Changes for page BRAT Biped PS2 & Bot Board II Tutorial
Last modified by Eric Nantel on 2024/07/03 09:21
Change comment: Upload new image "ps2c02.jpg", version 1.1
Summary
-
Page properties (1 modified, 0 added, 0 removed)
Details
- Page properties
-
- Content
-
... ... @@ -1,399 +1,3 @@ 1 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 Tutorial.</font></b> 6 - <p><b><font face="Verdana" size="2">Updated 7 - <!-- #BeginDate format:Am3 -->12/20/2011<!-- #EndDate --> 8 - </font></b></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, 11 - and a wireless PS2 controller/receiver.</font></p> 12 - <p><font face="Verdana" size="2"><b>Software:</b><br> 13 - - <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl" target="_blank">BASIC Micro Studio</a><br> 14 - - <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> 15 - (09/17/09)<br> 16 - - <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> 17 - (09/17/09)</font></p></td> 18 - <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/WebHome/brat00.jpg" border="2" hspace="10" ><br> 19 - <strong>Image of Biped BRAT.</strong></font></td> 20 - </tr> 21 - <tr> 22 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 23 - </tr> 24 - <tr> 25 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 1.</b><br> 26 - Make sure your servos are plugged into the appropriate channels, as shown in Table 1.</font> 27 - <p><font face="Verdana" size="2">*Note, P9 is used by the speaker, so we can't plug a servo in there.</font></p></td> 28 - <td align="left" valign="top" > 29 - <div align="center"> 30 - <center> 31 - <table border="1" bordercolor="#FFFFFF" > 32 - <tbody><tr> 33 - <td > 34 - <div align="center"> 35 - <table border="1" bordercolor="#000000" > 36 - <tbody><tr> 37 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Bot Board I/O</b></font></td> 38 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Connection</b></font></td> 39 - </tr> 40 - <tr> 41 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P4</font></td> 42 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Ankle</font></td> 43 - </tr> 44 - <tr> 45 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P5</font></td> 46 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Knee</font></td> 47 - </tr> 48 - <tr> 49 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P6</font></td> 50 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Left Hip</font></td> 51 - </tr> 52 - <tr> 53 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P7</font></td> 54 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Ankle</font></td> 55 - </tr> 56 - <tr> 57 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P8</font></td> 58 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Knee</font></td> 59 - </tr> 60 - 61 - <tr> 62 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">P10</font></td> 63 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Right Hip</font></td> 64 - </tr> 65 - </tbody></table> 66 - </div></td> 67 - </tr> 68 - <tr> 69 - <td bordercolor="#FFFFFF"> 70 - <p align="center"><font face="Verdana" size="2">Table 1.</font></p></td> 71 - </tr> 72 - </tbody></table> 73 - </center></div> 74 - </td> 75 - </tr> 76 - <tr> 77 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 78 - </tr> 79 - <tr> 80 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 2.</b><br> 81 - Make sure the Bot Board's jumpers are set according to Table 2.</font> 82 - <p><font face="Verdana" size="2">Refer to Figure 2 for help with jumper settings.</font></p> 83 - <p><font face="Verdana" size="2">*Note, the VS to AX0 jumper enables the program to monitor the servo battery voltage. When the battery is low, 84 - the robot can beep in warning.</font></p></td> 85 - <td align="left" valign="top" > 86 - <div align="center"> 87 - <center> 88 - <table border="1" bordercolor="#FFFFFF" > 89 - <tbody><tr> 90 - <td > 91 - <div align="center"> 92 - <table border="1" bordercolor="#000000" > 93 - <tbody><tr> 94 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font face="Verdana" size="1"><b>Bot Board II 95 - Jumper Settings</b></font></td> 96 - </tr> 97 - <tr> 98 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td> 99 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">A, B, and C buttons</font></td> 100 - </tr> 101 - <tr> 102 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">VS</font></td> 103 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">I/O Groups 4-7 and 8-11</font></td> 104 - </tr> 105 - <tr> 106 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td> 107 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">SPKEN (Speaker Enable)</font></td> 108 - </tr> 109 - <tr> 110 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Enable</font></td> 111 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">VS (Servo Voltage) to AX0 (P16)</font></td> 112 - </tr> 113 - </tbody></table> 114 - </div></td> 115 - </tr> 116 - <tr> 117 - <td bordercolor="#FFFFFF"> 118 - <p align="center"><font face="Verdana" size="2">Table 2.</font></p></td> 119 - </tr> 120 - </tbody></table> 121 - </center></div> 122 - </td> 123 - </tr> 124 - <tr> 125 - <td valign="top" align="left" colspan="2"><br class="pb"> 126 - </td> 127 - </tr> 128 - <tr> 129 - <td valign="top" align="left" colspan="2"> 130 - <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/WebHome/ps2brat1.gif" border="0" hspace="10" ><br> 131 - Figure 2.