11</td><td>Turret Rotation</td></tr>
189 - <tr><th colspan="2">Bot Board II Jumper Settings</th></tr>
190 - <tr><td>Enable</td><td>A, B, and C buttons</td></tr>
191 - <tr><td>VS</td><td>I/O Groups 4–7 and 8–11</td></tr>
192 - <tr><td>Enable</td><td>SPKEN (Speaker Enable)</td></tr>
193 - </table>
194 - <span>Table 8.</span>
195 - </div>
196 - </div>
197 - <div class="asm-fullwidth">
198 - <p style="font-weight:bold; margin-bottom:0.4rem;">Figure 8 — Bot Board II wiring diagram</p>
199 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratmec2.gif" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
200 - </div>
201 - </div>
202 -
203 - <!-- Step 9 -->
204 - <div class="asm-step">
205 - <div class="asm-step-header">
206 - <div class="asm-step-name">BRAT Mech — Find Servo Offsets</div>
207 - <div class="asm-step-num">Step 9 / 15</div>
208 - </div>
209 - <div class="asm-step-body">
210 - <div class="asm-step-text">
211 - <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-ps2-mech/WebHome/mechosf.zip">BRAT Servo Offset Finder Program</a>, load it into the IDE, and program the Atom Pro. Use the buttons to adjust:</p>
212 - <ul style="margin-top:0.5rem; padding-left:1.2rem;">
213 - <li><b>A</b> — decrease servo offset by 5µs</li>
214 - <li><b>C</b> — increase servo offset by 5µs</li>
215 - <li><b>B</b> — change which servo is being adjusted, and save offsets (order shown in Figure 9)</li>
216 - </ul>
217 - <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 lower tone when returning to Start.</p>
218 - </div>
219 - <div class="asm-step-figure">
220 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/mechosf1.jpg">
221 - <span>Figure 9 — Offset finder sequence.</span>
222 - </div>
223 - </div>
224 - </div>
225 -
226 - <!-- Step 10 -->
227 - <div class="asm-step">
228 - <div class="asm-step-header">
229 - <div class="asm-step-name">BRAT Mech — Calibrate to Neutral Position</div>
230 - <div class="asm-step-num">Step 10 / 15</div>
231 - </div>
232 - <div class="asm-step-body">
233 - <div class="asm-step-text">
234 - <p>Place the robot as close to neutral as possible and turn it on. It should hold the position resembling Figures 10-1 through 10-3. 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>
235 - <p>Note: HS-422 hip servos may oscillate when lifted — normal and minimal when walking. Higher voltage worsens this. HS-475, HS-485, HS-645 servos do not exhibit this effect.</p>
236 - <p><span class="asm-warning">After adjusting all servos to match Figures 10-1 through 10-3, pressing B saves the offset values to the Atom Pro's EEPROM.</span></p>
237 - </div>
238 - <div class="asm-figures">
239 - <div class="asm-step-figure">
240 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/brat10.jpg">
241 - <span>Figure 10-1 (front view).</span>
242 - </div>
243 - <div class="asm-step-figure">
244 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/brat07.jpg">
245 - <span>Figure 10-2 (side view).</span>
246 - </div>
247 - <div class="asm-step-figure">
248 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/brat04.jpg">
249 - <span>Figure 10-3 (rear view).</span>
250 - </div>
251 - </div>
252 - </div>
253 - </div>
254 -
255 - <!-- Step 11 -->
256 - <div class="asm-step">
257 - <div class="asm-step-header">
258 - <div class="asm-step-name">BRAT Mech — Load PS2 Mech Control Code</div>
259 - <div class="asm-step-num">Step 11 / 15</div>
260 - </div>
261 - <div class="asm-step-body">
262 - <div class="asm-step-text">
263 - <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-ps2-mech/WebHome/bmech1-2.zip">PS2 BRAT Mech Code v1.2</a>, load it into the IDE, and program your BRAT.</p>
264 - </div>
265 - </div>
266 - </div>
267 -
268 - <!-- Step 12 -->
269 - <div class="asm-step">
270 - <div class="asm-step-header">
271 - <div class="asm-step-name">BRAT Mech — Wire the Guns</div>
272 - <div class="asm-step-num">Step 12 / 15</div>
273 - </div>
274 - <div class="asm-step-body">
275 - <div class="asm-step-text">
276 - <p>Repeat this wiring for each gun. Use heat shrink as needed. Refer to Table 12 and Figure 12 for connections.</p>
277 - <p><b>Motor wiring:</b> The gun's black motor wire goes directly to ground. The red wire connects to one side of the PicoSwitch; run a wire from the other side of the PicoSwitch to (+) on the Bot Board II.</p>
278 - <p><b>Internal switch wiring:</b> Cut a 24" servo extender cable in half and strip the ends. Strip extra length on the RED wire and solder a 10kΩ resistor onto it. Solder both the yellow wire and the other end of the resistor to one side of the switch. Solder the black wire to the other side.</p>
279 - </div>
280 - <div class="asm-step-figure" style="flex: 0 1 auto;">
