Last modified by Eric Nantel on 2024/07/03 09:21
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2 +<body><table border="0" cellpadding="0" cellspacing="0" >
3 + <tbody><tr>
4 + <td valign="top" align="left"><b><font face="Verdana" size="2">Biped BRAT SEQ Tutorial.</font></b>
5 + <p><b><font face="Verdana" size="2">Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->03/27/2008<!--webbot
6 + bot="Timestamp" i-checksum="12626" endspan -->.</font></b></p>
7 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p>
8 + <p><font face="Verdana" size="2"><b>Note:</b> This tutorial applies to the SSC-32 v2 with Register Support.</font></p>
9 + <p><font face="Verdana" size="2"><b>Software:</b><br>
10 + &nbsp;&nbsp;- BRAT Projects<br>
11 + &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/WebHome/minibipd.zip">minibipd.zip</a></font></p></td>
12 + <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/WebHome/brat00.jpg" border="2" hspace="10" ><br>
13 + <strong>Image of Biped BRAT.</strong></font></td>
14 + </tr>
15 + <tr>
16 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
17 + </tr>
18 + <tr>
19 + <td valign="top" align="left" colspan="2">
20 + <p align="center"><font face="Verdana" size="2"><b>I. BRAT Configuration: SSC-32 Registers</b></font></p>
21 + </td>
22 + </tr>
23 + <tr>
24 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
25 + </tr>
26 + <tr>
27 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 1.</b><br>
28 + Download and install <a href="http://www.lynxmotion.com/showproduct.aspx?productID=567&amp;CategoryID=15#downloads" target="_blank">LynxTerm v1.08</a> or higher. Connect the
29 + 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 LynxTerm
30 + program.</font>
31 + <p><font face="Verdana" size="2"><b>Step 2.</b><br>
32 + Type "ver" and press "enter". You should see "SSC32-V2.01XE" or higher returned. However, if you have the firmware
33 + v2.01XE, there is still one more test you have to do. Due to an error on our part, the early v2.01XE firmware did not include register support,
34 + and will need to be updated.</font></p>
35 + <p><font face="Verdana" size="2">To test for register support on your 2.01XE firmware, click on "Reg.", then "Read", and
36 + enable "Initial Pulse Offset". Click on "Write", then click "Read".<br>
37 + &nbsp;- If the option is still enabled, you have the proper version and can move on to Step 4.<br>
38 + &nbsp;- If the option is now disabled, you need to update your firmware.</font></p>
39 + </td>
40 + <td align="left" valign="top" >
41 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/reg01.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 3.</b><br>
49 + Download the <a href="http://www.lynxmotion.com/showproduct.aspx?productID=395&amp;CategoryID=52#downloads" target="_blank">2.01XE firmware</a>. Remove power from the
50 + SSC-32, and make sure the baud rate is set to 115.2k. Refer to the manual if you need more information regarding baud rate.</font>
51 + <p><font face="Verdana" size="2">Apply power to the SSC-32 again, make sure it's connected to the PC, and click on "Firmware" along
52 + the bottom of the LynxTerm screen.</font></p>
53 + <p><font face="Verdana" size="2">Click on "Open" and browse to the firmware file you just downloaded.</font></p>
54 + <p><font face="Verdana" size="2">Click on "Begin Update".</font></p>
55 + </td>
56 + <td align="left" valign="top" >
57 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/reg07.jpg" border="2" hspace="10" ><br>
58 + Figure 3.</font></p></td>
59 + </tr>
60 + <tr>
61 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
62 + </tr>
63 + <tr>
64 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 4.</b><br>
65 + When the firmware has been successfully updated, click "Ok" then "Exit".</font>
66 + <p><font face="Verdana" size="2">Now repeat the ver test: type "ver" then press "Enter". You should see the proper firmware
67 + version returned.</font></p></td>
68 + <td align="left" valign="top" >
69 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/reg08.jpg" border="2" hspace="10" ><br>
70 + Figure 4.</font></p></td>
71 + </tr>
72 + <tr>
73 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
74 + </tr>
75 + <tr>
76 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 5.</b><br>
77 + Place the robot in a position as close to neutral as possible. Click on "All=1500" in the bottom right portion of the screen. Your
