Last modified by Eric Nantel on 2024/07/03 09:21
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1 1  {{html wiki="false" clean="true"}}
2 2  
3 +<body><table border="0" cellpadding="0" cellspacing="0" >
4 + <tbody><tr>
5 + <td valign="top" align="left"><b><font face="Verdana" size="2">Biped
6 + BRAT SEQ Tutorial.</font></b>
7 + <p><b><font face="Verdana" size="2">Updated <!--webbot bot="Timestamp"
8 + startspan s-type="EDITED" s-format="%m/%d/%Y" -->09/20/2006<!--webbot
9 + bot="Timestamp" i-checksum="12522" endspan -->.</font></b></p>
10 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
11 + <p><font face="Verdana" size="2"><b>Software:</b><br>
12 + &nbsp;&nbsp;- BRAT Projects<br>
13 + &nbsp;&nbsp;&nbsp;&gt; <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/minibipd.zip">minibipd.zip</a></font></p></td>
14 + <td align="center" valign="top" ><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-seq-b/WebHome/brat00.jpg" border="2" hspace="10" ><br>
15 + <strong>Image of Biped BRAT.</strong></font></td>
16 + </tr>
17 + <tr>
18 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
19 + </tr>
20 + <tr>
21 + <td valign="top" align="left" colspan="2">
22 + <p align="center"><font face="Verdana" size="2"><b>I. BRAT Configuration</b></font></p>
23 + </td>
24 + </tr>
25 + <tr>
26 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
27 + </tr>
28 + <tr>
29 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
30 + 1.</b><br>
31 + Install the SSC-32 Visual Sequencer. Read the Sequencer's manual. This
32 + tutorial is not meant to replace the manual! Connect the SSC-32 to the
33 + serial port and apply power. The green LED should light and stay on until
34 + it receives a valid serial command. Run the Visual Sequencer program.</font>
35 + <p><font face="Verdana" size="2"><b>Step 2.</b><br>
36 + The first step in configuring your robot is to position all the servos to
37 + mid-position. This is a quick way to ensure the robot was constructed
38 + properly. Click on "All=1.5mS" in the upper left corner.</font></p>
39 + </td>
40 + <td align="left" valign="top" >
41 + <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-seq-b/WebHome/seqt02.jpg" border="2" hspace="10" ><br>
42 + Figure 2.</font></p></td>
43 + </tr>
44 + <tr>
45 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
46 + </tr>
47 + <tr>
48 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
49 + 3.</b><br>
50 + Click the "Test" button.</font></td>
51 + <td align="left" valign="top" >
52 + <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-seq-b/WebHome/seqt03.jpg" border="2" hspace="10" ><br>
53 + Figure 3.</font></p></td>
54 + </tr>
55 + <tr>
56 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
57 + </tr>
58 + <tr>
59 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
60 + 4.</b><br>
61 + Place the robot in a position as close to neutral as possible. Click
62 + "Yes" and the robot should go to and hold the neutral position.
