Last modified by Eric Nantel on 2026/04/06 13:18
From version < 10.1 >
edited by Eric Nantel
on 2023/01/23 10:07
To version < 23.1
edited by Eric Nantel
on 2026/04/06 13:18
<
Change comment: There is no comment for this version

Summary

Details

Page properties
Title
... ... @@ -1,1 +1,1 @@
1 -BRAT Biped PS2 Tutorial
1 +BRAT Biped PS2 & Bot Board II Tutorial
Parent
... ... @@ -1,1 +1,1 @@
1 -servo-erector-set-robots-kits.ses-v1-robots.ses-v1-bipeds.WebHome
1 +ses-v1.ses-v1-robots.ses-v1-bipeds.WebHome
Hidden
... ... @@ -1,1 +1,1 @@
1 -false
1 +true
Content
... ... @@ -1,3 +1,255 @@
1 -{{html wiki="false" clean="true"}}
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>
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 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.</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/WebHome/bratosf3.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/WebHome/pbrat1-2.zip">PS2 Control Code</a></li>
38 + </ul>
39 + </div>
40 + <div style="text-align:center; flex:0 1 280px;">
41 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/brat00.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
42 + <p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Biped BRAT.</b></p>
43 + </div>
44 + </div>
45 +
46 + <!-- Step 1 -->
47 + <div class="asm-step">
48 + <div class="asm-step-header">
49 + <div class="asm-step-name">PS2 BRAT — Verify Servo Channel Connections</div>
50 + <div class="asm-step-num">Step 1 / 8</div>
51 + </div>
52 + <div class="asm-step-body">
53 + <div class="asm-step-text">
54 + <p>Make sure your servos are plugged into the appropriate channels per Table 1. Note: P9 is used by the speaker and cannot be used for a servo.</p>
55 + </div>
56 + <div class="asm-step-figure" style="flex: 0 1 auto;">
57 + <table class="ref-table" style="width:auto;">
58 + <tr><th>Bot Board I/O</th><th>Connection</th></tr>
59 + <tr><td>P4</td><td>Left Ankle</td></tr>
60 + <tr><td>P5</td><td>Left Knee</td></tr>
61 + <tr><td>P6</td><td>Left Hip</td></tr>
62 + <tr><td>P7</td><td>Right Ankle</td></tr>
63 + <tr><td>P8</td><td>Right Knee</td></tr>
64 + <tr><td>P10</td><td>Right Hip</td></tr>
65 + </table>
66 + <span style="margin-top:0.4rem;">Table 1.</span>
67 + </div>
68 + </div>
69 + </div>
70 +
71 + <!-- Step 2 -->
72 + <div class="asm-step">
73 + <div class="asm-step-header">
74 + <div class="asm-step-name">PS2 BRAT — Configure Bot Board II Jumpers</div>
75 + <div class="asm-step-num">Step 2 / 8</div>
76 + </div>
77 + <div class="asm-step-body">
78 + <div class="asm-step-text">
79 + <p>Set the Bot Board II jumpers per Table 2. The VS to AX0 jumper enables battery voltage monitoring — the robot beeps when the battery is low. Refer to Figure 2 for the jumper layout.</p>
80 + </div>
81 + <div class="asm-step-figure" style="flex: 0 1 auto;">
82 + <table class="ref-table" style="width:auto; margin-bottom:0.5rem;">
83 + <tr><th colspan="2">Bot Board II Jumper Settings (Table 2)</th></tr>
84 + <tr><td>Enable</td><td>A, B, and C buttons</td></tr>
85 + <tr><td>VS</td><td>I/O Groups 4–7 and 8–11</td></tr>
86 + <tr><td>Enable</td><td>SPKEN (Speaker Enable)</td></tr>
87 + <tr><td>Enable</td><td>VS (Servo Voltage) to AX0 (P16)</td></tr>
88 + </table>
89 + <span>Table 2.</span>
90 + </div>
91 + </div>
92 + <div class="asm-fullwidth">
93 + <p style="font-weight:bold; margin-bottom:0.4rem;">Figure 2 — Jumper diagram</p>
94 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/ps2brat1.gif" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
95 + </div>
96 + </div>
97 +
98 + <!-- Step 3 -->
99 + <div class="asm-step">
100 + <div class="asm-step-header">
101 + <div class="asm-step-name">PS2 BRAT — Find Servo Offsets</div>
102 + <div class="asm-step-num">Step 3 / 8</div>