78 + robot should go to and hold the neutral position, and should resemble figures 5-2 and 5-3. If the joints are off by more than 15° you may have
79 + made an error in assembly. To correct this, remove the center screw from the round servo horn, pull the servo horn off the servo, rotate until
80 + it's aligned, then reattach the servo horn.</font></td>
81 + <td align="left" valign="top" >
82 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/reg09.jpg" border="2" hspace="10" ><br>
83 + Figure 5.</font></p></td>
84 + </tr>
85 + <tr>
86 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
87 + </tr>
88 + <tr>
89 + <td valign="top" align="left">
90 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/brat01.jpg" border="2" hspace="10" ><br>
91 + Figure 5-2.</font></p>
92 + </td>
93 + <td align="left" valign="top" >
94 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/brat03.jpg" border="2" hspace="10" ><br>
95 + Figure 5-3.</font></p></td>
96 + </tr>
97 + <tr>
98 + <td valign="top" align="left" colspan="2"><br class="pb">
99 + </td>
100 + </tr>
101 + <tr>
102 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 6.</b><br>
103 + From the main screen, click on "Reg" to open the Registers page.</font>
104 + <p><font face="Verdana" size="2">Click on "Default" to initialize default values.</font></p></td>
105 + <td align="left" valign="top" >
106 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/reg02.jpg" border="2" hspace="10" ><br>
107 + Figure 6.</font></p></td>
108 + </tr>
109 + <tr>
110 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
111 + </tr>
112 + <tr>
113 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 7.</b><br>
114 + You'll want to start with the robot's right hip. Select servo #2, then adjust the "Offset" slider until the joint is a perfect 90°
115 + angle.</font>
116 + <p><font face="Verdana" size="2">Note, the mouse's scrollwheel or keyboard's arrow keys can be used to make fine adjustments.</font></p>
117 + </td>
118 + <td align="left" valign="top" >
119 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/brat10.jpg" border="2" hspace="10" ><br>
120 + Figure 7.</font></p></td>
121 + </tr>
122 + <tr>
123 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
124 + </tr>
125 + <tr>
126 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 8.</b><br>
127 + Now adjust the robot's right knee servo. Select servo #1, then adjust the "Offset" slider until the robot's leg is perpendicular to
128 + the ground.</font></td>
129 + <td align="left" valign="top" >
130 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/brat07.jpg" border="2" hspace="10" ><br>
131 + Figure 8.</font></p></td>
132 + </tr>
133 + <tr>
134 + <td valign="top" align="left" colspan="2"><br class="pb">
135 + </td>
136 + </tr>
137 + <tr>
138 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 9.</b><br>
139 + Now adjust the robot's right ankle servo. Select servo #0, then adjust the "Offset" slider until the robot's foot is perpendicular to
140 + the leg.</font>
141 + <p><font face="Verdana" size="2">Do the same for the robot's left side (servos 16, 17, and 18).</font></p></td>
142 + <td align="left" valign="top" >
143 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/brat04.jpg" border="2" hspace="10" ><br>
144 + Figure 9.</font></p></td>
145 + </tr>
146 + <tr>
147 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
148 + </tr>
149 + <tr>
150 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br>
151 + Click "Write" and exit LynxTerm when the write process is finished.</font>
152 + <p><font face="Verdana" size="2">Note, you can also check "Initial Pulse Width" to automatically enable the servos on power-up as an
153 + option. If you do, make sure you "Write" to save the changes. The next section of this tutorial allows Sequencer to enable the servos
154 + instead.</font></p>
155 + <p><font face="Verdana" size="2">This completes the BRAT configuration process for the SSC-32 registers. Now, whenever the robot is turned on,
156 + the servos will automatically be aligned and/or enabled.</font></p>
157 + </td>
158 + <td align="left" valign="top" >
159 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/reg04.jpg" border="2" hspace="10" ><br>
160 + Figure 10.</font></p></td>
161 + </tr>
162 + <tr>
163 + <td valign="top" align="left" colspan="2"><br class="pb">
164 + </td>
165 + </tr>
166 + <tr>
167 + <td valign="top" align="left" colspan="2">
