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24 -
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 (SSC-32 v2 with Register Support)</h1>
31 - <p><b>Updated March 27, 2008</b></p>
32 - <p><span class="asm-warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p>
33 - <p><b>Note:</b> This tutorial applies to the SSC-32 v2 with Register Support.</p>
34 - <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/WebHome/minibipd.zip">minibipd.zip</a></p>
35 - </div>
36 - <div style="text-align:center; flex:0 1 280px;">
37 - <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" style="max-width:100%; border:1px solid #ccc; border-radius:4px;">
38 - <p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Biped BRAT.</b></p>
39 - </div>
40 - </div>
41 -
42 - <!-- Section I title -->
43 - <div class="asm-section-title">Part I — BRAT Configuration: SSC-32 Registers</div>
44 -
45 - <!-- Steps 1–2 -->
46 - <div class="asm-step">
47 - <div class="asm-step-header">
48 - <div class="asm-step-name">Registers — Verify Firmware Version</div>
49 - <div class="asm-step-num">Steps 1–2</div>
50 - </div>
51 - <div class="asm-step-body">
52 - <div class="asm-step-text">
53 - <p><b>Step 1:</b> Download and install <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. Connect the SSC-32 to the serial port and apply power. The green LED should light. Run LynxTerm.</p>
54 - <p><b>Step 2:</b> Type <code>ver</code> and press Enter — you should see "SSC32-V2.01XE" or higher. If you have v2.01XE, test for register support: click "Reg." → "Read", enable "Initial Pulse Offset", click "Write", then "Read" again.</p>
55 - <ul style="margin-top:0.4rem; padding-left:1.2rem;">
56 - <li>If still enabled → correct version, skip to Step 4.</li>
57 - <li>If now disabled → firmware needs updating, proceed to Step 3.</li>
58 - </ul>
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" 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/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. 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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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 2.01XE firmware. 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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="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">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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="2"><b>Project File</b></font></td>
396 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2"><b>Video Link</b></font></td>
397 + </tr>
398 + <tr>
399 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Balance on Ankle</font></td>
400 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&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="2">Balance</font></td>
404 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&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="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 up from Back</font></td>
412 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&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="2">Get up from Front</font></td>
416 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&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="2">Headbutt</font></td>
420 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&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="2">Kick</font></td>
424 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&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="2">Long Stride</font></td>
428 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&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="2">Turn</font></td>
432 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&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="2">Walk</font></td>
436 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">&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>
59 59   </div>
60 - <div class="asm-step-figure">
61 - <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/reg01.jpg">
62 - <span>Figure 2.</span>
63 - </div>
64 - </div>
65 - </div>
66 -
67 - <!-- Step 3 -->
68 - <div class="asm-step">
69 - <div class="asm-step-header">
70 - <div class="asm-step-name">Registers — Update Firmware</div>
71 - <div class="asm-step-num">Step 3</div>
