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1 -BRAT Biped PS2 & Bot Board II Tutorial
1 +BRAT Biped PS2 Tutorial
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1 -ses-v1.ses-v1-robots.ses-v1-bipeds.WebHome
1 +servo-erector-set-robots-kits.ses-v1-robots.ses-v1-bipeds.WebHome
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23 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 &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>
255 255  {{/html}}
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