168 + <p align="center"><font face="Verdana" size="2"><b>II. BRAT Configuration: Sequencer</b></font></p>
169 + </td>
170 + </tr>
171 + <tr>
172 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
173 + </tr>
174 + <tr>
175 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 1.</b><br>
176 + Install the SSC-32 Visual Sequencer. Read the Sequencer's manual. This tutorial is not meant to replace the manual! Run the Visual Sequencer
177 + program.</font>
178 + <p><font face="Verdana" size="2">Click on "SSC-32" in the upper left corner. This process configures the software to the servos in
179 + your robotic assembly. To do this, the servos' min and max positions are defined and the actual angles each joint can achieve are entered.</font></p>
180 + <p><font face="Verdana" size="2">Take time to do an accurate configuration! Your robot will only perform as well as the accuracy of the
181 + configuration file it's using. In other words, sloppy configuration will make a sloppy robot when sharing projects.</font></p>
182 + </td>
183 + <td align="left" valign="top" >
184 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/seqt05.jpg" border="2" hspace="10" ><br>
185 + Figure 1.</font></p></td>
186 + </tr>
187 + <tr>
188 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
189 + </tr>
190 + <tr>
191 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 2.</b><br>
192 + Each servo you configure must first be enabled. You simply click on the Enable checkbox. You can move the servo by adjusting the slider bar.</font>
193 + <p><font face="Verdana" size="2">You will enable the servos one at a time as you configure them.</font></p>
194 + </td>
195 + <td align="left" valign="top" >
196 + <p align="center"><font face="Verdana" size="2"><a href="http://www.lynxmotion.com/images/assembly/bratseq/big/seqt06.jpg"><img src="./build128_files/seqt06.jpg" border="2" hspace="10" ></a><br>
197 + Figure 2.</font></p></td>
198 + </tr>
199 + <tr>
200 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
201 + </tr>
202 + <tr>
203 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 3.</b><br>
204 + Move the slider for servo 0 until the servo is at a 45° angle as shown.</font>
205 + <p><font face="Verdana" size="2">Right click on the slider and select "Set position as min" from the menu as shown in Figure 3-2.</font></p>
206 + <p><font face="Verdana" size="2">Adjust the "Min Deg" box to say "-45°" as shown in Figure 3-3.</font></p>
207 + </td>
208 + <td align="left" valign="top" >
209 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/brat05.jpg" border="2" hspace="10" ><br>
210 + Figure 3-1.</font></p></td>
211 + </tr>
212 + <tr>
213 + <td valign="top" align="left" colspan="2"><br class="pb">
214 + </td>
215 + </tr>
216 + <tr>
217 + <td valign="top" align="left">
218 + <p align="center"><font face="Verdana" size="2"><a href="http://www.lynxmotion.com/images/assembly/bratseq/big/seqt08.jpg"><img src="./build128_files/seqt08.jpg" border="2" hspace="10" ></a><br>
219 + Figure 3-2.</font></p>
220 + </td>
221 + <td align="left" valign="top" >
222 + <p align="center"><font face="Verdana" size="2"><a href="http://www.lynxmotion.com/images/assembly/bratseq/big/seqt09.jpg"><img src="./build128_files/seqt09.jpg" border="2" hspace="10" ></a><br>
223 + Figure 3-3.</font></p></td>
224 + </tr>
225 + <tr>
226 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
227 + </tr>
228 + <tr>
229 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 4.</b><br>
230 + Move the slider for servo 0 until the servo is at an 84° angle as shown.</font>
231 + <p><font face="Verdana" size="2">Right click on the slider and select "Set position as max" from the menu as shown in Figure 4-2.</font></p>
232 + <p><font face="Verdana" size="2">Adjust the "Max Deg" box to say "84°" as shown in Figure 4-3.</font></p>
233 + <p><font face="Verdana" size="2">Move the slider back to 0° before going on to the next servo.</font></p>
234 + </td>
235 + <td align="left" valign="top" >
236 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/brat06.jpg" border="2" hspace="10" ><br>
237 + Figure 4-1.</font></p></td>
238 + </tr>
239 + <tr>
240 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
241 + </tr>
242 + <tr>
243 + <td valign="top" align="left">
244 + <p align="center"><font face="Verdana" size="2"><a href="http://www.lynxmotion.com/images/assembly/bratseq/big/seqt10.jpg"><img src="./build128_files/seqt10.jpg" border="2" hspace="10" ></a><br>