72 - </div>
73 - <div class="asm-step-body">
74 - <div class="asm-step-text">
75 - <p>Download the 2.01XE firmware. Remove power from the SSC-32 and set the baud rate to 115.2k (refer to the manual if needed). Apply power again with the SSC-32 connected to the PC. Click "Firmware" along the bottom of the LynxTerm screen, then "Open" and browse to the firmware file. Click "Begin Update".</p>
76 - </div>
77 - <div class="asm-step-figure">
78 - <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/reg07.jpg">
79 - <span>Figure 3.</span>
80 - </div>
81 - </div>
82 - </div>
83 -
84 - <!-- Step 4 -->
85 - <div class="asm-step">
86 - <div class="asm-step-header">
87 - <div class="asm-step-name">Registers — Confirm Firmware Update</div>
88 - <div class="asm-step-num">Step 4</div>
89 - </div>
90 - <div class="asm-step-body">
91 - <div class="asm-step-text">
92 - <p>When the firmware update is complete, click "OK" then "Exit". Repeat the version test: type <code>ver</code> and press Enter — the correct firmware version should be returned.</p>
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/WebHome/reg08.jpg">
96 - <span>Figure 4.</span>
97 - </div>
98 - </div>
99 - </div>
100 -
101 - <!-- Step 5 -->
102 - <div class="asm-step">
103 - <div class="asm-step-header">
104 - <div class="asm-step-name">Registers — Move to Neutral Position</div>
105 - <div class="asm-step-num">Step 5</div>
106 - </div>
107 - <div class="asm-step-body">
108 - <div class="asm-step-text">
109 - <p>Place the robot as close to neutral as possible. Click "All=1500" in the bottom right of the LynxTerm screen. The robot should go to and hold neutral, resembling Figures 5-2 and 5-3. If any joint is off by more than 15°, remove the servo horn, rotate to align, and reattach.</p>
110 - </div>
111 - <div class="asm-figures">
112 - <div class="asm-step-figure">
113 - <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/reg09.jpg">
114 - <span>Figure 5 (LynxTerm).</span>
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/WebHome/brat01.jpg">
118 - <span>Figure 5-2 (front neutral).</span>
119 - </div>
120 - <div class="asm-step-figure">
121 - <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/brat03.jpg">
122 - <span>Figure 5-3 (side neutral).</span>
123 - </div>
124 - </div>
125 - </div>
126 - </div>
127 -
128 - <!-- Step 6 -->
129 - <div class="asm-step">
130 - <div class="asm-step-header">
131 - <div class="asm-step-name">Registers — Open Registers Page &amp; Set Defaults</div>
132 - <div class="asm-step-num">Step 6</div>
133 - </div>
134 - <div class="asm-step-body">
135 - <div class="asm-step-text">
136 - <p>From the main screen, click "Reg" to open the Registers page. Click "Default" to initialize default values.</p>
137 - </div>
138 - <div class="asm-step-figure">
139 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/reg02.jpg">
140 - <span>Figure 6.</span>
141 - </div>
142 - </div>
143 - </div>
144 -
145 - <!-- Step 7 -->
146 - <div class="asm-step">
147 - <div class="asm-step-header">
148 - <div class="asm-step-name">Registers — Calibrate Right Hip (Servo #2)</div>
149 - <div class="asm-step-num">Step 7</div>
150 - </div>
151 - <div class="asm-step-body">
152 - <div class="asm-step-text">
153 - <p>Select servo #2. Adjust the Offset slider until the joint is at a perfect 90° angle. The mouse scrollwheel or keyboard arrow keys can be used for fine adjustments.</p>
154 - </div>
155 - <div class="asm-step-figure">
156 - <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/brat10.jpg">
157 - <span>Figure 7.</span>
158 - </div>
159 - </div>
160 - </div>
161 -
162 - <!-- Step 8 -->
163 - <div class="asm-step">
164 - <div class="asm-step-header">
165 - <div class="asm-step-name">Registers — Calibrate Right Knee (Servo #1)</div>
166 - <div class="asm-step-num">Step 8</div>
167 - </div>
168 - <div class="asm-step-body">
169 - <div class="asm-step-text">
170 - <p>Select servo #1. Adjust the Offset slider until the leg is perpendicular to the ground.</p>
171 - </div>
172 - <div class="asm-step-figure">
173 - <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/brat07.jpg">
174 - <span>Figure 8.</span>
175 - </div>
176 - </div>
177 - </div>
178 -
179 - <!-- Step 9 -->
180 - <div class="asm-step">
181 - <div class="asm-step-header">
