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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" 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-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>
25 +<div class="asm">
26 +
27 + <!-- Header -->
28 + <div style="padding: 0.5rem 0 1rem 0; display:flex; flex-wrap:wrap; gap:1.5rem; align-items:flex-start;">
29 + <div style="flex:1 1 300px;">
30 + <h1 class="asm">Biped BRAT SEQ Tutorial</h1>
31 + <p><b>Updated September 20, 2006</b></p>
32 + <p><span class="asm-warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p>
33 + <p><b>Software:</b> BRAT Projects — <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></p>
34 + </div>
35 + <div style="text-align:center; flex:0 1 280px;">
36 + <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" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
37 + <p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Biped BRAT.</b></p>
38 + </div>
39 + </div>
40 +
41 + <!-- Section I title -->
42 + <div class="asm-section-title">Part I — BRAT Configuration</div>
43 +
44 + <!-- Steps 1–2 -->
45 + <div class="asm-step">
46 + <div class="asm-step-header">
47 + <div class="asm-step-name">SEQ — Install Sequencer &amp; Move to Mid-Position</div>
48 + <div class="asm-step-num">Steps 1–2</div>
49 + </div>
50 + <div class="asm-step-body">
51 + <div class="asm-step-text">
52 + <p><b>Step 1:</b> Install the SSC-32 Visual Sequencer and read its manual — this tutorial does not replace it. Connect the SSC-32 to the serial port and apply power. The green LED should light and stay on until it receives a valid serial command. Run the Sequencer program.</p>
53 + <p><b>Step 2:</b> Click "All=1.5mS" in the upper left corner to move all servos to mid-position. This is a quick check that the robot was constructed properly.</p>
452 452   </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>
55 + <div class="asm-step-figure">
56 + <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">
57 + <span>Figure 2.</span>
58 + </div>
59 + </div>
60 + </div>
61 +
62 + <!-- Step 3 -->
63 + <div class="asm-step">
64 + <div class="asm-step-header">
65 + <div class="asm-step-name">SEQ — Run Test</div>
66 + <div class="asm-step-num">Step 3</div>
67 + </div>
68 + <div class="asm-step-body">
69 + <div class="asm-step-text">
70 + <p>Click the "Test" button.</p>
71 + </div>
72 + <div class="asm-step-figure">
73 + <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">
74 + <span>Figure 3.</span>
75 + </div>
76 + </div>
77 + </div>
78 +
79 + <!-- Step 4 -->
80 + <div class="asm-step">
81 + <div class="asm-step-header">
82 + <div class="asm-step-name">SEQ — Verify Neutral Position</div>
83 + <div class="asm-step-num">Step 4</div>
84 + </div>
85 + <div class="asm-step-body">
86 + <div class="asm-step-text">
87 + <p>Place the robot as close to neutral as possible. Click "Yes" — the robot should go to and hold the neutral position resembling Figures 4-2 and 4-3. If any joint is off by more than 15°, remove the servo horn, rotate to align, and reattach. Click "Stop" then "Exit" when done.</p>
88 + </div>
89 + <div class="asm-figures">
90 + <div class="asm-step-figure">
91 + <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">
92 + <span>Figure 4-1 (Test screen).</span>
93 + </div>
94 + <div class="asm-step-figure">
95 + <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">
96 + <span>Figure 4-2 (front neutral).</span>
97 + </div>
98 + <div class="asm-step-figure">
99 + <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">
100 + <span>Figure 4-3 (side neutral).</span>
101 + </div>
102 + </div>