245 + Figure 4-2.</font></p>
246 + </td>
247 + <td align="left" valign="top" >
248 + <p align="center"><font face="Verdana" size="2"><a href="http://www.lynxmotion.com/images/assembly/bratseq/big/seqt11.jpg"><img src="./build128_files/seqt11.jpg" border="2" hspace="10" ></a><br>
249 + Figure 4-3.</font></p></td>
250 + </tr>
251 + <tr>
252 + <td valign="top" align="left" colspan="2"><br class="pb">
253 + </td>
254 + </tr>
255 + <tr>
256 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 5.</b><br>
257 + Channel 1 is for the BRAT's right knee. Adjust and set the min and max positions as shown in Figure 5-1 and 5-2. Note, you do not have to change
258 + the angles because the knee can reach +/-90°.</font>
259 + <p><font face="Verdana" size="2">Move the slider back to 0° before going on to the next servo.</font></p>
260 + </td>
261 + </tr>
262 + <tr>
263 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
264 + </tr>
265 + <tr>
266 + <td valign="top" align="left">
267 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/brat08.jpg" border="2" hspace="10" ><br>
268 + Figure 5-1.</font></p>
269 + </td>
270 + <td align="left" valign="top" >
271 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/brat09.jpg" border="2" hspace="10" ><br>
272 + Figure 5-2.</font></p></td>
273 + </tr>
274 + <tr>
275 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
276 + </tr>
277 + <tr>
278 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 6.</b><br>
279 + Channel 2 is for the BRAT's right hip. Adjust the hip as in Figure 6-1 and set the minimum (-90°) position. Adjust the hip as in Figure 16-2
280 + and set the maximum (45°) position. For clarity, the knees were bent in Figure 6-2.</font>
281 + <p><font face="Verdana" size="2">Move the slider back to 0° before going on to the next servo.</font></p>
282 + </td>
283 + </tr>
284 + <tr>
285 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
286 + </tr>
287 + <tr>
288 + <td valign="top" align="left">
289 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/brat11.jpg" border="2" hspace="10" ><br>
290 + Figure 6-1.</font></p>
291 + </td>
292 + <td align="left" valign="top" >
293 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/brat12.jpg" border="2" hspace="10" ><br>
294 + Figure 6-2.</font></p></td>
295 + </tr>
296 + <tr>
297 + <td valign="top" align="left" colspan="2"><br class="pb">
298 + </td>
299 + </tr>
300 + <tr>
301 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 7.</b><br>
302 + The robot's right side is now configured. You can now configure the robot's left side. Click on the "Bank 3" button to gain access to
303 + channels 16-23. Channel 16 is the right ankle, 17 is the right knee, and 18 is the right hip. Configuring these channels is identical to
304 + configuring channels 0-2 with one exception: After you are done with the normal configuration, you must click on the "Reverse"
305 + checkbox for these three channels! Make sure all servos are set to 0° (home) and save your work. For this robot, "home" position is
306 + with all the servos set to their 0° position. However, any position you leave the sliders in when you save the configuration is how the robot
307 + will look when you start Sequencer. In other words, "home" position does not have to be the 0° position, that's just what we used.</font></td>
308 + <td align="left" valign="top" >
309 + <p align="center"><font face="Verdana" size="2"><a href="http://www.lynxmotion.com/images/assembly/bratseq/big/seqt12.jpg"><img src="./build128_files/seqt12.jpg" border="2" hspace="10" ></a><br>
310 + Figure 7.</font></p></td>
311 + </tr>
312 + <tr>
313 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
314 + </tr>
315 + <tr>
316 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Save your work!</b> The .cfg file will need to be loaded
317 + each time you run the program. If you only have one robot to set up, save over the "ConfigSSC32.cfg" file. However, if you plan on
318 + using the sequencer with more than one robot, then input a new file name, such as "BipedBRAT.cfg" It's important that you save these
319 + files in the install directory, default C:\Program&nbsp;Files\Sequencer_SSC-32\</font></td>
320 + </tr>
321 + <tr>
322 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
323 + </tr>
324 + <tr>
325 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 8.</b><br>