182 - <div class="asm-step-name">Registers — Calibrate Right Ankle &amp; Left Side (Servos #0, 16, 17, 18)</div>
183 - <div class="asm-step-num">Step 9</div>
184 - </div>
185 - <div class="asm-step-body">
186 - <div class="asm-step-text">
187 - <p>Select servo #0. Adjust the Offset slider until the foot is perpendicular to the leg. Repeat the same process for the left side: servos 16 (left ankle), 17 (left knee), and 18 (left hip).</p>
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/WebHome/brat04.jpg">
191 - <span>Figure 9.</span>
192 - </div>
193 - </div>
194 - </div>
195 -
196 - <!-- Step 10 -->
197 - <div class="asm-step">
198 - <div class="asm-step-header">
199 - <div class="asm-step-name">Registers — Write Offsets to SSC-32</div>
200 - <div class="asm-step-num">Step 10</div>
201 - </div>
202 - <div class="asm-step-body">
203 - <div class="asm-step-text">
204 - <p>Click "Write" and exit LynxTerm when complete. Optionally, check "Initial Pulse Width" to automatically enable servos on power-up — if enabled, click "Write" again to save. This completes the register configuration. From now on, the servos will be automatically aligned and/or enabled whenever the robot is turned on.</p>
205 - </div>
206 - <div class="asm-step-figure">
207 - <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/reg04.jpg">
208 - <span>Figure 10.</span>
209 - </div>
210 - </div>
211 - </div>
212 -
213 - <!-- Section II title -->
214 - <div class="asm-section-title">Part II — BRAT Configuration: Sequencer</div>
215 -
216 - <!-- II Step 1 -->
217 - <div class="asm-step">
218 - <div class="asm-step-header">
219 - <div class="asm-step-name">SEQ Config — Open SSC-32 Configuration</div>
220 - <div class="asm-step-num">Step 1</div>
221 - </div>
222 - <div class="asm-step-body">
223 - <div class="asm-step-text">
224 - <p>Install the SSC-32 Visual Sequencer and read its manual. Run the Sequencer program. Click "SSC-32" in the upper left corner. Servo min and max positions will be defined and joint angles entered. Take time to configure accurately — sloppy configuration leads to a poorly performing robot when sharing projects.</p>
225 - </div>
226 - <div class="asm-step-figure">
227 - <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/seqt05.jpg">
228 - <span>Figure 1.</span>
229 - </div>
230 - </div>
231 - </div>
232 -
233 - <!-- II Step 2 -->
234 - <div class="asm-step">
235 - <div class="asm-step-header">
236 - <div class="asm-step-name">SEQ Config — Enable Servos One at a Time</div>
237 - <div class="asm-step-num">Step 2</div>
238 - </div>
239 - <div class="asm-step-body">
240 - <div class="asm-step-text">
241 - <p>Each servo must first be enabled by clicking its Enable checkbox. Move the servo by adjusting its slider. Enable and configure servos one at a time.</p>
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/WebHome/seqt06.jpg">
245 - <span>Figure 2.</span>
246 - </div>
247 - </div>
248 - </div>
249 -
250 - <!-- II Step 3 -->
251 - <div class="asm-step">
252 - <div class="asm-step-header">
253 - <div class="asm-step-name">SEQ Config — Set Min (−45°) for Channel 0 (Right Ankle)</div>
254 - <div class="asm-step-num">Step 3</div>
255 - </div>
256 - <div class="asm-step-body">
257 - <div class="asm-step-text">
258 - <p>Move the slider for servo 0 to 45° (Figure 3-1). Right-click and select "Set position as min" (Figure 3-2). Set "Min Deg" to <b>−45°</b> (Figure 3-3).</p>
259 - <p><b>Note:</b> Since register offsets were set in Part I, the mid-point of the slider is already the true neutral — no separate neutral step is needed here.</p>
260 - </div>
261 - <div class="asm-figures">
262 - <div class="asm-step-figure">
263 - <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/brat05.jpg">
264 - <span>Figure 3-1.</span>
265 - </div>
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/WebHome/seqt08.jpg">
268 - <span>Figure 3-2 (set min).</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/WebHome/seqt09.jpg">
272 - <span>Figure 3-3 (−45° entered).</span>
273 - </div>
274 - </div>
275 - </div>
276 - </div>
277 -
278 - <!-- II Step 4 -->
279 - <div class="asm-step">
280 - <div class="asm-step-header">
281 - <div class="asm-step-name">SEQ Config — Set Max (84°) for Channel 0</div>
282 - <div class="asm-step-num">Step 4</div>
283 - </div>
284 - <div class="asm-step-body">