281 - <table class="ref-table" style="width:auto; margin-bottom:0.5rem;">
282 - <tr><th>Bot Board II</th><th>Mech Component</th></tr>
283 - <tr><td>P16 (AX0)</td><td>Right gun PicoSwitch</td></tr>
284 - <tr><td>P17 (AX1)</td><td>Right gun internal switch</td></tr>
285 - <tr><td>P18 (AX2)</td><td>Left gun PicoSwitch</td></tr>
286 - <tr><td>P19 (AX3)</td><td>Left gun internal switch</td></tr>
287 - </table>
288 - <span>Table 12.</span>
289 - </div>
290 - </div>
291 - <div class="asm-fullwidth">
292 - <p style="font-weight:bold; margin-bottom:0.4rem;">Figure 12 — Gun wiring diagram</p>
293 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratmech.gif" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
294 - </div>
295 - </div>
296 -
297 - <!-- Step 13 -->
298 - <div class="asm-step">
299 - <div class="asm-step-header">
300 - <div class="asm-step-name">BRAT Mech — PS2 Control Reference</div>
301 - <div class="asm-step-num">Step 13 / 15</div>
302 - </div>
303 - <div class="asm-step-body">
304 - <div class="asm-step-text">
305 - <p>The PS2 control commands are shown in Table 13. Note: the command set has changed slightly from the PS2 control tutorial — read the table carefully.</p>
306 - </div>
307 - <div class="asm-step-figure" style="flex: 0 1 auto;">
308 - <table class="ref-table" style="width:auto;">
309 - <tr><th>PS2 Button</th><th>Command</th></tr>
310 - <tr><td>Left Joystick</td><td>Walk forward/backward and turn</td></tr>
311 - <tr><td>Right Joystick</td><td>Aim gun platform</td></tr>
312 - <tr><td>X</td><td>Return robot to home position</td></tr>
313 - <tr><td>△</td><td>Toggle switch connected to P0</td></tr>
314 - <tr><td>L1</td><td>Shoot with left gun</td></tr>
315 - <tr><td>R1</td><td>Shoot with right gun</td></tr>
316 - <tr><td>D-pad Up</td><td>Get up from face-down position</td></tr>
317 - <tr><td>D-pad Down</td><td>Get up from back-down position</td></tr>
318 - <tr><td>Start</td><td>Enable/Disable standby rest mode (enabled by default)</td></tr>
319 - <tr><td>Select</td><td>Change stride length</td></tr>
320 - </table>
321 - <span style="margin-top:0.4rem;">Table 13.</span>
322 - </div>
323 - </div>
324 - </div>
325 -
326 - <!-- Step 14 -->
327 - <div class="asm-step">
328 - <div class="asm-step-header">
329 - <div class="asm-step-name">BRAT Mech — Mount Camera</div>
330 - <div class="asm-step-num">Step 14 / 15</div>
331 - </div>
332 - <div class="asm-step-body">
333 - <div class="asm-step-text">
334 - <p>A lightweight IP wireless camera (not 2.4GHz) is recommended — the TRENDnet TV-IP110W was used in this build. Remove the camera's outer casing to reduce weight and attach it to the MPSH-01 using double-sided foam tape. Power the camera from a 7.4VDC LiPo battery with a 5VDC switching regulator.</p>
335 - </div>
336 - <div class="asm-step-figure">
337 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratm12.jpg">
338 - <span>Figure 14.</span>
339 - </div>
340 - </div>
341 - </div>
342 -
343 - <!-- Step 15 -->
344 - <div class="asm-step">
345 - <div class="asm-step-header">
346 - <div class="asm-step-name">BRAT Mech — Make Ammo Holders</div>
347 - <div class="asm-step-num">Step 15 / 15</div>
348 - </div>
349 - <div class="asm-step-body">
350 - <div class="asm-step-text">
351 - <p>There are many ways to make ammo holders. Small tupperware containers work well — cut holes to match the guns and secure them to the guns with double-sided foam tape.</p>
352 - </div>
353 - <div class="asm-step-figure">
354 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2-mech/WebHome/bratm13.jpg">
355 - <span>Figure 15.</span>
356 - </div>
357 - </div>
358 - </div>
359 -
360 -</div>
262 + <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
263 + 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>
264 + <td align="left" valign="top" >
265 + <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-ps2-mech/WebHome/mechosf1.jpg" border="2" hspace="10" ><br>
266 + Figure 9.</font></p></td>
267 + </tr>
268 + <tr>
269 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
270 + </tr>
271 + <tr>
272 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
273 + 10.</b><br>
274 + 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
275 + resemble figures 10-1 through 10-3. If the joints are off by more than 15° you may have made an error in assembly. To correct this, remove the
276 + 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>
277 + <p><font face="Verdana" size="2">Use the A, B, and C buttons to straighten the BRAT as shown in Figures
278 + 10-1, 10-2, and 10-3.</font></p>
279 + <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
280 + 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