326 + Now we're going to import a pre-made project. This will enable you to use other people's projects on your robot.</font>
327 + <p><font face="Verdana" size="2">Download <a href="http://www.lynxmotion.com/images/temp/minibipd.zip">this zip file</a>. It contains several projects. Unzip it into the
328 + SEQ install directory. By default, it is C:\Program&nbsp;Files\Sequencer_SSC-32\</font></p>
329 + <p><font face="Verdana" size="2">Click on "Project" in the upper left corner.</font></p></td>
330 + <td align="left" valign="top" >
331 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/seqt13.jpg" border="2" hspace="10" ><br>
332 + Figure 8.</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 9.</b><br>
339 + Click on "Import," then select "biped6-long&nbsp;stride.csv" and click "Open," then "OK."</font>
340 + <p><font face="Verdana" size="2">Enter a project name or leave the default, then click "OK." You should see an "Import
341 + success" message.</font></p>
342 + <p><font face="Verdana" size="2">Click "Exit."</font></p>
343 + </td>
344 + <td align="left" valign="top" >
345 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/seqt14.jpg" border="2" hspace="10" ><br>
346 + Figure 9.</font></p></td>
347 + </tr>
348 + <tr>
349 + <td valign="top" align="left" colspan="2"><br class="pb">
350 + </td>
351 + </tr>
352 + <tr>
353 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br>
354 + Now for some fun! Let's make that robot walk!</font>
355 + <p><font face="Verdana" size="2">Click on "Sequencer" as shown in Figure 10-1.</font></p>
356 + <p><font face="Verdana" size="2">From the drop down menu in the project section, select "biped6-long stride."</font></p>
357 + <p><font face="Verdana" size="2">In the Play menu, click on "Project Loop" as shown in Figure 10-3. Caution, the robot will start
358 + moving immediately. To stop the robot, click on the black "stop" or "pause" buttons.</font></p>
359 + <p><font face="Verdana" size="2">If everything went well, your robot should have walked across the table. If it appears that the legs are moving
360 + in the same positions, you may have forgotten to reverse the servos on the robot's left side.</font></p>
361 + </td>
362 + <td align="left" valign="top" >
363 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/seqt17.jpg" border="2" hspace="10" ><br>
364 + Figure 10-1.</font></p></td>
365 + </tr>
366 + <tr>
367 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
368 + </tr>
369 + <tr>
370 + <td valign="top" align="left">
371 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/seqt18.jpg" border="2" hspace="10" ><br>
372 + Figure 10-2.</font></p></td>
373 + <td align="left" valign="top" >
374 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/seqt19.jpg" border="2" hspace="10" ><br>
375 + Figure 10-3.</font></p></td>
376 + </tr>
377 + <tr>
378 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
379 + </tr>
380 + <tr>
381 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 11.</b><br>
382 + Refer to Table 11 for a list of the projects included in the zip file and a video link when available.</font>
383 + <p><font face="Verdana" size="2">After you're comfortable with playing projects, you can consult the Sequencer manual for more information on
384 + how to create your own. Remember to send us images and videos of your cool projects so we can publish them online!</font></p>
385 + </td>
386 + <td align="left" valign="top" >
387 + <div align="center">
388 + <center>
389 + <table border="0">
390 + <tbody><tr>
391 + <td >
392 + <div align="center">
393 + <table border="1" bordercolor="#000000" >
394 + <tbody><tr>
395 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Project File</b></font></td>
396 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1"><b>Video Link</b></font></td>
397 + </tr>
398 + <tr>
399 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Balance on Ankle</font></td>
400 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">&lt;<a href="http://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="1">Balance</font></td>
404 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">&lt;<a href="http://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="1">Bow</font></td>
408 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">--</font></td>
409 + </tr>
410 + <tr>
411 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Get up from Back</font></td>