63 + Your robot should resemble figures 4-2 and 4-3. If the joints are off by
64 + more than 15° you may have made an error in assembly. To correct this,
65 + you remove the center screw from the round servo horn, pull the servo horn
66 + off the servo, rotate until it's aligned, then reattach the servo horn.</font>
67 + <p><font face="Verdana" size="2">When you are done, click on the
68 + "Stop" then "Exit" buttons.</font></p>
69 + </td>
70 + <td align="left" valign="top" >
71 + <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-seq-b/WebHome/seqt04.jpg" border="2" hspace="10" ><br>
72 + Figure 4-1.</font></p></td>
73 + </tr>
74 + <tr>
75 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
76 + </tr>
77 + <tr>
78 + <td valign="top" align="left">
79 + <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-seq-b/WebHome/brat01.jpg" border="2" hspace="10" ><br>
80 + Figure 4-2.</font></p>
81 + </td>
82 + <td align="left" valign="top" >
83 + <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-seq-b/WebHome/brat03.jpg" border="2" hspace="10" ><br>
84 + Figure 4-3.</font></p></td>
85 + </tr>
86 + <tr>
87 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
88 + </tr>
89 + <tr>
90 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
91 + 5.</b><br>
92 + Click on "SSC-32" in the upper left corner. This process
93 + configures the software to the servos in your robotic assembly. To do
94 + this, the servos' neutral, min, and max positions are defined and the
95 + actual angles each joint can achieve are entered.</font>
96 + <p><font face="Verdana" size="2">Take time to do an accurate
97 + configuration! Your robot will only perform as well as the accuracy of the
98 + configuration file it's using. In other words, sloppy configuration will
99 + make a sloppy robot when sharing projects.</font></p>
100 + </td>
101 + <td align="left" valign="top" >
102 + <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-seq-b/WebHome/seqt05.jpg" border="2" hspace="10" ><br>
103 + Figure 5.</font></p></td>
104 + </tr>
105 + <tr>
106 + <td valign="top" align="left" colspan="2"><br class="pb">
107 + </td>
108 + </tr>
109 + <tr>
110 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
111 + 6.</b><br>
112 + Each servo you configure must first be enabled. You simply click on the
113 + Enable checkbox. You can move the servo by adjusting the slider bar.</font>
114 + <p><font face="Verdana" size="2">You will enable the servos one at a time
115 + as you configure them.</font></p>
116 + </td>
117 + <td align="left" valign="top" >
118 + <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt06.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt06.jpg" border="2" hspace="10" ></a><br>
119 + Figure 6.</font></p></td>
120 + </tr>
121 + <tr>
122 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
123 + </tr>
124 + <tr>
125 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
126 + 7.</b><br>
127 + Channel 0 is for the BRAT's ankle on the right leg. Move the slider for
128 + servo 0 until the servo is at a 90° angle as shown. Note, the mouse's
129 + scrollwheel or keyboard's arrow keys can be used to make fine adjustments.</font></td>
130 + <td align="left" valign="top" >
131 + <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-seq-b/WebHome/brat04.jpg" border="2" hspace="10" ><br>
132 + Figure 7.</font></p></td>
133 + </tr>
134 + <tr>
135 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
136 + </tr>
137 + <tr>
138 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
139 + 8.</b><br>
140 + Right click on the slider and select "Set position as neutral (0°)"
141 + from the menu.</font>
142 + <p><font face="Verdana" size="2">Note, you can see the actual servo pulse
143 + length in microseconds in the "Position" box on the left. This
144 + can be helpful to make a pulse offset table for experimenting with BASIC
145 + programming.</font></p>
146 + </td>
147 + <td align="left" valign="top" >
148 + <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt07.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt07.jpg" border="2" hspace="10" ></a><br>
149 + Figure 8.</font></p></td>
150 + </tr>
151 + <tr>
152 + <td valign="top" align="left" colspan="2"><br class="pb">
153 + </td>
154 + </tr>
155 + <tr>
156 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
157 + 9.</b><br>
158 + Move the slider for servo 0 until the servo is at a 45° angle as shown.</font>
159 + <p><font face="Verdana" size="2">Right click on the slider and select
160 + "Set position as min" from the menu as shown in Figure 9-2.</font></p>
161 + <p><font face="Verdana" size="2">Adjust the "Min Deg" box to say
162 + "-45°" as shown in Figure 9-3.</font></p>
163 + </td>
164 + <td align="left" valign="top" >
165 + <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-seq-b/WebHome/brat05.jpg" border="2" hspace="10" ><br>
