Changes for page BRAT Biped PS2 & Bot Board II Tutorial
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... ... @@ -1,399 +1,255 @@ 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 - - BASIC Micro Studio<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="2"><b>Bot Board I/O</b></font></td> 38 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Connection</b></font></td> 39 - </tr> 40 - <tr> 41 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P4</font></td> 42 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Ankle</font></td> 43 - </tr> 44 - <tr> 45 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P5</font></td> 46 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Knee</font></td> 47 - </tr> 48 - <tr> 49 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P6</font></td> 50 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Left Hip</font></td> 51 - </tr> 52 - <tr> 53 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P7</font></td> 54 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Ankle</font></td> 55 - </tr> 56 - <tr> 57 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P8</font></td> 58 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Right Knee</font></td> 59 - </tr> 60 - 61 - <tr> 62 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">P10</font></td> 63 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">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="2"><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="2">Enable</font></td> 99 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">A, B, and C buttons</font></td> 100 - </tr> 101 - <tr> 102 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">VS</font></td> 103 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">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="2">Enable</font></td> 107 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">SPKEN (Speaker Enable)</font></td> 108 - </tr> 109 - <tr> 110 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Enable</font></td> 111 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">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 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>, 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> 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 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 & 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> 147 147 </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="2">Bot Board II 241 - </font></b><b><font face="Verdana" size="2">Connections</font></b></td> 242 - </tr> 243 - <tr> 244 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" rowspan="3"><font face="Verdana" size="2">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="2">Black</font></td> 249 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">P12</font></td> 250 - </tr> 251 - <tr> 252 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Red</font></td> 253 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">P13</font></td> 254 - </tr> 255 - <tr> 256 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Yellow</font></td> 257 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">P14</font></td> 258 - </tr> 259 - <tr> 260 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" rowspan="3"><font face="Verdana" size="2">Cable 261 - 2</font></td> 262 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Black</font></td> 263 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">GND</font></td> 264 - </tr> 265 - <tr> 266 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Red</font></td> 267 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">5vdc</font></td> 268 - </tr> 269 - <tr> 270 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Yellow</font></td> 271 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">P15</font></td> 272 - </tr> 273 - <tr> 274 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="3"><font face="Verdana" size="2"><b>Bot Board II 275 - Jumper Settings</b></font></td> 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> 276 276 277 - </tr> 278 - <tr> 279 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Disable</font></td> 280 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF" colspan="2"><font face="Verdana" size="2">A, B, and C buttons</font></td> 281 - 282 - </tr> 283 - <tr> 284 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">5v</font></td> 285 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF" colspan="2"><font face="Verdana" size="2">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="2"><b>PS2 329 - Button</b></font></td> 330 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Command</b></font></td> 331 - </tr> 332 - <tr> 333 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Left 334 - Joystick Forward/Back</font></td> 335 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Walk 336 - forward/backward</font></td> 337 - </tr> 338 - <tr> 339 - 340 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Left 341 - Joystick Left/Right</font></td> 342 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Turn 343 - in place left/right</font></td> 344 - </tr> 345 - <tr> 346 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">X</font></td> 347 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Return 348 - robot to home position</font></td> 349 - </tr> 350 - <tr> 351 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><u>/\</u></font></td> 352 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Headbutt</font></td> 353 - </tr> 354 - <tr> 355 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">L1</font></td> 356 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Kick 357 - with left leg</font></td> 358 - </tr> 359 - <tr> 360 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">R1</font></td> 361 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Kick 362 - with right leg</font></td> 363 - </tr> 364 - <tr> 365 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">D-pad 366 - Up</font></td> 367 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">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="2">D-pad 372 - Down</font></td> 373 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">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="2">Start</font></td> 378 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">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="2">Select</font></td> 383 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">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> 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> 399 399 {{/html}}