281 + voltage that is higher than 6vdc will make the oscillations worse. When building a robot with more powerful servos such as HS-475,
282 + HS-485, or HS-645, you
283 + will not see this effect.</font></p>
284 + <p><b><font face="Verdana" size="2">After you've cycled through the servos
285 + and adjusted them to match Figures 10-1 through 10-3, pressing the B
286 + button again will save your servo offset values to the Atom Pro's EEPROM.</font></b></p>
287 + </td>
288 + <td align="left" valign="top" >
289 + <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-ps2-mech/WebHome/brat10.jpg" border="2" hspace="10" ><br>
290 + Figure 10-1.</font></p></td>
291 + </tr>
292 + <tr>
293 + <td valign="top" align="left" colspan="2"><br class="pb">
294 + </td>
295 + </tr>
296 + <tr>
297 + <td valign="top" align="left">
298 + <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-ps2-mech/WebHome/brat07.jpg" border="2" hspace="10" ><br>
299 + Figure 10-2.</font></p>
300 + </td>
301 + <td align="left" valign="top" >
302 + <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-ps2-mech/WebHome/brat04.jpg" border="2" hspace="10" ><br>
303 + Figure 10-3.</font></p></td>
304 + </tr>
305 + <tr>
306 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
307 + </tr>
308 + <tr>
309 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step
310 + 11.</b><br>
311 + 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-ps2-mech/WebHome/bmech1-2.zip">PS2 BRAT Mech Code
312 + v1.2</a>, load it into the
313 + IDE, and program your BRAT.</font>
314 + </td>
315 + </tr>
316 + <tr>
317 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
318 + </tr>
319 + <tr>
320 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
321 + 12.</b><br>
322 + Now it's time to wire the guns up. This step will need to be done for each
323 + gun. Refer to Figure 12 for a wiring diagram. Use heat shrink at your
324 + discretion.</font>
325 + <p><font face="Verdana" size="2">The gun's black motor wire goes directly to ground.
326 + The red wire goes one side of the PicoSwitch. From the other side, run a wire from the PicoSwitch to +
327 + on the Bot Board II.<br>
328 + <br>
329 + For the motor's internal switch, cut a 24" servo extender cable in
330 + half and strip some from the end of the cable. Strip about a finger's width extra on the RED wire, and solder a 10k resistor onto the wire. Solder BOTH the yellow wire and the other end of the resistor to one side of the switch. Solder the black wire to the other side of the switch.</font>
331 + </p></td>
332 + <td align="left" valign="top" >
333 + <div align="center">
334 + <center>
335 + <table border="1" bordercolor="#FFFFFF" >
336 + <tbody><tr>
337 + <td >
338 + <div align="center">
339 + <table border="1" bordercolor="#000000" >
340 + <tbody><tr>
341 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Bot
342 + Board II</b></font></td>
343 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>New
344 + Mech Component</b></font></td>
345 + </tr>
346 + <tr>
347 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P16
348 + (AX0)</font></td>
349 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right
350 + gun Picoswitch</font></td>
351 + </tr>
352 + <tr>
353 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P17
354 + (AX1)</font></td>
355 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right
356 + gun internal switch</font></td>
357 + </tr>
358 + <tr>
359 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P18
360 + (AX2)</font></td>
361 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left
362 + gun Picoswitch</font></td>
363 + </tr>
364 + <tr>
365 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P19
366 + (AX3)</font></td>
367 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left
368 + gun internal switch</font></td>
369 + </tr>
370 +
371 + </tbody></table>
372 + </div></td>
373 + </tr>
374 + <tr>
375 + <td bordercolor="#FFFFFF">
376 + <p align="center"><font face="Verdana" size="2">Table 12.</font></p></td>
377 + </tr>
378 + </tbody></table>
379 + </center></div>
380 + </td>
381 + </tr>
382 + <tr>
383 + <td valign="top" align="left" colspan="2"><br class="pb">
384 + </td>
385 + </tr>
386 + <tr>
387 + <td valign="top" align="left" colspan="2">
388 + <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-ps2-mech/WebHome/bratmech.gif" border="0" hspace="10"><br>
389 + Figure 12.</font></p>
390 + </td>
391 + </tr>
392 + <tr>
393 + <td valign="top" align="left" colspan="2"><br class="pb">
394 + </td>
395 + </tr>
396 + <tr>
397 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
398 + 13.</b><br>
399 + The PS2 control commands are shown in Table 13.</font>