166 + Figure 9-1.</font></p></td>
167 + </tr>
168 + <tr>
169 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
170 + </tr>
171 + <tr>
172 + <td valign="top" align="left">
173 + <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt08.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt08.jpg" border="2" hspace="10" ></a><br>
174 + Figure 9-2.</font></p>
175 + </td>
176 + <td align="left" valign="top" >
177 + <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt09.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt09.jpg" border="2" hspace="10" ></a><br>
178 + Figure 9-3.</font></p></td>
179 + </tr>
180 + <tr>
181 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
182 + </tr>
183 + <tr>
184 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
185 + 10.</b><br>
186 + Move the slider for servo 0 until the servo is at an 84° angle as shown.</font>
187 + <p><font face="Verdana" size="2">Right click on the slider and select
188 + "Set position as max" from the menu as shown in Figure 10-2.</font></p>
189 + <p><font face="Verdana" size="2">Adjust the "Max Deg" box to say
190 + "84°" as shown in Figure 10-3.</font></p>
191 + <p><font face="Verdana" size="2">Move the slider back to 0° before going
192 + on to the next servo.</font></p>
193 + </td>
194 + <td align="left" valign="top" >
195 + <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-seq-b/WebHome/brat06.jpg" border="2" hspace="10" ><br>
196 + Figure 10-1.</font></p></td>
197 + </tr>
198 + <tr>
199 + <td valign="top" align="left" colspan="2"><br class="pb">
200 + </td>
201 + </tr>
202 + <tr>
203 + <td valign="top" align="left">
204 + <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt10.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt10.jpg" border="2" hspace="10" ></a><br>
205 + Figure 10-2.</font></p>
206 + </td>
207 + <td align="left" valign="top" >
208 + <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt11.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt11.jpg" border="2" hspace="10" ></a><br>
209 + Figure 10-3.</font></p></td>
210 + </tr>
211 + <tr>
212 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
213 + </tr>
214 + <tr>
215 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
216 + 11.</b><br>
217 + Channel 1 is for the BRAT's right knee. Adjust and set the neutral (0°)
218 + position with the knee straight as shown in Figure 11-1. Adjust and set
219 + the min and max positions as shown in Figure 11-2 and 11-3. Note, you do
220 + not have to change the angles because the knee can reach +/-90°.</font>
221 + <p><font face="Verdana" size="2">Move the slider back to 0° before going
222 + on to the next servo.</font></p>
223 + </td>
224 + <td align="left" valign="top" >
225 + <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-seq-b/WebHome/brat07.jpg" border="2" hspace="10" ><br>
226 + Figure 11-1.</font></p></td>
227 + </tr>
228 + <tr>
229 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
230 + </tr>
231 + <tr>
232 + <td valign="top" align="left">
233 + <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-seq-b/WebHome/brat08.jpg" border="2" hspace="10" ><br>
234 + Figure 11-2.</font></p>
235 + </td>
236 + <td align="left" valign="top" >
237 + <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-seq-b/WebHome/brat09.jpg" border="2" hspace="10" ><br>
238 + Figure 11-3.</font></p></td>
239 + </tr>
240 + <tr>
241 + <td valign="top" align="left" colspan="2"><br class="pb">
242 + </td>
243 + </tr>
244 + <tr>
245 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
246 + 12.</b><br>
247 + Channel 2 is for the BRAT's right hip. Adjust the hip as shown in Figure
248 + 12-1 and set the neutral (0°) position. Adjust the hip as in Figure 12-2
249 + and set the minimum (-90°) position. Adjust the hip as in Figure 12-3 and
250 + set the maximum (45°) position. For clarity, the knees were bent in
251 + Figure 12-3.</font>
252 + <p><font face="Verdana" size="2">Move the slider back to 0° before going
253 + on to the next servo.</font></p>
254 + </td>
255 + <td align="left" valign="top" >
256 + <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-seq-b/WebHome/brat10.jpg" border="2" hspace="10" ><br>
257 + Figure 12-1.</font></p></td>
258 + </tr>
259 + <tr>
260 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
261 + </tr>
262 + <tr>
263 + <td valign="top" align="left">
264 + <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-seq-b/WebHome/brat11.jpg" border="2" hspace="10" ><br>
265 + Figure 12-2.</font></p>
266 + </td>
267 + <td align="left" valign="top" >
268 + <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-seq-b/WebHome/brat12.jpg" border="2" hspace="10" ><br>
269 + Figure 12-3.</font></p></td>
270 + </tr>
271 + <tr>
272 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
