Last modified by Eric Nantel on 2026/04/06 13:13
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edited by Eric Nantel
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1 +{{html wiki="false" clean="false"}}
2 +<style>
3 + .asm { font-family: Verdana, Helvetica, sans-serif; font-size: 14px; max-width: 960px; }
4 + .asm-step { background: #fff; border: 1px solid #ddd; border-radius: 8px; margin-bottom: 1.5rem; overflow: hidden; }
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6 + .asm-step-name { padding: 0.6rem 1rem; font-weight: bold; font-size: 15px; color: #2C1A00; }
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21 + .asm h1 { font-size: 18px; margin-bottom: 0.25rem; }
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2 2  
24 +<div class="asm">
25 +
26 + <!-- Header -->
27 + <div style="padding: 0.5rem 0 1rem 0; display:flex; flex-wrap:wrap; gap:1.5rem; align-items:flex-start;">
28 + <div style="flex:1 1 300px;">
29 + <h1 class="asm">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>
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>
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