103 + </div>
104 + </div>
105 +
106 + <!-- Step 5 -->
107 + <div class="asm-step">
108 + <div class="asm-step-header">
109 + <div class="asm-step-name">SEQ — Open SSC-32 Configuration</div>
110 + <div class="asm-step-num">Step 5</div>
111 + </div>
112 + <div class="asm-step-body">
113 + <div class="asm-step-text">
114 + <p>Click "SSC-32" in the upper left corner. This process configures the software to the servos in your assembly — servo neutral, min, and max positions are defined and joint angles are entered. Take time to do an accurate configuration; sloppy configuration will result in a poorly performing robot when sharing projects.</p>
115 + </div>
116 + <div class="asm-step-figure">
117 + <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">
118 + <span>Figure 5.</span>
119 + </div>
120 + </div>
121 + </div>
122 +
123 + <!-- Step 6 -->
124 + <div class="asm-step">
125 + <div class="asm-step-header">
126 + <div class="asm-step-name">SEQ — Enable Servos One at a Time</div>
127 + <div class="asm-step-num">Step 6</div>
128 + </div>
129 + <div class="asm-step-body">
130 + <div class="asm-step-text">
131 + <p>Each servo must first be enabled by clicking its Enable checkbox. You can move the servo by adjusting its slider. Enable and configure servos one at a time.</p>
132 + </div>
133 + <div class="asm-step-figure">
134 + <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">
135 + <span>Figure 6.</span>
136 + </div>
137 + </div>
138 + </div>
139 +
140 + <!-- Step 7 -->
141 + <div class="asm-step">
142 + <div class="asm-step-header">
143 + <div class="asm-step-name">SEQ — Configure Channel 0 (Right Ankle) Neutral</div>
144 + <div class="asm-step-num">Step 7</div>
145 + </div>
146 + <div class="asm-step-body">
147 + <div class="asm-step-text">
148 + <p>Channel 0 is the BRAT's right ankle. Move the slider for servo 0 until the servo is at 90° as shown. The mouse scrollwheel or keyboard arrow keys can be used for fine adjustments.</p>
149 + </div>
150 + <div class="asm-step-figure">
151 + <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">
152 + <span>Figure 7.</span>
153 + </div>
154 + </div>
155 + </div>
156 +
157 + <!-- Step 8 -->
158 + <div class="asm-step">
159 + <div class="asm-step-header">
160 + <div class="asm-step-name">SEQ — Set Neutral (0°) for Channel 0</div>
161 + <div class="asm-step-num">Step 8</div>
162 + </div>
163 + <div class="asm-step-body">
164 + <div class="asm-step-text">
165 + <p>Right-click on the slider and select "Set position as neutral (0°)". The Position box shows the actual servo pulse length in microseconds — useful for creating pulse offset tables for BASIC programming.</p>
166 + </div>
167 + <div class="asm-step-figure">
168 + <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">
169 + <span>Figure 8.</span>
170 + </div>
171 + </div>
172 + </div>
173 +
174 + <!-- Step 9 -->
175 + <div class="asm-step">
176 + <div class="asm-step-header">
177 + <div class="asm-step-name">SEQ — Set Min (−45°) for Channel 0</div>
178 + <div class="asm-step-num">Step 9</div>
179 + </div>
180 + <div class="asm-step-body">
181 + <div class="asm-step-text">
182 + <p>Move the slider to 45° as shown in Figure 9-1. Right-click and select "Set position as min" (Figure 9-2). Adjust the "Min Deg" box to <b>−45°</b> (Figure 9-3).</p>
183 + </div>
184 + <div class="asm-figures">
185 + <div class="asm-step-figure">
186 + <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">
187 + <span>Figure 9-1.</span>
188 + </div>
189 + <div class="asm-step-figure">
190 + <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">
191 + <span>Figure 9-2 (set min).</span>