273 + </tr>
274 + <tr>
275 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
276 + 13.</b><br>
277 + The robot's right side is now configured. You can now configure the
278 + robot's left side. Click on the "Bank 3" button to gain access
279 + to channels 16-23. Channel 16 is the right ankle, 17 is the right knee,
280 + and 18 is the right hip. Configuring these channels is identical to
281 + configuring channels 0-2 with one exception: After you are done with the
282 + normal configuration, you must click on the "Reverse" checkbox
283 + for these three channels! Make sure all servos are set to 0° (home) and
284 + save your work. For this robot, "home" position is with all the
285 + servos set to their 0° position. However, any position you leave the
286 + sliders in when you save the configuration is how the robot will look when
287 + you start Sequencer. In other words, "home" position does not
288 + have to be the 0° position, that's just what we used. Save your work. The
289 + .cfg file will need to be loaded each time you run the program. If you
290 + only have one robot to set up, save over the "ConfigSSC32.cfg"
291 + file. However, if you plan on using the sequencer with more than one
292 + robot, then input a new file name, such as "BipedBRAT.cfg" It's
293 + important that you save these files in the install directory, default
294 + C:\Program&nbsp;Files\Sequencer_SSC-32\</font></td>
295 + <td align="left" valign="top" >
296 + <p align="center"><font face="Verdana" size="2"><a href="https://www.lynxmotion.com/images/assembly/bratseq/big/seqt12.jpg"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seqt12.jpg" border="2" hspace="10" ></a><br>
297 + Figure 13.</font></p></td>
298 + </tr>
299 + <tr>
300 + <td valign="top" align="left" colspan="2"><br class="pb">
301 + </td>
302 + </tr>
303 + <tr>
304 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
305 + 14.</b><br>
306 + Now we're going to import a pre-made project. This will enable you to use
307 + other people's projects on your robot.</font>
308 + <p><font face="Verdana" size="2">Download <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/minibipd.zip">this
309 + zip file</a>. It contains several projects. Unzip it into the SEQ install
310 + directory. By default, it is C:\Program&nbsp;Files\Sequencer_SSC-32\</font></p>
311 + <p><font face="Verdana" size="2">Click on "Project" in the upper
312 + left corner.</font></p></td>
313 + <td align="left" valign="top" >
314 + <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-seq-b/WebHome/seqt13.jpg" border="2" hspace="10" ><br>
315 + Figure 14.</font></p></td>
316 + </tr>
317 + <tr>
318 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
319 + </tr>
320 + <tr>
321 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
322 + 15.</b><br>
323 + Click on "Import," then select "biped6-long&nbsp;stride.csv"
324 + and click "Open," then "OK."</font>
325 + <p><font face="Verdana" size="2">Enter a project name or leave the
326 + default, then click "OK." You should see an "Import
327 + success" message.</font></p>
328 + <p><font face="Verdana" size="2">Click "Exit."</font></p>
329 + </td>
330 + <td align="left" valign="top" >
331 + <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-seq-b/WebHome/seqt14.jpg" border="2" hspace="10" ><br>
332 + Figure 15.</font></p></td>
333 + </tr>
334 + <tr>
335 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
336 + </tr>
337 + <tr>
338 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
339 + 16.</b><br>
340 + Now for some fun! Let's make that robot walk!</font>
341 + <p><font face="Verdana" size="2">Click on "Sequencer" as shown
342 + in Figure 16-1.</font></p>
343 + <p><font face="Verdana" size="2">From the drop down menu in the project
344 + section, select "biped6-long stride."</font></p>
345 + <p><font face="Verdana" size="2">In the Play menu, click on "Project
346 + Loop" as shown in Figure 16-3. Caution, the robot will start moving
347 + immediately. To stop the robot, click on the black "stop" or
348 + "pause" buttons.</font></p>
349 + <p><font face="Verdana" size="2">If everything went well, your robot
350 + should have walked across the table. If it appears that the legs are
351 + moving in the same positions, you may have forgotten to reverse the servos
352 + on the robot's left side.</font></p>
353 + </td>
354 + <td align="left" valign="top" >
355 + <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-seq-b/WebHome/seqt17.jpg" border="2" hspace="10" ><br>
356 + Figure 16-1.</font></p></td>
357 + </tr>
358 + <tr>
359 + <td valign="top" align="left" colspan="2"><br class="pb">
360 + </td>
361 + </tr>
362 + <tr>
363 + <td valign="top" align="left">
364 + <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-seq-b/WebHome/seqt18.jpg" border="2" hspace="10" ><br>