412 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">&lt;<a href="http://www.lynxmotion.com/images/video/bp6srv05.mpg">Video</a>&gt;</font></td>
413 + </tr>
414 + <tr>
415 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Get up from Front</font></td>
416 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">&lt;<a href="http://www.lynxmotion.com/images/video/bp6srv01.mpg">Video</a>&gt;</font></td>
417 + </tr>
418 + <tr>
419 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Headbutt</font></td>
420 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">&lt;<a href="http://www.lynxmotion.com/images/video/bp6srv07.mpg">Video</a>&gt;</font></td>
421 + </tr>
422 + <tr>
423 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Kick</font></td>
424 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">&lt;<a href="http://www.lynxmotion.com/images/video/bp6srv03.mpg">Video</a>&gt;</font></td>
425 + </tr>
426 + <tr>
427 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Long Stride</font></td>
428 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">&lt;<a href="http://www.lynxmotion.com/images/video/bp6srv08.mpg">Video</a>&gt;</font></td>
429 + </tr>
430 + <tr>
431 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Turn</font></td>
432 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">&lt;<a href="http://www.lynxmotion.com/images/video/bp6srv09.mpg">Video</a>&gt;</font></td>
433 + </tr>
434 + <tr>
435 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Walk</font></td>
436 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">&lt;<a href="http://www.lynxmotion.com/images/video/bp6srv02.mpg">Video</a>&gt;</font></td>
437 + </tr>
438 + </tbody></table>
439 + </div>
440 + </td>
441 + </tr>
442 + <tr>
443 + <td >
444 + <p align="center"><font face="Verdana" size="2">Table 11</font></p>
445 + </td>
446 + </tr>
447 + </tbody></table>
448 + </center>
449 + </div>
450 + </td>
451 + </tr>
452 + <tr>
453 + <td valign="top" align="left" colspan="2"><br class="pb">
454 + </td>
455 + </tr>
456 + <tr>
457 + <td valign="top" align="left" colspan="2">
458 + <p align="center"><font face="Verdana" size="2"><b>III. Creating a Walking Sequence</b></font></p>
459 + </td>
460 + </tr>
461 + <tr>
462 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
463 + </tr>
464 + <tr>
465 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 1.<br>
466 + </strong>Run the Sequencer program.</font>
467 + <p><font face="Verdana" size="2">Select the "empty" project from the Project drop down menu, and click on the black "+" to
468 + make a new project. Enter a name for your project. As we are making the robot walk, a name such as "BRAT-Walk" might be applicable.</font></p></td>
469 + <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="./build128_files/seq20.jpg" border="2" hspace="10" ></a><br>
470 + Figure 1.</font></td>
471 + </tr>
472 + <tr>
473 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
474 + </tr>
475 + <tr>
476 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 2.</strong><br>
477 + Now we're faced with an empty project and a screen full of servo blocks. To make the screen more manageable, click on "Swap" at the
478 + top. This will swap the selected servos with the unselected ones. Since no servos are unselected, this will clear the screen.</font>
479 + <p><font face="Verdana" size="2">Now just click on the servos that you need, which should be servos 0, 1, 2, 16, 17, and 18.</font></p></td>
480 + <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="./build128_files/seq21.jpg" border="2" hspace="10" ></a><br>
481 + Figure 2.</font></td>
482 + </tr>
483 + <tr>
484 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
485 + </tr>
486 + <tr>
487 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 3.</strong><br>
488 + You can click and drag the servo boxes to arrange them so they resemble the robot's physical layout.</font></td>
489 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="./build128_files/seq22.jpg" border="2" hspace="10" ><br>
490 + Figure 3.</font></td>
491 + </tr>
492 + <tr>
493 + <td valign="top" align="left" colspan="2"><br class="pb">
494 + </td>
495 + </tr>
496 + <tr>
497 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 4.</strong><br>
498 + You can also name the servos by clicking on the number in the servo box. It will bring up the screen in Figure 4. In addition to naming the