192 + </div>
193 + <div class="asm-step-figure">
194 + <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">
195 + <span>Figure 9-3 (−45° entered).</span>
196 + </div>
197 + </div>
198 + </div>
199 + </div>
200 +
201 + <!-- Step 10 -->
202 + <div class="asm-step">
203 + <div class="asm-step-header">
204 + <div class="asm-step-name">SEQ — Set Max (84°) for Channel 0</div>
205 + <div class="asm-step-num">Step 10</div>
206 + </div>
207 + <div class="asm-step-body">
208 + <div class="asm-step-text">
209 + <p>Move the slider to 84° as shown in Figure 10-1. Right-click and select "Set position as max" (Figure 10-2). Adjust "Max Deg" to <b>84°</b> (Figure 10-3). Return the slider to 0° before proceeding to the next servo.</p>
210 + </div>
211 + <div class="asm-figures">
212 + <div class="asm-step-figure">
213 + <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">
214 + <span>Figure 10-1.</span>
215 + </div>
216 + <div class="asm-step-figure">
217 + <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">
218 + <span>Figure 10-2 (set max).</span>
219 + </div>
220 + <div class="asm-step-figure">
221 + <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">
222 + <span>Figure 10-3 (84° entered).</span>
223 + </div>
224 + </div>
225 + </div>
226 + </div>
227 +
228 + <!-- Step 11 -->
229 + <div class="asm-step">
230 + <div class="asm-step-header">
231 + <div class="asm-step-name">SEQ — Configure Channel 1 (Right Knee)</div>
232 + <div class="asm-step-num">Step 11</div>
233 + </div>
234 + <div class="asm-step-body">
235 + <div class="asm-step-text">
236 + <p>Channel 1 is the right knee. Set neutral (0°) with the knee straight as in Figure 11-1. Set min and max as in Figures 11-2 and 11-3 — no angle adjustment needed as the knee can reach ±90°. Return slider to 0° before continuing.</p>
237 + </div>
238 + <div class="asm-figures">
239 + <div class="asm-step-figure">
240 + <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">
241 + <span>Figure 11-1 (neutral).</span>
242 + </div>
243 + <div class="asm-step-figure">
244 + <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">
245 + <span>Figure 11-2 (min).</span>
246 + </div>
247 + <div class="asm-step-figure">
248 + <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">
249 + <span>Figure 11-3 (max).</span>
250 + </div>
251 + </div>
252 + </div>
253 + </div>
254 +
255 + <!-- Step 12 -->
256 + <div class="asm-step">
257 + <div class="asm-step-header">
258 + <div class="asm-step-name">SEQ — Configure Channel 2 (Right Hip)</div>
259 + <div class="asm-step-num">Step 12</div>
260 + </div>
261 + <div class="asm-step-body">
262 + <div class="asm-step-text">
263 + <p>Channel 2 is the right hip. Set neutral (0°) as in Figure 12-1, min (−90°) as in Figure 12-2, and max (45°) as in Figure 12-3. Knees are bent in Figure 12-3 for clarity. Return slider to 0° before continuing.</p>
264 + </div>
265 + <div class="asm-figures">
266 + <div class="asm-step-figure">
267 + <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">
268 + <span>Figure 12-1 (neutral).</span>
269 + </div>
270 + <div class="asm-step-figure">
271 + <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">
272 + <span>Figure 12-2 (min −90°).</span>
273 + </div>
274 + <div class="asm-step-figure">
275 + <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">
276 + <span>Figure 12-3 (max 45°).</span>
277 + </div>
278 + </div>
279 + </div>
280 + </div>
281 +
282 + <!-- Step 13 -->
283 + <div class="asm-step">
284 + <div class="asm-step-header">
285 + <div class="asm-step-name">SEQ — Configure Left Side (Channels 16–18) &amp; Save</div>
286 + <div class="asm-step-num">Step 13</div>