365 + Figure 16-2.</font></p></td>
366 + <td align="left" valign="top" >
367 + <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-seq-b/WebHome/seqt19.jpg" border="2" hspace="10" ><br>
368 + Figure 16-3.</font></p></td>
369 + </tr>
370 + <tr>
371 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
372 + </tr>
373 + <tr>
374 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
375 + 17.</b><br>
376 + Refer to Table 17 for a list of the projects included in the zip file and
377 + a video link when available.</font>
378 + <p><font face="Verdana" size="2">After you're comfortable with playing
379 + projects, you can consult the Sequencer manual for more information on how
380 + to create your own. Remember to send us images and videos of your cool
381 + projects so we can publish them online!</font></p>
382 + </td>
383 + <td align="left" valign="top" >
384 + <div align="center">
385 + <center>
386 + <table border="0">
387 + <tbody><tr>
388 + <td >
389 + <div align="center">
390 + <table border="1" bordercolor="#000000" >
391 + <tbody><tr>
392 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Project
393 + File</b></font></td>
394 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Video
395 + Link</b></font></td>
396 + </tr>
397 + <tr>
398 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Balance
399 + on Ankle</font></td>
400 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv04.mpg">Video</a>&gt;</font></td>
401 + </tr>
402 + <tr>
403 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Balance</font></td>
404 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv06.mpg">Video</a>&gt;</font></td>
405 + </tr>
406 + <tr>
407 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Bow</font></td>
408 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">--</font></td>
409 + </tr>
410 + <tr>
411 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Get
412 + up from Back</font></td>
413 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv05.mpg">Video</a>&gt;</font></td>
414 + </tr>
415 + <tr>
416 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Get
417 + up from Front</font></td>
418 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv01.mpg">Video</a>&gt;</font></td>
419 + </tr>
420 + <tr>
421 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Headbutt</font></td>
422 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv07.mpg">Video</a>&gt;</font></td>
423 + </tr>
424 + <tr>
425 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Kick</font></td>
426 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv03.mpg">Video</a>&gt;</font></td>
427 + </tr>
428 + <tr>
429 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Long
430 + Stride</font></td>
431 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv08.mpg">Video</a>&gt;</font></td>
432 + </tr>
433 + <tr>
434 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Turn</font></td>
435 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv09.mpg">Video</a>&gt;</font></td>
436 + </tr>
437 + <tr>
438 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Walk</font></td>
439 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&lt;<a href="https://www.lynxmotion.com/images/video/bp6srv02.mpg">Video</a>&gt;</font></td>
440 + </tr>
441 + </tbody></table>
442 + </div>
443 + </td>
444 + </tr>
445 + <tr>
446 + <td >
447 + <p align="center"><font face="Verdana" size="2">Table 17</font></p>
448 + </td>
449 + </tr>
450 + </tbody></table>
451 + </center>
452 + </div>
453 + </td>
454 + </tr>
455 + <tr>
456 + <td valign="top" align="left" colspan="2"><br class="pb">
457 + </td>
458 + </tr>
459 + <tr>
460 + <td valign="top" align="left" colspan="2">
461 + <p align="center"><font face="Verdana" size="2"><b>II. Creating a Walking
462 + Sequence</b></font></p>
463 + </td>
464 + </tr>
465 + <tr>
466 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
467 + </tr>
468 + <tr>
469 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
470 + 1.<br>
471 + </strong>Run the Sequencer program.</font>
472 + <p><font face="Verdana" size="2">Select the "empty" project from
473 + the Project drop down menu, and click on the black "+" to make a
474 + new project. Enter a name for your project. As we are making the robot
475 + walk, a name such as "BRAT-Walk" might be applicable.</font></p></td>
476 + <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq20.jpg" border="2" hspace="10" ></a><br>
477 + Figure 1.</font></td>
478 + </tr>
479 + <tr>
480 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
481 + </tr>
482 + <tr>
483 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
484 + 2.</strong><br>
485 + Now we're faced with an empty project and a screen full of servo blocks.
486 + To make the screen more manageable, click on "Swap" at the top.