103 + </div>
104 + <div class="asm-step-body">
105 + <div class="asm-step-text">
106 + <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/WebHome/bratosf3.zip">BRAT Servo Offset Finder Program</a>, load it into the IDE, and program the Atom Pro. Use the buttons to adjust:</p>
107 + <ul style="margin-top:0.5rem; padding-left:1.2rem;">
108 + <li><b>A</b> — decrease servo offset by 5µs</li>
109 + <li><b>C</b> — increase servo offset by 5µs</li>
110 + <li><b>B</b> — change which servo is being adjusted, and save offsets (order shown in Figure 3)</li>
111 + </ul>
112 + <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>
113 + </div>
114 + <div class="asm-step-figure">
115 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/bratosf3.jpg">
116 + <span>Figure 3 — Offset finder sequence.</span>
117 + </div>
118 + </div>
119 + </div>
120 +
121 + <!-- Step 4 -->
122 + <div class="asm-step">
123 + <div class="asm-step-header">
124 + <div class="asm-step-name">PS2 BRAT — Calibrate to Neutral Position</div>
125 + <div class="asm-step-num">Step 4 / 8</div>
126 + </div>
127 + <div class="asm-step-body">
128 + <div class="asm-step-text">
129 + <p>Place the robot as close to neutral as possible and turn it on. It should hold the position resembling Figures 4-1 through 4-3. 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>
130 + <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>
131 + <p><span class="asm-warning">After adjusting all servos to match Figures 4-1 through 4-3, pressing B saves the offset values to the Atom Pro's EEPROM.</span></p>
132 + </div>
133 + <div class="asm-figures">
134 + <div class="asm-step-figure">
135 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/brat10.jpg">
136 + <span>Figure 4-1 (front view).</span>
137 + </div>
138 + <div class="asm-step-figure">
139 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/brat07.jpg">
140 + <span>Figure 4-2 (side view).</span>
141 + </div>
142 + <div class="asm-step-figure">
143 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/brat04.jpg">
144 + <span>Figure 4-3 (rear view).</span>
145 + </div>
146 + </div>
147 + </div>
148 + </div>
149 +
150 + <!-- Step 5 -->
151 + <div class="asm-step">
152 + <div class="asm-step-header">
153 + <div class="asm-step-name">PS2 BRAT — Load PS2 Control Code</div>
154 + <div class="asm-step-num">Step 5 / 8</div>
155 + </div>
156 + <div class="asm-step-body">
157 + <div class="asm-step-text">
158 + <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/WebHome/pbrat1-2.zip">PS2 BRAT Code</a>, load it into the IDE, and program your BRAT.</p>
159 + </div>
160 + </div>
161 + </div>
162 +
163 + <!-- Step 6 -->
164 + <div class="asm-step">
165 + <div class="asm-step-header">
166 + <div class="asm-step-name">PS2 BRAT — Prepare PS2 Cables</div>
167 + <div class="asm-step-num">Step 6 / 8</div>
168 + </div>
169 + <div class="asm-step-body">
170 + <div class="asm-step-text">
171 + <p>Repeat this process on one end of both 6" servo extender cables:</p>
172 + <ol style="padding-left:1.2rem; margin-top:0.5rem;">
173 + <li>Use an exacto knife to carefully pry up the black tabs and slip the wires out of the housing.</li>
174 + <li>Remove the black housing completely and set aside.</li>
175 + <li>Cover the header pin receptacles with 1/2" of heat shrink.</li>
176 + </ol>
177 + </div>
178 + <div class="asm-step-figure">
179 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/ps2c01.jpg">
180 + <span>Figure 6.</span>
181 + </div>
182 + </div>
183 + </div>
184 +
185 + <!-- Step 7 -->
186 + <div class="asm-step">
187 + <div class="asm-step-header">
188 + <div class="asm-step-name">PS2 BRAT — Connect PS2 Cables to Bot Board II</div>
189 + <div class="asm-step-num">Step 7 / 8</div>
190 + </div>