400 + <p><font face="Verdana" size="2">The command set has changed slightly from
401 + the one in the PS2 control tutorial. Make sure you read the list
402 + carefully.</font></p>
403 + </td>
404 + <td align="left" valign="top" >
405 + <div align="center">
406 + <center>
407 + <table border="1" bordercolor="#FFFFFF" >
408 + <tbody><tr>
409 + <td >
410 + <div align="center">
411 + <table border="1" bordercolor="#000000" >
412 + <tbody><tr>
413 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>PS2
414 + Button</b></font></td>
415 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Command</b></font></td>
416 + </tr>
417 + <tr>
418 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Left
419 + Joystick</font></td>
420 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Walk
421 + forward/backward and turn</font></td>
422 +
423 + </tr>
424 + <tr>
425 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Right
426 + Joystick</font></td>
427 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Aims
428 + gun platform</font></td>
429 + </tr>
430 + <tr>
431 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">X</font></td>
432 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Return
433 + robot to home position</font></td>
434 + </tr>
435 + <tr>
436 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><u>/\</u></font></td>
437 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Toggles
438 + switch connected to P0</font></td>
439 + </tr>
440 + <tr>
441 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">L1</font></td>
442 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Shoot
443 + with left gun</font></td>
444 +
445 + </tr>
446 + <tr>
447 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">R1</font></td>
448 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Shoot
449 + with right gun</font></td>
450 + </tr>
451 + <tr>
452 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">D-pad
453 + Up</font></td>
454 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Get
455 + up from face-down position</font></td>
456 + </tr>
457 + <tr>
458 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">D-pad
459 + Down</font></td>
460 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Get
461 + up from back-down position</font></td>
462 + </tr>
463 + <tr>
464 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Start</font></td>
465 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Enable/Disable
466 + robot's standby "rest" mode (enabled by default)</font></td>
467 + </tr>
468 + <tr>
469 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Select</font></td>
470 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Changes
471 + stride length</font></td>
472 + </tr>
473 + </tbody></table>
474 + </div></td>
475 + </tr>
476 + <tr>
477 + <td bordercolor="#FFFFFF">
478 + <p align="center"><font face="Verdana" size="2">Table 13.</font></p></td>
479 + </tr>
480 + </tbody></table>
481 + </center></div>
482 + </td>
483 + </tr>
484 + <tr>
485 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
486 + </tr>
487 + <tr>
488 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
489 + 14.</b><br>
490 + We used the <a href="http://www.trendnet.com/products/proddetail.asp?prod=145_TV-IP110W" target="_blank">TRENDnet
491 + TV-IP110W</a> camera. There are many choices as far as camera goes. You
492 + want a lightweight IP (NOT 2.4GHz) wireless camera.</font>
493 + <p><font face="Verdana" size="2">We removed the camera's outer casing to
494 + make it lighter, and used double-sided foam tape to attach it to the
495 + MPSH-01.</font></p>
496 + <p><font face="Verdana" size="2">Our camera is powered by a 7.4vdc LiPo
497 + battery with a 5vdc switching regulator.</font>
498 + </p></td>
499 + <td align="left" valign="top" >
500 + <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-ps2-mech/WebHome/bratm12.jpg" border="2" hspace="10" ><br>
501 + Figure 14.</font></p></td>
502 + </tr>
503 + <tr>
504 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
505 + </tr>
506 + <tr>
507 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
508 + 15.</b><br>
509 + There are a lot of ways to make ammo holders. We found some tiny
510 + tupperware containers at a local dollar store, cut holes to match the
511 + guns, and use double-sided foam tape to secure them to the guns.</font>
512 + </td>
513 + <td align="left" valign="top" >
514 + <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-ps2-mech/WebHome/bratm13.jpg" border="2" hspace="10" ><br>
515 + Figure 15.</font></p></td>
516 + </tr>
517 +</tbody></table>
518 +</body>
361 361  {{/html}}
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