487 + This will swap the selected servos with the unselected ones. Since no
488 + servos are unselected, this will clear the screen.</font>
489 + <p><font face="Verdana" size="2">Now just click on the servos that you
490 + need, which should be servos 0, 1, 2, 16, 17, and 18.</font></p></td>
491 + <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq21.jpg" border="2" hspace="10" ></a><br>
492 + Figure 2.</font></td>
493 + </tr>
494 + <tr>
495 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
496 + </tr>
497 + <tr>
498 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
499 + 3.</strong><br>
500 + You can click and drag the servo boxes to arrange them so they resemble
501 + the robot's physical layout.</font></td>
502 + <td align="center" valign="top" ><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-seq-b/WebHome/seq22.jpg" border="2" hspace="10" ><br>
503 + Figure 3.</font></td>
504 + </tr>
505 + <tr>
506 + <td valign="top" align="left" colspan="2"><br class="pb">
507 + </td>
508 + </tr>
509 + <tr>
510 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
511 + 4.</strong><br>
512 + You can also name the servos by clicking on the number in the servo box.
513 + It will bring up the screen in Figure 4. In addition to naming the servo,
514 + you can change the color of the servo box.</font></td>
515 + <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq23.jpg" border="2" hspace="10" ></a><br>
516 + Figure 4.</font></td>
517 + </tr>
518 + <tr>
519 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
520 + </tr>
521 + <tr>
522 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
523 + 5.</strong><br>
524 + Now we're almost ready to make the robot walk. First, here's an outline of
525 + the walking sequence. The last two steps are just mirror images of the
526 + first two steps.</font></td>
527 + <td align="center" valign="top" >
528 + <div align="center">
529 + <center>
530 + <table border="1" bordercolor="#FFFFFF" >
531 + <tbody><tr>
532 + <td >
533 + <div align="center">
534 + <table border="1" bordercolor="#000000" >
535 + <tbody><tr>
536 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Step
537 + 1</font></td>
538 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Shift
539 + weight to robot's right</font></td>
540 + </tr>
541 + <tr>
542 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Step
543 + 2</font></td>
544 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Step
545 + forward</font></td>
546 + </tr>
547 + <tr>
548 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Step
549 + 3</font></td>
550 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Shift
551 + weight to robot's left</font></td>
552 + </tr>
553 + <tr>
554 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Step
555 + 4</font></td>
556 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Step
557 + forward</font></td>
558 + </tr>
559 + </tbody></table>
560 + </div></td>
561 + </tr>
562 + <tr>
563 + <td bordercolor="#FFFFFF">
564 + <p align="center"><font face="Verdana" size="2">Table 5.</font></p></td>
565 + </tr>
566 + </tbody></table>
567 + </center></div>
568 + </td>
569 + </tr>
570 + <tr>
571 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
572 + </tr>
573 + <tr>
574 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
575 + 6.</b><br>
576 + To make this project even easier, click on the "A<img border="0" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/link.gif" >B"
577 + button in the lower left corner. This screen allows you to link servos
578 + together. Click on "Servo 1" on the left side and "Servo
579 + 17" on the right, then click "Add." Do the same with Servos
580 + 2 and 18. This will allow you to switch the positions of the right and
581 + left legs with just a few clicks.</font></td>
582 + <td align="left" valign="top" >
583 + <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-seq-b/WebHome/seq24.jpg" border="2" hspace="10" ><br>
584 + Figure 6.</font></p></td>
585 + </tr>
586 + <tr>
587 + <td valign="top" align="left" colspan="2"><br class="pb">
588 + </td>
589 + </tr>
590 + <tr>
591 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
592 + 7.</b><br>
593 + The first step in this walk is to get the robot into position to take a
594 + stride in the second step. Set your servos to the degrees shown in Table
595 + 7. They don't have to be exact; close will do. When you're done, click on
596 + the red "=" in the Step section to overwrite Step 1.<br>
597 + &nbsp;</font>
598 + <div align="center">
599 + <center>
600 + <table border="1" bordercolor="#FFFFFF" >
601 + <tbody><tr>
602 + <td >
603 + <div align="center">
604 + <table border="1" bordercolor="#000000" >
605 + <tbody><tr>
606 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">2</font></td>
607 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">-25</font></td>
608 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">18</font></td>
609 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">25</font></td>
610 + </tr>
611 + <tr>
612 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">1</font></td>
