Changes for page BRAT Biped PS2 & Bot Board II Tutorial
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.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> 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> 38 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> 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> 45 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> 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> 255 255 {{/html}}