BRAT Biped Mech PS2 Tutorial

1

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; }

5

.asm-step-header { background: #F5A800; display: flex; align-items: stretch; justify-content: space-between; }

6

.asm-step-name { padding: 0.6rem 1rem; font-weight: bold; font-size: 15px; color: #2C1A00; }

7

.asm-step-num { background: #1a1a1a; color: white; padding: 0.6rem 1.1rem; font-weight: bold; font-size: 15px; display: flex; align-items: center; white-space: nowrap; }

8

.asm-step-body { display: flex; flex-wrap: wrap; gap: 1.25rem; padding: 1rem; align-items: flex-start; }

9

.asm-step-text { flex: 1 1 250px; font-size: 13px; line-height: 1.6; }

10

.asm-step-figure { flex: 0 1 280px; text-align: center; }

11

.asm-step-figure img { max-width: 100%; height: auto; border: 1px solid #ccc; border-radius: 4px; }

12

.asm-step-figure span { display: block; font-size: 12px; color: #666; margin-top: 0.3rem; }

13

.asm-figures { display: flex; flex-wrap: wrap; gap: 0.75rem; }

14

.asm-fullwidth { padding: 1rem; border-top: 1px solid #eee; font-size: 13px; overflow-x: auto; }

15

.ref-table { border-collapse: collapse; font-size: 12px; }

16

.ref-table th { background: #ccc; border: 1px solid #aaa; padding: 0.3rem 0.6rem; text-align: center; }

17

.ref-table td { border: 1px solid #ddd; padding: 0.3rem 0.6rem; text-align: center; }

18

.ref-table tr:nth-child(odd) td { background: #f9f9f9; }

19

.ref-table tr:nth-child(even) td { background: #fff; }

20

.asm-warning { color: #c00; font-weight: bold; }

21

.asm h1 { font-size: 18px; margin-bottom: 0.25rem; }

</style>

<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 & downloads:</b></p>

34

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>

</div>

<p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Biped BRAT Mech.</b></p>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Orient U-Channel</div>

</div>

<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>

</div>

<span>Figure 1.</span>

</div>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Verify Rebuilt Configuration</div>

</div>

<p>After rebuilding, make sure your robot matches Figure 2 before proceeding to Step 3.</p>

</div>

<span>Figure 2.</span>

</div>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Attach ASB-24 Bracket</div>

</div>

<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>

</div>

<span>Figure 3.</span>

</div>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Install Turret Rotation Servo</div>

</div>

<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>

</div>

<span>Figure 4.</span>

</div>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Build Gun Platform Turret</div>

</div>

<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>

</div>

<span>Figure 5.</span>

</div>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Mount Guns</div>

</div>

<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>

</div>

<span>Figure 6.</span>

</div>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Attach Turret to Servo</div>

</div>

<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>

</div>

<span>Figure 7.</span>

</div>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Configure Bot Board II</div>

</div>

<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>

</div>

<tr><th>Bot Board I/O</th><th>Connection</th></tr>

182

<tr><td>P4</td><td>Left Ankle</td></tr>

183

184

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>

</div>

</div>

<p style="font-weight:bold; margin-bottom:0.4rem;">Figure 8 — Bot Board II wiring diagram</p>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Find Servo Offsets</div>

</div>

<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

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>

</div>

<span>Figure 9 — Offset finder sequence.</span>

</div>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Calibrate to Neutral Position</div>

</div>

<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>

</div>

<span>Figure 10-1 (front view).</span>

</div>

<span>Figure 10-2 (side view).</span>

</div>

<span>Figure 10-3 (rear view).</span>

</div>

</div>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Load PS2 Mech Control Code</div>

</div>

<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>

</div>

</div>

</div>

</div>

<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>

</div>

<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>

</div>

</div>

<p style="font-weight:bold; margin-bottom:0.4rem;">Figure 12 — Gun wiring diagram</p>

</div>

</div>

<div class="asm-step-name">BRAT Mech — PS2 Control Reference</div>

</div>

<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>

</div>

<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>

</div>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Mount Camera</div>

</div>

<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>

</div>

<span>Figure 14.</span>

</div>

</div>

</div>

<div class="asm-step-name">BRAT Mech — Make Ammo Holders</div>

</div>

<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>

</div>

<span>Figure 15.</span>

</div>

</div>

</div>

</div>

Wiki source code of BRAT Biped Mech PS2 Tutorial

Navigation

Recently Visited

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; }
5	.asm-step-header { background: #F5A800; display: flex; align-items: stretch; justify-content: space-between; }
6	.asm-step-name { padding: 0.6rem 1rem; font-weight: bold; font-size: 15px; color: #2C1A00; }
7	.asm-step-num { background: #1a1a1a; color: white; padding: 0.6rem 1.1rem; font-weight: bold; font-size: 15px; display: flex; align-items: center; white-space: nowrap; }
8	.asm-step-body { display: flex; flex-wrap: wrap; gap: 1.25rem; padding: 1rem; align-items: flex-start; }
9	.asm-step-text { flex: 1 1 250px; font-size: 13px; line-height: 1.6; }
10	.asm-step-figure { flex: 0 1 280px; text-align: center; }
11	.asm-step-figure img { max-width: 100%; height: auto; border: 1px solid #ccc; border-radius: 4px; }
12	.asm-step-figure span { display: block; font-size: 12px; color: #666; margin-top: 0.3rem; }
13	.asm-figures { display: flex; flex-wrap: wrap; gap: 0.75rem; }
14	.asm-fullwidth { padding: 1rem; border-top: 1px solid #eee; font-size: 13px; overflow-x: auto; }
15	.ref-table { border-collapse: collapse; font-size: 12px; }
16	.ref-table th { background: #ccc; border: 1px solid #aaa; padding: 0.3rem 0.6rem; text-align: center; }
17	.ref-table td { border: 1px solid #ddd; padding: 0.3rem 0.6rem; text-align: center; }
18	.ref-table tr:nth-child(odd) td { background: #f9f9f9; }
19	.ref-table tr:nth-child(even) td { background: #fff; }
20	.asm-warning { color: #c00; font-weight: bold; }
21	.asm h1 { font-size: 18px; margin-bottom: 0.25rem; }
22	</style>
23
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 & 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>
361	{{/html}}