191 + <div class="asm-step-body">
192 + <div class="asm-step-text">
193 + <p>Plug the cables into the Bot Board II per Table 7, and update the jumper settings as shown.</p>
194 + </div>
195 + <div class="asm-step-figure" style="flex: 0 1 auto;">
196 + <table class="ref-table" style="width:auto; margin-bottom:0.5rem;">
197 + <tr><th colspan="3">Bot Board II Connections (Table 7)</th></tr>
198 + <tr><td rowspan="3">Cable 1</td><td>Black</td><td>P12</td></tr>
199 + <tr><td>Red</td><td>P13</td></tr>
200 + <tr><td>Yellow</td><td>P14</td></tr>
201 + <tr><td rowspan="3">Cable 2</td><td>Black</td><td>GND</td></tr>
202 + <tr><td>Red</td><td>5VDC</td></tr>
203 + <tr><td>Yellow</td><td>P15</td></tr>
204 + <tr><th colspan="3">Jumper Settings</th></tr>
205 + <tr><td>Disable</td><td colspan="2">A, B, and C buttons</td></tr>
206 + <tr><td>5V</td><td colspan="2">I/O Group 12–15</td></tr>
207 + </table>
208 + <span>Table 7.</span>
209 + </div>
210 + </div>
211 + <div class="asm-fullwidth">
212 + <div style="display:flex; flex-wrap:wrap; gap:1.5rem; align-items:flex-start;">
213 + <div style="flex: 0 1 280px; text-align:center;">
214 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/ps2c02.jpg" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
215 + <p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 7 (cable connections).</p>
216 + </div>
217 + <div style="flex: 1 1 300px; text-align:center;">
218 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-ps2/WebHome/ps2brat2.gif" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
219 + <p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 7 — Wiring diagram.</p>
220 + </div>
221 + </div>
222 + </div>
223 + </div>
224 +
225 + <!-- Step 8 -->
226 + <div class="asm-step">
227 + <div class="asm-step-header">
228 + <div class="asm-step-name">PS2 BRAT — PS2 Control Reference</div>
229 + <div class="asm-step-num">Step 8 / 8</div>
230 + </div>
231 + <div class="asm-step-body">
232 + <div class="asm-step-text">
233 + <p>The PS2 control commands are shown in Table 8.</p>
234 + </div>
235 + <div class="asm-step-figure" style="flex: 0 1 auto;">
236 + <table class="ref-table" style="width:auto;">
237 + <tr><th>PS2 Button</th><th>Command</th></tr>
238 + <tr><td>Left Joystick Forward/Back</td><td>Walk forward/backward</td></tr>
239 + <tr><td>Left Joystick Left/Right</td><td>Turn in place left/right</td></tr>
240 + <tr><td>X</td><td>Return robot to home position</td></tr>
241 + <tr><td>△</td><td>Headbutt</td></tr>
242 + <tr><td>L1</td><td>Kick with left leg</td></tr>
243 + <tr><td>R1</td><td>Kick with right leg</td></tr>
244 + <tr><td>D-pad Up</td><td>Get up from face-down position</td></tr>
245 + <tr><td>D-pad Down</td><td>Get up from back-down position</td></tr>
246 + <tr><td>Start</td><td>Enable/Disable standby rest mode (enabled by default)</td></tr>
247 + <tr><td>Select</td><td>Change stride length</td></tr>
248 + </table>
249 + <span style="margin-top:0.4rem;">Table 8.</span>
250 + </div>
251 + </div>
252 + </div>
253 +
254 +</div>
3 3  {{/html}}
bratosf3.bas.zip
Author
... ... @@ -1,1 +1,0 @@
1 -xwiki:XWiki.ENantel
Size
... ... @@ -1,1 +1,0 @@
1 -2.5 KB
Content
pbrat1-2.bas.zip
Author
... ... @@ -1,1 +1,0 @@
1 -xwiki:XWiki.ENantel
Size
... ... @@ -1,1 +1,0 @@
1 -4.5 KB
Content
bratosf3.zip
Author
... ... @@ -1,0 +1,1 @@
1 +xwiki:XWiki.ENantel
Size
... ... @@ -1,0 +1,1 @@
1 +2.5 KB
Content
pbrat1-2.zip
Author
... ... @@ -1,0 +1,1 @@
1 +xwiki:XWiki.ENantel
Size
... ... @@ -1,0 +1,1 @@
1 +4.5 KB
Content
ps2c01.jpg
Author
... ... @@ -1,0 +1,1 @@
1 +xwiki:XWiki.ENantel
Size
... ... @@ -1,0 +1,1 @@
1 +11.6 KB
Content
ps2c02.jpg
Author
... ... @@ -1,0 +1,1 @@
1 +xwiki:XWiki.ENantel
Size
... ... @@ -1,0 +1,1 @@
1 +8.8 KB
Content

Navigation

Copyright RobotShop 2018