287 + </div>
288 + <div class="asm-step-body">
289 + <div class="asm-step-text">
290 + <p>Click "Bank 3" to access channels 16–23. Channel 16 = left ankle, 17 = left knee, 18 = left hip. Configure identically to channels 0–2, but <span class="asm-warning">check the "Reverse" checkbox for all three left-side channels when done.</span></p>
291 + <p>Set all servos to 0° (home) and save. The .cfg file must be loaded each time you run the program. To save for one robot, overwrite "ConfigSSC32.cfg". For multiple robots, save as a new file (e.g. "BipedBRAT.cfg") in the install directory — default: <code>C:\Program Files\Sequencer_SSC-32\</code></p>
292 + </div>
293 + <div class="asm-step-figure">
294 + <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">
295 + <span>Figure 13.</span>
296 + </div>
297 + </div>
298 + </div>
299 +
300 + <!-- Step 14 -->
301 + <div class="asm-step">
302 + <div class="asm-step-header">
303 + <div class="asm-step-name">SEQ — Import Pre-Made Projects</div>
304 + <div class="asm-step-num">Step 14</div>
305 + </div>
306 + <div class="asm-step-body">
307 + <div class="asm-step-text">
308 + <p>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">minibipd.zip</a> and unzip it into the SEQ install directory (default: C:\Program Files\Sequencer_SSC-32\). Click "Project" in the upper left corner.</p>
309 + </div>
310 + <div class="asm-step-figure">
311 + <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">
312 + <span>Figure 14.</span>
313 + </div>
314 + </div>
315 + </div>
316 +
317 + <!-- Step 15 -->
318 + <div class="asm-step">
319 + <div class="asm-step-header">
320 + <div class="asm-step-name">SEQ — Import a Walk Project</div>
321 + <div class="asm-step-num">Step 15</div>
322 + </div>
323 + <div class="asm-step-body">
324 + <div class="asm-step-text">
325 + <p>Click "Import", select "biped6-long stride.csv", click "Open" then "OK". Enter a project name or leave the default and click "OK". You should see "Import success". Click "Exit".</p>
326 + </div>
327 + <div class="asm-step-figure">
328 + <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">
329 + <span>Figure 15.</span>
330 + </div>
331 + </div>
332 + </div>
333 +
334 + <!-- Step 16 -->
335 + <div class="asm-step">
336 + <div class="asm-step-header">
337 + <div class="asm-step-name">SEQ — Run the Walk Project</div>
338 + <div class="asm-step-num">Step 16</div>
339 + </div>
340 + <div class="asm-step-body">
341 + <div class="asm-step-text">
342 + <p>Click "Sequencer" (Figure 16-1). Select "biped6-long stride" from the Project dropdown. In the Play menu, click "Project Loop" (Figure 16-3) — <span class="asm-warning">the robot will start moving immediately.</span> Use the Stop or Pause buttons to halt. If both legs move in the same position, check that the left-side servos have the Reverse checkbox enabled.</p>
343 + </div>
344 + <div class="asm-figures">
345 + <div class="asm-step-figure">
346 + <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">
347 + <span>Figure 16-1.</span>
348 + </div>
349 + <div class="asm-step-figure">
350 + <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">
351 + <span>Figure 16-2.</span>
352 + </div>
353 + <div class="asm-step-figure">
354 + <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">
355 + <span>Figure 16-3.</span>
356 + </div>
357 + </div>
358 + </div>
359 + </div>
360 +
361 + <!-- Step 17 -->
362 + <div class="asm-step">
363 + <div class="asm-step-header">
364 + <div class="asm-step-name">SEQ — Included Projects Reference</div>
365 + <div class="asm-step-num">Step 17</div>
366 + </div>
367 + <div class="asm-step-body">