285 - <div class="asm-step-text">
286 - <p>Move the slider to 84° (Figure 4-1). Right-click and select "Set position as max" (Figure 4-2). Set "Max Deg" to <b>84°</b> (Figure 4-3). Return slider to 0° before proceeding.</p>
287 - </div>
288 - <div class="asm-figures">
289 - <div class="asm-step-figure">
290 - <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/brat06.jpg">
291 - <span>Figure 4-1.</span>
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/WebHome/seqt10.jpg">
295 - <span>Figure 4-2 (set max).</span>
296 - </div>
297 - <div class="asm-step-figure">
298 - <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/seqt11.jpg">
299 - <span>Figure 4-3 (84° entered).</span>
300 - </div>
301 - </div>
302 - </div>
303 - </div>
304 -
305 - <!-- II Step 5 -->
306 - <div class="asm-step">
307 - <div class="asm-step-header">
308 - <div class="asm-step-name">SEQ Config — Configure Channel 1 (Right Knee)</div>
309 - <div class="asm-step-num">Step 5</div>
310 - </div>
311 - <div class="asm-step-body">
312 - <div class="asm-step-text">
313 - <p>Channel 1 is the right knee. Set min and max positions as shown in Figures 5-1 and 5-2. No angle adjustment is needed — the knee can reach ±90°. Return slider to 0° before continuing.</p>
314 - </div>
315 - <div class="asm-figures">
316 - <div class="asm-step-figure">
317 - <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/brat08.jpg">
318 - <span>Figure 5-1 (min).</span>
319 - </div>
320 - <div class="asm-step-figure">
321 - <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/brat09.jpg">
322 - <span>Figure 5-2 (max).</span>
323 - </div>
324 - </div>
325 - </div>
326 - </div>
327 -
328 - <!-- II Step 6 -->
329 - <div class="asm-step">
330 - <div class="asm-step-header">
331 - <div class="asm-step-name">SEQ Config — Configure Channel 2 (Right Hip)</div>
332 - <div class="asm-step-num">Step 6</div>
333 - </div>
334 - <div class="asm-step-body">
335 - <div class="asm-step-text">
336 - <p>Channel 2 is the right hip. Set min (−90°) as in Figure 6-1 and max (45°) as in Figure 6-2. Knees are bent in Figure 6-2 for clarity. Return slider to 0° before continuing.</p>
337 - </div>
338 - <div class="asm-figures">
339 - <div class="asm-step-figure">
340 - <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/brat11.jpg">
341 - <span>Figure 6-1 (min −90°).</span>
342 - </div>
343 - <div class="asm-step-figure">
344 - <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/brat12.jpg">
345 - <span>Figure 6-2 (max 45°).</span>
346 - </div>
347 - </div>
348 - </div>
349 - </div>
350 -
351 - <!-- II Step 7 -->
352 - <div class="asm-step">
353 - <div class="asm-step-header">
354 - <div class="asm-step-name">SEQ Config — Configure Left Side (Channels 16–18) &amp; Save</div>
355 - <div class="asm-step-num">Step 7</div>
356 - </div>
357 - <div class="asm-step-body">
358 - <div class="asm-step-text">
359 - <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.</span></p>
360 - <p>Set all servos to 0° (home) and save. Save as "ConfigSSC32.cfg" for a single robot, or a new name like "BipedBRAT.cfg" for multiple robots. Save in the install directory: <code>C:\Program Files\Sequencer_SSC-32\</code></p>
361 - </div>
362 - <div class="asm-step-figure">
363 - <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/seqt12.jpg">
364 - <span>Figure 7.</span>
365 - </div>
366 - </div>
367 - </div>
368 -
369 - <!-- II Step 8 -->
370 - <div class="asm-step">
371 - <div class="asm-step-header">
372 - <div class="asm-step-name">SEQ Config — Import Pre-Made Projects</div>
373 - <div class="asm-step-num">Step 8</div>
374 - </div>
375 - <div class="asm-step-body">
376 - <div class="asm-step-text">
377 - <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/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>
378 - </div>
379 - <div class="asm-step-figure">
380 - <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/seqt13.jpg">
381 - <span>Figure 8.</span>
382 - </div>
383 - </div>
384 - </div>
385 -
386 - <!-- II Step 9 -->
387 - <div class="asm-step">
388 - <div class="asm-step-header">
389 - <div class="asm-step-name">SEQ Config — Import a Walk Project</div>
390 - <div class="asm-step-num">Step 9</div>
391 - </div>
392 - <div class="asm-step-body">
393 - <div class="asm-step-text">
394 - <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>