499 + servo, you can change the color of the servo box.</font></td>
500 + <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="./build128_files/seq23.jpg" border="2" hspace="10" ></a><br>
501 + Figure 4.</font></td>
502 + </tr>
503 + <tr>
504 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
505 + </tr>
506 + <tr>
507 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 5.</strong><br>
508 + Now we're almost ready to make the robot walk. First, here's an outline of the walking sequence. The last two steps are just mirror images of
509 + the first two steps.</font></td>
510 + <td align="center" valign="top" >
511 + <div align="center">
512 + <center>
513 + <table border="1" bordercolor="#FFFFFF" >
514 + <tbody><tr>
515 + <td >
516 + <div align="center">
517 + <table border="1" bordercolor="#000000" >
518 + <tbody><tr>
519 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Step 1</font></td>
520 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Shift weight to robot's right</font></td>
521 + </tr>
522 + <tr>
523 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Step 2</font></td>
524 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Step forward</font></td>
525 + </tr>
526 + <tr>
527 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Step 3</font></td>
528 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Shift weight to robot's left</font></td>
529 + </tr>
530 + <tr>
531 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">Step 4</font></td>
532 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">Step forward</font></td>
533 + </tr>
534 + </tbody></table>
535 + </div>
536 + </td>
537 + </tr>
538 + <tr>
539 + <td bordercolor="#FFFFFF">
540 + <p align="center"><font face="Verdana" size="2">Table 5.</font></p></td>
541 + </tr>
542 + </tbody></table>
543 + </center></div>
544 + </td>
545 + </tr>
546 + <tr>
547 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
548 + </tr>
549 + <tr>
550 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 6.</b><br>
551 + To make this project even easier, click on the "A<img border="0" src="./build128_files/link.gif" >B"
552 + button in the lower left corner. This screen allows you to link servos together. Click on "Servo 1" on the left side and "Servo
553 + 17" on the right, then click "Add." Do the same with Servos 2 and 18. This will allow you to switch the positions of the right
554 + and left legs with just a few clicks.</font></td>
555 + <td align="left" valign="top" >
556 + <p align="center"><font face="Verdana" size="2"><img src="./build128_files/seq24.jpg" border="2" hspace="10" ><br>
557 + Figure 6.</font></p></td>
558 + </tr>
559 + <tr>
560 + <td valign="top" align="left" colspan="2"><br class="pb">
561 + </td>
562 + </tr>
563 + <tr>
564 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 7.</b><br>
565 + The first step in this walk is to get the robot into position to take a stride in the second step. Set your servos to the degrees shown in Table
566 + 7. They don't have to be exact; close will do. When you're done, click on the red "=" in the Step section to overwrite Step 1.<br>
567 + &nbsp;</font>
568 + <div align="center">
569 + <center>
570 + <table border="1" bordercolor="#FFFFFF" >
571 + <tbody><tr>
572 + <td >
573 + <div align="center">
574 + <table border="1" bordercolor="#000000" >
575 + <tbody><tr>
576 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">2</font></td>
577 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">-25</font></td>
578 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">18</font></td>
579 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">25</font></td>
580 + </tr>
581 + <tr>
582 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">1</font></td>
583 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">-20</font></td>
584 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">17</font></td>
585 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">20</font></td>
586 + </tr>
587 + <tr>
588 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">0</font></td>
589 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">-8</font></td>
590 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="1">16</font></td>
591 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="1">8</font></td>
592 + </tr>
593 + </tbody></table>
594 + </div></td>
595 + </tr>
596 + <tr>
597 + <td bordercolor="#FFFFFF">