368 + <div class="asm-step-text">
369 + <p>Table 17 lists the projects included in the zip file with video links where available. After getting comfortable playing projects, consult the Sequencer manual to create your own.</p>
370 + </div>
371 + <div class="asm-step-figure" style="flex: 0 1 auto;">
372 + <table class="ref-table" style="width:auto;">
373 + <tr><th>Project</th><th>Video</th></tr>
374 + <tr><td>Balance on Ankle</td><td><a href="https://www.lynxmotion.com/images/video/bp6srv04.mpg">Video</a></td></tr>
375 + <tr><td>Balance</td><td><a href="https://www.lynxmotion.com/images/video/bp6srv06.mpg">Video</a></td></tr>
376 + <tr><td>Bow</td><td>—</td></tr>
377 + <tr><td>Get up from Back</td><td><a href="https://www.lynxmotion.com/images/video/bp6srv05.mpg">Video</a></td></tr>
378 + <tr><td>Get up from Front</td><td><a href="https://www.lynxmotion.com/images/video/bp6srv01.mpg">Video</a></td></tr>
379 + <tr><td>Headbutt</td><td><a href="https://www.lynxmotion.com/images/video/bp6srv07.mpg">Video</a></td></tr>
380 + <tr><td>Kick</td><td><a href="https://www.lynxmotion.com/images/video/bp6srv03.mpg">Video</a></td></tr>
381 + <tr><td>Long Stride</td><td><a href="https://www.lynxmotion.com/images/video/bp6srv08.mpg">Video</a></td></tr>
382 + <tr><td>Turn</td><td><a href="https://www.lynxmotion.com/images/video/bp6srv09.mpg">Video</a></td></tr>
383 + <tr><td>Walk</td><td><a href="https://www.lynxmotion.com/images/video/bp6srv02.mpg">Video</a></td></tr>
384 + </table>
385 + <span style="margin-top:0.4rem;">Table 17.</span>
386 + </div>
387 + </div>
388 + </div>
389 +
390 + <!-- Section II title -->
391 + <div class="asm-section-title">Part II — Creating a Walking Sequence</div>
392 +
393 + <!-- II Step 1 -->
394 + <div class="asm-step">
395 + <div class="asm-step-header">
396 + <div class="asm-step-name">SEQ Walk — Create New Project</div>
397 + <div class="asm-step-num">Walk Step 1</div>
398 + </div>
399 + <div class="asm-step-body">
400 + <div class="asm-step-text">
401 + <p>Run the Sequencer program. Select "empty" from the Project dropdown and click the black "+" to create a new project. Enter a name such as "BRAT-Walk".</p>
402 + </div>
403 + <div class="asm-step-figure">
404 + <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">
405 + <span>Figure 1.</span>
406 + </div>
407 + </div>
408 + </div>
409 +
410 + <!-- II Step 2 -->
411 + <div class="asm-step">
412 + <div class="asm-step-header">
413 + <div class="asm-step-name">SEQ Walk — Select Required Servos</div>
414 + <div class="asm-step-num">Walk Step 2</div>
415 + </div>
416 + <div class="asm-step-body">
417 + <div class="asm-step-text">
418 + <p>Click "Swap" at the top to clear the screen (this swaps selected with unselected, clearing all since none are selected). Then click on the servos needed: <b>0, 1, 2, 16, 17, and 18</b>.</p>
419 + </div>
420 + <div class="asm-step-figure">
421 + <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">
422 + <span>Figure 2.</span>
423 + </div>
424 + </div>
425 + </div>
426 +
427 + <!-- II Step 3 -->
428 + <div class="asm-step">
429 + <div class="asm-step-header">
430 + <div class="asm-step-name">SEQ Walk — Arrange Servo Layout</div>
431 + <div class="asm-step-num">Walk Step 3</div>
432 + </div>
433 + <div class="asm-step-body">
434 + <div class="asm-step-text">
435 + <p>Click and drag the servo boxes to arrange them to match the robot's physical layout.</p>
436 + </div>
437 + <div class="asm-step-figure">
438 + <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">
439 + <span>Figure 3.</span>
440 + </div>
441 + </div>
442 + </div>
443 +