395 - </div>
396 - <div class="asm-step-figure">
397 - <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/seqt14.jpg">
398 - <span>Figure 9.</span>
399 - </div>
400 - </div>
401 - </div>
402 -
403 - <!-- II Step 10 -->
404 - <div class="asm-step">
405 - <div class="asm-step-header">
406 - <div class="asm-step-name">SEQ Config — Run the Walk Project</div>
407 - <div class="asm-step-num">Step 10</div>
408 - </div>
409 - <div class="asm-step-body">
410 - <div class="asm-step-text">
411 - <p>Click "Sequencer" (Figure 10-1). Select "biped6-long stride" from the Project dropdown. Click "Project Loop" in the Play menu (Figure 10-3) — <span class="asm-warning">the robot will start moving immediately.</span> Use Stop or Pause to halt. If both legs move the same way, check that left-side servos have Reverse enabled.</p>
412 - </div>
413 - <div class="asm-figures">
414 - <div class="asm-step-figure">
415 - <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/seqt17.jpg">
416 - <span>Figure 10-1.</span>
417 - </div>
418 - <div class="asm-step-figure">
419 - <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/seqt18.jpg">
420 - <span>Figure 10-2.</span>
421 - </div>
422 - <div class="asm-step-figure">
423 - <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/seqt19.jpg">
424 - <span>Figure 10-3.</span>
425 - </div>
426 - </div>
427 - </div>
428 - </div>
429 -
430 - <!-- II Step 11 -->
431 - <div class="asm-step">
432 - <div class="asm-step-header">
433 - <div class="asm-step-name">SEQ Config — Included Projects Reference</div>
434 - <div class="asm-step-num">Step 11</div>
435 - </div>
436 - <div class="asm-step-body">
437 - <div class="asm-step-text">
438 - <p>Table 11 lists the included projects with video links where available. After getting comfortable, consult the Sequencer manual to create your own.</p>
439 - </div>
440 - <div class="asm-step-figure" style="flex: 0 1 auto;">
441 - <table class="ref-table" style="width:auto;">
442 - <tr><th>Project</th><th>Video</th></tr>
443 - <tr><td>Balance on Ankle</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv04.mpg">Video</a></td></tr>
444 - <tr><td>Balance</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv06.mpg">Video</a></td></tr>
445 - <tr><td>Bow</td><td>—</td></tr>
446 - <tr><td>Get up from Back</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv05.mpg">Video</a></td></tr>
447 - <tr><td>Get up from Front</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv01.mpg">Video</a></td></tr>
448 - <tr><td>Headbutt</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv07.mpg">Video</a></td></tr>
449 - <tr><td>Kick</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv03.mpg">Video</a></td></tr>
450 - <tr><td>Long Stride</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv08.mpg">Video</a></td></tr>
451 - <tr><td>Turn</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv09.mpg">Video</a></td></tr>
452 - <tr><td>Walk</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv02.mpg">Video</a></td></tr>
453 - </table>
454 - <span style="margin-top:0.4rem;">Table 11.</span>
455 - </div>
456 - </div>
457 - </div>
458 -
459 - <!-- Section III title -->
460 - <div class="asm-section-title">Part III — Creating a Walking Sequence</div>
461 -
462 - <!-- III Steps 1–13 are identical to the previous tutorial's Part II -->
463 - <div class="asm-step">
464 - <div class="asm-step-header">
465 - <div class="asm-step-name">SEQ Walk — Create New Project</div>
466 - <div class="asm-step-num">Walk Step 1</div>
467 - </div>
468 - <div class="asm-step-body">
469 - <div class="asm-step-text">
470 - <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>
471 - </div>
472 - <div class="asm-step-figure">
473 - <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/seq20.jpg">
474 - <span>Figure 1.</span>
475 - </div>
476 - </div>
477 - </div>
478 -
479 - <div class="asm-step">
480 - <div class="asm-step-header">
481 - <div class="asm-step-name">SEQ Walk — Select Required Servos</div>
482 - <div class="asm-step-num">Walk Step 2</div>
483 - </div>
484 - <div class="asm-step-body">
485 - <div class="asm-step-text">
486 - <p>Click "Swap" to clear the screen, then select servos <b>0, 1, 2, 16, 17, and 18</b>.</p>
487 - </div>
488 - <div class="asm-step-figure">