</font></p> 132 - </td> 133 - </tr> 134 - <tr> 135 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 136 - </tr> 137 - <tr> 138 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br> 139 - Download and install <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl" target="_blank">BASIC Micro Studio</a>. 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>, and load it into the IDE.</font> 140 - <p><font face="Verdana" size="2">Program the Atom Pro, and follow these instructions to find your robot's offsets.</font></p> 141 - <ul> 142 - <li><font face="Verdana" size="2">Press A to decrease the servo offset by 5us.</font></li> 143 - <li><font face="Verdana" size="2">Press C to increase the servo offset by 5us.</font></li> 144 - <li><font face="Verdana" size="2">Press B to change which servo is being manipulated, and to 145 - save your offsets. The order of the 146 - program is shown in Figure 3.</font></li> 147 - </ul> 148 - <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 149 - 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> 150 - <td align="left" valign="top" > 151 - <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/WebHome/bratosf3.jpg" border="2" hspace="10" ><br> 152 - Figure 3.</font></p></td> 153 - </tr> 154 - <tr> 155 - <td valign="top" align="left" colspan="2"><br class="pb"> 156 - </td> 157 - </tr> 158 - <tr> 159 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 160 - 4.</b><br> 161 - 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 162 - resemble figures 4-1 through 4-3. If the joints are off by more than 15° you may have made an error in assembly. To correct this, remove the 163 - 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> 164 - <p><font face="Verdana" size="2">Use the A, B, and C buttons to straighten the BRAT as shown in Figures 165 - 4-1, 4-2, and 4-3.</font></p> 166 - <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 167 - 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 168 - voltage that is higher than 6vdc will make the oscillations worse. When building a robot with more powerful servos such as HS-475, 169 - HS-485, or HS-645, you 170 - will not see this effect.</font></p> 171 - <p><b><font face="Verdana" size="2">After you've cycled through the servos 172 - and adjusted them to match Figures 4-1 through 4-3, pressing the B button 173 - again will save your offset values to the Atom Pro's EEPROM.</font></b></p> 174 - </td> 175 - <td align="left" valign="top" > 176 - <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/WebHome/brat10.jpg" border="2" hspace="10" ><br> 177 - Figure 4-1.</font></p></td> 178 - </tr> 179 - <tr> 180 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 181 - </tr> 182 - <tr> 183 - <td valign="top" align="left"> 184 - <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/WebHome/brat07.jpg" border="2" hspace="10" ><br> 185 - Figure 4-2.</font></p> 186 - </td> 187 - <td align="left" valign="top" > 188 - <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/WebHome/brat04.jpg" border="2" hspace="10" ><br> 189 - Figure 4-3.</font></p></td> 190 - </tr> 191 - <tr> 192 - <td valign="top" align="left" colspan="2"><br class="pb"> 193 - </td> 194 - </tr> 195 - <tr> 196 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 197 - 5.</b><br> 198 - 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 199 - IDE, and program your BRAT.</font> 200 - </td> 201 - </tr> 202 - <tr> 203 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 204 - </tr> 205 - <tr> 206 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 207 - 6.</b><br> 208 - Now you need to create the PS2 cable to hook up PS2 control. <b>Repeat 209 - this step</b> on one side of both 6" servo extender cables.</font> 210 - <p><font face="Verdana" size="2">1. Use an exacto knife to <b>carefully</b> 211 - pry the black tabs up and slip the wires out of the black housing.</font></p> 212 - <p><font face="Verdana" size="2">2. Remove the black housing completely 213 - and set aside.</font></p> 214 - <p><font face="Verdana" size="2">3. Cover the header pin receptacles with 215 - 1/2" of heat shrink.</font></p> 216 - </td> 217 - <td align="left" valign="top" > 218 - <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/WebHome/ps2c01.jpg" border="2" hspace="10" ><br> 219 - Figure 6.</font></p></td> 220 - </tr> 221 - <tr> 222 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 223 - </tr> 224 - <tr> 225 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 226 - 7.</b><br> 227 - Plug the cables in to the Bot Board II as shown. </font><br> 228 - <div align="center"> 229 - <center> 230 - <font face="Verdana" size="2"> 231 - </font><table border="1" bordercolor="#FFFFFF" > 232 - <tbody><tr> 233 - <td > 234 - <div align="center"> 235 - <font face="Verdana" size="2"> 236 - </font><font face="Verdana" size="2"> 237 - </font><font face="Verdana" size="2"> 238 - </font><table border="1" bordercolor="#000000" > 239 - <tbody><tr> 240 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><b><font face="Verdana" size="1">Bot Board II 241 - </font></b><b><font face="Verdana" size="1">Connections</font></b></td> 242 - </tr> 243 - <tr> 244 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" rowspan="3"><font face="Verdana" size="1">Cable 245 - 1</font><font face="Verdana" size="2"></font> 246 - </td> 247 - 248 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Black</font></td> 249 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">P12</font></td> 250 - </tr> 251 - <tr> 252 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Red</font></td> 253 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">P13</font></td> 254 - </tr> 255 - <tr> 256 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Yellow</font></td> 257 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">P14</font></td> 258 - </tr> 259 - <tr> 260 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" rowspan="3"><font face="Verdana" size="1">Cable 261 - 2</font></td> 262 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Black</font></td> 263 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">GND</font></td> 264 - </tr> 265 - <tr> 266 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Red</font></td> 267 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">5vdc</font></td> 268 - </tr> 269 - <tr> 270 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Yellow</font></td> 271 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">P15</font></td> 272 - </tr> 273 - <tr> 274 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font face="Verdana" size="1"><b>Bot Board II 275 - Jumper Settings</b></font></td> 276 276 277 - </tr> 278 - <tr> 279 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Disable</font></td> 280 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF" colspan="2"><font face="Verdana" size="1">A, B, and C buttons</font></td> 281 - 282 - </tr> 283 - <tr> 284 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">5v</font></td> 285 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF" colspan="2"><font face="Verdana" size="1">I/O Group 286 - 12-15</font></td> 287 - 288 - </tr> 289 - </tbody></table> 290 - </div></td> 291 - </tr> 292 - <tr> 293 - <td bordercolor="#FFFFFF"> 294 - <p align="center"><font face="Verdana" size="2">Table 7.</font></p></td> 295 - </tr> 296 - </tbody></table> 297 - </center></div></td> 298 - <td align="left" valign="top" > 299 - <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/WebHome/ps2c02.jpg" border="2" hspace="10" ><br> 300 - Figure 7.</font></p></td> 301 - </tr> 302 - <tr> 303 - <td valign="top" align="left" colspan="2"><br class="pb"> 304 - </td> 305 - </tr> 306 - <tr> 307 - <td valign="top" align="left" colspan="2"> 308 - <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/WebHome/ps2brat2.gif" border="0"><br> 309 - Figure 7.</font></p> 310 - </td> 311 - </tr> 312 - <tr> 313 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 314 - </tr> 315 - <tr> 316 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 317 - 8.</b><br> 318 - The PS2 control commands are shown in Table 8.</font></td> 319 - <td align="left" valign="top" > 320 - <div align="center"> 321 - <center> 322 - <table border="1" bordercolor="#FFFFFF" > 323 - <tbody><tr> 324 - <td > 325 - <div align="center"> 326 - <table border="1" bordercolor="#000000" > 327 - <tbody><tr> 328 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>PS2 329 - Button</b></font></td> 330 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Command</b></font></td> 331 - </tr> 332 - <tr> 333 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Left 334 - Joystick Forward/Back</font></td> 335 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Walk 336 - forward/backward</font></td> 337 - </tr> 338 - <tr> 339 - 340 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Left 341 - Joystick Left/Right</font></td> 342 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Turn 343 - in place left/right</font></td> 344 - </tr> 345 - <tr> 346 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">X</font></td> 347 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Return 348 - robot to home position</font></td> 349 - </tr> 350 - <tr> 351 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><u>/\</u></font></td> 352 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Headbutt</font></td> 353 - </tr> 354 - <tr> 355 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">L1</font></td> 356 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Kick 357 - with left leg</font></td> 358 - </tr> 359 - <tr> 360 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">R1</font></td> 361 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Kick 362 - with right leg</font></td> 363 - </tr> 364 - <tr> 365 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">D-pad 366 - Up</font></td> 367 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Get 368 - up from face-down position</font></td> 369 - </tr> 370 - <tr> 371 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">D-pad 372 - Down</font></td> 373 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Get 374 - up from back-down position</font></td> 375 - </tr> 376 - <tr> 377 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Start</font></td> 378 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Enable/Disable 379 - robot's standby "rest" mode (enabled by default)</font></td> 380 - </tr> 381 - <tr> 382 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Select</font></td> 383 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Changes 384 - stride length</font></td> 385 - </tr> 386 - </tbody></table> 387 - </div></td> 388 - </tr> 389 - <tr> 390 - <td bordercolor="#FFFFFF"> 391 - <p align="center"><font face="Verdana" size="2">Table 8.</font></p></td> 392 - </tr> 393 - </tbody></table> 394 - </center></div> 395 - </td> 396 - </tr> 397 -</tbody></table> 398 -</body> 399 399 {{/html}}