444 + <!-- II Step 4 -->
445 + <div class="asm-step">
446 + <div class="asm-step-header">
447 + <div class="asm-step-name">SEQ Walk — Name Servos (Optional)</div>
448 + <div class="asm-step-num">Walk Step 4</div>
449 + </div>
450 + <div class="asm-step-body">
451 + <div class="asm-step-text">
452 + <p>Click on the number in a servo box to bring up a naming screen. You can rename the servo and change its box colour.</p>
453 + </div>
454 + <div class="asm-step-figure">
455 + <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">
456 + <span>Figure 4.</span>
457 + </div>
458 + </div>
459 + </div>
460 +
461 + <!-- II Step 5 -->
462 + <div class="asm-step">
463 + <div class="asm-step-header">
464 + <div class="asm-step-name">SEQ Walk — Walking Sequence Overview</div>
465 + <div class="asm-step-num">Walk Step 5</div>
466 + </div>
467 + <div class="asm-step-body">
468 + <div class="asm-step-text">
469 + <p>The 4-step walking sequence outline is shown in Table 5. Steps 3 and 4 are mirror images of Steps 1 and 2.</p>
470 + <table class="ref-table" style="width:auto; margin-top:0.5rem;">
471 + <tr><th>Step</th><th>Action</th></tr>
472 + <tr><td>1</td><td>Shift weight to robot's right</td></tr>
473 + <tr><td>2</td><td>Step forward</td></tr>
474 + <tr><td>3</td><td>Shift weight to robot's left</td></tr>
475 + <tr><td>4</td><td>Step forward</td></tr>
476 + </table>
477 + <p style="font-size:11px; color:#666; margin-top:0.3rem;">Table 5.</p>
478 + </div>
479 + </div>
480 + </div>
481 +
482 + <!-- II Step 6 -->
483 + <div class="asm-step">
484 + <div class="asm-step-header">
485 + <div class="asm-step-name">SEQ Walk — Link Servo Pairs</div>
486 + <div class="asm-step-num">Walk Step 6</div>
487 + </div>
488 + <div class="asm-step-body">
489 + <div class="asm-step-text">
490 + <p>Click the "A⟺B" button in the lower left corner. Link Servo 1 with Servo 17, and Servo 2 with Servo 18 (click each pair and click "Add"). This lets you swap left and right leg positions with a few clicks.</p>
491 + </div>
492 + <div class="asm-step-figure">
493 + <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">
494 + <span>Figure 6.</span>
495 + </div>
496 + </div>
497 + </div>
498 +
499 + <!-- II Step 7 -->
500 + <div class="asm-step">
501 + <div class="asm-step-header">
502 + <div class="asm-step-name">SEQ Walk — Set Starting Position (Step 1)</div>
503 + <div class="asm-step-num">Walk Step 7</div>
504 + </div>
505 + <div class="asm-step-body">
506 + <div class="asm-step-text">
507 + <p>Set servos to the degrees in Table 7 (approximate values are fine). When done, click the red "=" in the Step section to overwrite Step 1.</p>
508 + <table class="ref-table" style="width:auto; margin-top:0.5rem;">
509 + <tr><th>Ch</th><th>Deg</th><th>Ch</th><th>Deg</th></tr>
510 + <tr><td>2</td><td>−25</td><td>18</td><td>25</td></tr>
511 + <tr><td>1</td><td>−20</td><td>17</td><td>20</td></tr>
512 + <tr><td>0</td><td>−8</td><td>16</td><td>8</td></tr>
513 + </table>
514 + <p style="font-size:11px; color:#666; margin-top:0.3rem;">Table 7.</p>
515 + </div>
516 + <div class="asm-step-figure">
517 + <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">
518 + <span>Figure 7.</span>
519 + </div>
520 + </div>
521 + </div>
522 +
523 + <!-- II Step 8 -->
524 + <div class="asm-step">
525 + <div class="asm-step-header">
526 + <div class="asm-step-name">SEQ Walk — Swap Legs and Add Step 2</div>
527 + <div class="asm-step-num">Walk Step 8</div>
528 + </div>
529 + <div class="asm-step-body">
530 + <div class="asm-step-text">
531 + <p>Click "A⟺B", deselect the "Selected step" checkbox, and click OK. Then click the green "+" in the Step section to add the current position as a new step.</p>
