BRAT Biped PS2 & Bot Board II Tutorial

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<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

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>

</ul>

</div>

<p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Biped BRAT.</b></p>

</div>

</div>

<div class="asm-step-name">PS2 BRAT — Verify Servo Channel Connections</div>

</div>

<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>

</div>

<tr><th>Bot Board I/O</th><th>Connection</th></tr>

59

<tr><td>P4</td><td>Left Ankle</td></tr>

60

61

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>

</div>

</div>

</div>

<div class="asm-step-name">PS2 BRAT — Configure Bot Board II Jumpers</div>

</div>

<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>

</div>

<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>

</div>

</div>

<p style="font-weight:bold; margin-bottom:0.4rem;">Figure 2 — Jumper diagram</p>

</div>

</div>

<div class="asm-step-name">PS2 BRAT — Find Servo Offsets</div>

</div>

<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

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>

</div>

<span>Figure 3 — Offset finder sequence.</span>

</div>

</div>

</div>

<div class="asm-step-name">PS2 BRAT — Calibrate to Neutral Position</div>

</div>

<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>

</div>

<span>Figure 4-1 (front view).</span>

</div>

<span>Figure 4-2 (side view).</span>

</div>

<span>Figure 4-3 (rear view).</span>

</div>

</div>

</div>

</div>

<div class="asm-step-name">PS2 BRAT — Load PS2 Control Code</div>

</div>

<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>

</div>

</div>

</div>

<div class="asm-step-name">PS2 BRAT — Prepare PS2 Cables</div>

</div>

<p>Repeat this process on one end of both 6" servo extender cables:</p>

172

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>

</ol>

</div>

<span>Figure 6.</span>

</div>

</div>

</div>

<div class="asm-step-name">PS2 BRAT — Connect PS2 Cables to Bot Board II</div>

</div>

<p>Plug the cables into the Bot Board II per Table 7, and update the jumper settings as shown.</p>

</div>

<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

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

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>

</div>

</div>

<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 7 (cable connections).</p>

</div>

<p style="font-size:12px; color:#666; margin-top:0.3rem;">Figure 7 — Wiring diagram.</p>

</div>

</div>

</div>

</div>

<div class="asm-step-name">PS2 BRAT — PS2 Control Reference</div>

</div>

<p>The PS2 control commands are shown in Table 8.</p>

</div>

<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

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>

</div>

</div>

</div>

</div>

Wiki source code of BRAT Biped PS2 & Bot Board II Tutorial

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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>
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	{{/html}}