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1 1  {{html wiki="false" clean="true"}}
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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