613 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">-20</font></td>
614 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">17</font></td>
615 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">20</font></td>
616 + </tr>
617 + <tr>
618 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">0</font></td>
619 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">-8</font></td>
620 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">16</font></td>
621 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">8</font></td>
622 + </tr>
623 + </tbody></table>
624 + </div></td>
625 + </tr>
626 + <tr>
627 + <td bordercolor="#FFFFFF">
628 + <p align="center"><font face="Verdana" size="2">Table 7.</font></p></td>
629 + </tr>
630 + </tbody></table>
631 + </center></div>
632 + </td>
633 + <td align="left" valign="top" >
634 + <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq25.jpg" border="2" hspace="10" ></a><br>
635 + Figure 7.</font></p></td>
636 + </tr>
637 + <tr>
638 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
639 + </tr>
640 + <tr>
641 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
642 + 8.</strong><br>
643 + Now, click on "A&lt;=&gt;B" and deselect the "Selected
644 + step" check box and click OK. Then click the green "+" in
645 + the Step section to add the current position as a new step.</font></td>
646 + <td align="center" valign="top" ><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-seq-b/WebHome/seq26.jpg" border="2" hspace="10" ><br>
647 + Figure 8.</font></td>
648 + </tr>
649 + <tr>
650 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
651 + </tr>
652 + <tr>
653 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step
654 + 9.</strong><br>
655 + To shift the robot's weight, just use the sliders and switch the degrees
656 + for Servos 0 and 16. Click on the green "+" in the Step section
657 + when you're done to add this as a new step.</font></td>
658 + <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq28.jpg" border="2" hspace="10" ></a><br>
659 + Figure 9.</font></td>
660 + </tr>
661 + <tr>
662 + <td valign="top" align="left" colspan="2"><br class="pb">
663 + </td>
664 + </tr>
665 + <tr>
666 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
667 + 10.<br>
668 + </b>Now all you have to do is take another step! Click on the
669 + "A&lt;=&gt;B" button again, deselect "Selected step"
670 + if it isn't already, and click OK. Click on the green "+" in the
671 + Step section when you're done.</font></td>
672 + <td align="center" valign="top" ><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-seq-b/WebHome/seq26.jpg" border="2" hspace="10" ><br>
673 + Figure 10.</font></td>
674 + </tr>
675 + <tr>
676 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
677 + </tr>
678 + <tr>
679 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
680 + 11.</b><br>
681 + To test the walk sequence, click on the sequence loop button on the right
682 + side of the screen under "Play." You can stop or pause the
683 + walking sequence from the Play menu.</font>
684 + <p><font face="Verdana" size="2">If you were successful, the robot should
685 + be walking now. If the robot doesn't walk in a straight line, try
686 + increasing the ankle degrees so that more weight is shifted.</font></p>
687 + </td>
688 + <td align="left" valign="top" >
689 + <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq27.jpg" border="2" hspace="10" ></a><br>
690 + Figure 11.</font></p></td>
691 + </tr>
692 + <tr>
693 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
694 + </tr>
695 + <tr>
696 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
697 + 12.</b><br>
698 + To adjust the biped's walking speed, you can use the "Advanced
699 + Play" feature. Click on the Advanced Play button on the right side of
700 + the screen.</font></td>
701 + <td align="left" valign="top" >
702 + <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq29.jpg" border="2" hspace="10" ></a><br>
703 + Figure 12.</font></p></td>
704 + </tr>
705 + <tr>
706 + <td valign="top" align="left" colspan="2"><br class="pb">
707 + </td>
708 + </tr>
709 + <tr>
710 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
711 + 13.</b><br>
712 + By moving the Time slider, you will adjust the speed of all the servos in
713 + the project to a percentage of the normal speed. 100% is the project's
714 + normal speed. Moving the slider below 100% causes the robot to move
715 + faster, while above 100% slows the robot down.</font>
716 + <p><font face="Verdana" size="2">Click on the Loop button to test your new
717 + speed. You can tweak the speed while the robot is moving to get it
718 + perfect.</font></p>
719 + <p><font face="Verdana" size="2">If you click on the Apply button, the new
720 + speed will be applied to the project.&nbsp;</font></p></td>
721 + <td align="left" valign="top" >
722 + <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq-b/WebHome/seq30.jpg" border="2" hspace="10" ></a><br>
723 + Figure 13.</font></p></td>
724 + </tr>
725 +</tbody></table>
726 +</body>
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