598 + <p align="center"><font face="Verdana" size="2">Table 7.</font></p></td>
599 + </tr>
600 + </tbody></table>
601 + </center></div>
602 + </td>
603 + <td align="left" valign="top" >
604 + <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="./build128_files/seq25.jpg" border="2" hspace="10" ></a><br>
605 + Figure 7.</font></p></td>
606 + </tr>
607 + <tr>
608 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
609 + </tr>
610 + <tr>
611 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 8.</strong><br>
612 + Now, click on "A&lt;=&gt;B" and deselect the "Selected step" check box and click OK. Then click the green "+" in
613 + the Step section to add the current position as a new step.</font></td>
614 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="./build128_files/seq26.jpg" border="2" hspace="10" ><br>
615 + Figure 8.</font></td>
616 + </tr>
617 + <tr>
618 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
619 + </tr>
620 + <tr>
621 + <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 9.</strong><br>
622 + To shift the robot's weight, just use the sliders and switch the degrees for Servos 0 and 16. Click on the green "+" in the Step
623 + section when you're done to add this as a new step.</font></td>
624 + <td align="center" valign="top" ><font face="Verdana" size="2"><a target="_blank"><img src="./build128_files/seq28.jpg" border="2" hspace="10" ></a><br>
625 + Figure 9.</font></td>
626 + </tr>
627 + <tr>
628 + <td valign="top" align="left" colspan="2"><br class="pb">
629 + </td>
630 + </tr>
631 + <tr>
632 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.<br>
633 + </b>Now all you have to do is take another step! Click on the "A&lt;=&gt;B" button again, deselect "Selected step" if it
634 + isn't already, and click OK. Click on the green "+" in the Step section when you're done.</font></td>
635 + <td align="center" valign="top" ><font face="Verdana" size="2"><img src="./build128_files/seq26.jpg" border="2" hspace="10" ><br>
636 + Figure 10.</font></td>
637 + </tr>
638 + <tr>
639 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
640 + </tr>
641 + <tr>
642 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 11.</b><br>
643 + To test the walk sequence, click on the sequence loop button on the right side of the screen under "Play." You can stop or pause the
644 + walking sequence from the Play menu.</font>
645 + <p><font face="Verdana" size="2">If you were successful, the robot should be walking now. If the robot doesn't walk in a straight line, try
646 + increasing the ankle degrees so that more weight is shifted.</font></p>
647 + </td>
648 + <td align="left" valign="top" >
649 + <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="./build128_files/seq27.jpg" border="2" hspace="10" ></a><br>
650 + Figure 11.</font></p></td>
651 + </tr>
652 + <tr>
653 + <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
654 + </tr>
655 + <tr>
656 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 12.</b><br>
657 + To adjust the biped's walking speed, you can use the "Advanced Play" feature. Click on the Advanced Play button on the right side of
658 + the screen.</font></td>
659 + <td align="left" valign="top" >
660 + <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="./build128_files/seq29.jpg" border="2" hspace="10" ></a><br>
661 + Figure 12.</font></p></td>
662 + </tr>
663 + <tr>
664 + <td valign="top" align="left" colspan="2"><br class="pb">
665 + </td>
666 + </tr>
667 + <tr>
668 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 13.</b><br>
669 + By moving the Time slider, you will adjust the speed of all the servos in the project to a percentage of the normal speed. 100% is the project's
670 + normal speed. Moving the slider below 100% causes the robot to move faster, while above 100% slows the robot down.</font>
671 + <p><font face="Verdana" size="2">Click on the Loop button to test your new speed. You can tweak the speed while the robot is moving to get it
672 + perfect.</font></p>
673 + <p><font face="Verdana" size="2">If you click on the Apply button, the new speed will be applied to the project.&nbsp;</font></p></td>
674 + <td align="left" valign="top" >
675 + <p align="center"><font face="Verdana" size="2"><a target="_blank"><img src="./build128_files/seq30.jpg" border="2" hspace="10" ></a><br>
676 + Figure 13.</font></p></td>
677 + </tr>
678 +</tbody></table>
679 +</body>
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