532 + </div>
533 + <div class="asm-step-figure">
534 + <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">
535 + <span>Figure 8.</span>
536 + </div>
537 + </div>
538 + </div>
539 +
540 + <!-- II Step 9 -->
541 + <div class="asm-step">
542 + <div class="asm-step-header">
543 + <div class="asm-step-name">SEQ Walk — Shift Weight and Add Step 3</div>
544 + <div class="asm-step-num">Walk Step 9</div>
545 + </div>
546 + <div class="asm-step-body">
547 + <div class="asm-step-text">
548 + <p>To shift the robot's weight, swap the degrees for Servos 0 and 16 using the sliders. Click the green "+" in the Step section when done to add this as a new step.</p>
549 + </div>
550 + <div class="asm-step-figure">
551 + <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">
552 + <span>Figure 9.</span>
553 + </div>
554 + </div>
555 + </div>
556 +
557 + <!-- II Step 10 -->
558 + <div class="asm-step">
559 + <div class="asm-step-header">
560 + <div class="asm-step-name">SEQ Walk — Take Second Step and Add Step 4</div>
561 + <div class="asm-step-num">Walk Step 10</div>
562 + </div>
563 + <div class="asm-step-body">
564 + <div class="asm-step-text">
565 + <p>Click "A⟺B" again, deselect "Selected step" if needed, and click OK. Click the green "+" to add the new position as Step 4.</p>
566 + </div>
567 + <div class="asm-step-figure">
568 + <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">
569 + <span>Figure 10.</span>
570 + </div>
571 + </div>
572 + </div>
573 +
574 + <!-- II Step 11 -->
575 + <div class="asm-step">
576 + <div class="asm-step-header">
577 + <div class="asm-step-name">SEQ Walk — Test the Walk Sequence</div>
578 + <div class="asm-step-num">Walk Step 11</div>
579 + </div>
580 + <div class="asm-step-body">
581 + <div class="asm-step-text">
582 + <p>Click the sequence loop button under "Play" on the right side. Stop or pause from the Play menu. If the robot doesn't walk straight, try increasing the ankle degrees to shift more weight.</p>
583 + </div>
584 + <div class="asm-step-figure">
585 + <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">
586 + <span>Figure 11.</span>
587 + </div>
588 + </div>
589 + </div>
590 +
591 + <!-- II Step 12 -->
592 + <div class="asm-step">
593 + <div class="asm-step-header">
594 + <div class="asm-step-name">SEQ Walk — Open Advanced Play for Speed Control</div>
595 + <div class="asm-step-num">Walk Step 12</div>
596 + </div>
597 + <div class="asm-step-body">
598 + <div class="asm-step-text">
599 + <p>Click the "Advanced Play" button on the right side of the screen to access speed controls.</p>
600 + </div>
601 + <div class="asm-step-figure">
602 + <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">
603 + <span>Figure 12.</span>
604 + </div>
605 + </div>
606 + </div>
607 +
608 + <!-- II Step 13 -->
609 + <div class="asm-step">
610 + <div class="asm-step-header">
611 + <div class="asm-step-name">SEQ Walk — Adjust Walking Speed</div>
612 + <div class="asm-step-num">Walk Step 13</div>
613 + </div>
614 + <div class="asm-step-body">
615 + <div class="asm-step-text">
616 + <p>The Time slider adjusts all servo speeds as a percentage of normal. 100% = normal speed; below 100% = faster; above 100% = slower. Click Loop to test, and tweak while the robot is moving to get it perfect. Click Apply to save the new speed to the project.</p>
617 + </div>
618 + <div class="asm-step-figure">
619 + <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">
620 + <span>Figure 13.</span>
621 + </div>
622 + </div>
623 + </div>
624 +
625 +</div>
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