489 - <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/seq21.jpg">
490 - <span>Figure 2.</span>
491 - </div>
492 - </div>
493 - </div>
494 -
495 - <div class="asm-step">
496 - <div class="asm-step-header">
497 - <div class="asm-step-name">SEQ Walk — Arrange &amp; Name Servo Layout</div>
498 - <div class="asm-step-num">Walk Steps 3–4</div>
499 - </div>
500 - <div class="asm-step-body">
501 - <div class="asm-step-text">
502 - <p><b>Step 3:</b> Click and drag servo boxes to match the robot's physical layout.</p>
503 - <p><b>Step 4:</b> Optionally click the number in a servo box to name it and change its colour.</p>
504 - </div>
505 - <div class="asm-figures">
506 - <div class="asm-step-figure">
507 - <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/seq22.jpg">
508 - <span>Figure 3.</span>
509 - </div>
510 - <div class="asm-step-figure">
511 - <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/seq23.jpg">
512 - <span>Figure 4.</span>
513 - </div>
514 - </div>
515 - </div>
516 - </div>
517 -
518 - <div class="asm-step">
519 - <div class="asm-step-header">
520 - <div class="asm-step-name">SEQ Walk — Walking Sequence Overview &amp; Link Servo Pairs</div>
521 - <div class="asm-step-num">Walk Steps 5–6</div>
522 - </div>
523 - <div class="asm-step-body">
524 - <div class="asm-step-text">
525 - <p><b>Step 5 — Walking sequence:</b> 1) Shift weight right · 2) Step forward · 3) Shift weight left · 4) Step forward. Steps 3–4 are mirror images of Steps 1–2.</p>
526 - <p><b>Step 6 — Link servos:</b> Click "A⟺B" and link Servo 1 with Servo 17, and Servo 2 with Servo 18. This lets you swap left and right leg positions with a few clicks.</p>
527 - </div>
528 - <div class="asm-step-figure">
529 - <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/seq24.jpg">
530 - <span>Figure 6.</span>
531 - </div>
532 - </div>
533 - </div>
534 -
535 - <div class="asm-step">
536 - <div class="asm-step-header">
537 - <div class="asm-step-name">SEQ Walk — Enter Starting Position &amp; Build All 4 Steps</div>
538 - <div class="asm-step-num">Walk Steps 7–10</div>
539 - </div>
540 - <div class="asm-step-body">
541 - <div class="asm-step-text">
542 - <p><b>Step 7:</b> Set servos to Table 7 values (approximate). Click red "=" to overwrite Step 1.</p>
543 - <table class="ref-table" style="width:auto; margin: 0.5rem 0;">
544 - <tr><th>Ch</th><th>Deg</th><th>Ch</th><th>Deg</th></tr>
545 - <tr><td>2</td><td>−25</td><td>18</td><td>25</td></tr>
546 - <tr><td>1</td><td>−20</td><td>17</td><td>20</td></tr>
547 - <tr><td>0</td><td>−8</td><td>16</td><td>8</td></tr>
548 - </table>
549 - <p style="font-size:11px; color:#666;">Table 7.</p>
550 - <p><b>Step 8:</b> Click "A⟺B", deselect "Selected step", click OK, then green "+" to add Step 2.</p>
551 - <p><b>Step 9:</b> Swap degrees for Servos 0 and 16 to shift weight. Click green "+" to add Step 3.</p>
552 - <p><b>Step 10:</b> Click "A⟺B" again, deselect "Selected step", click OK, then green "+" to add Step 4.</p>
553 - </div>
554 - <div class="asm-figures">
555 - <div class="asm-step-figure">
556 - <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/seq25.jpg">
557 - <span>Figure 7.</span>
558 - </div>
559 - <div class="asm-step-figure">
560 - <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/seq28.jpg">
561 - <span>Figure 9.</span>
562 - </div>
563 - </div>
564 - </div>
565 - </div>
566 -
567 - <div class="asm-step">
568 - <div class="asm-step-header">
569 - <div class="asm-step-name">SEQ Walk — Test Walk &amp; Adjust Speed</div>
570 - <div class="asm-step-num">Walk Steps 11–13</div>
571 - </div>
572 - <div class="asm-step-body">
573 - <div class="asm-step-text">
574 - <p><b>Step 11:</b> Click the sequence loop button under "Play". If the robot doesn't walk straight, increase ankle degrees to shift more weight.</p>
575 - <p><b>Step 12:</b> Click "Advanced Play" for speed controls.</p>
576 - <p><b>Step 13:</b> Use the Time slider to adjust speed — below 100% is faster, above 100% is slower. Click Loop to test, Apply to save to the project.</p>
577 - </div>
578 - <div class="asm-figures">
579 - <div class="asm-step-figure">
580 - <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/seq27.jpg">
581 - <span>Figure 11.</span>
582 - </div>
583 - <div class="asm-step-figure">
584 - <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/seq30.jpg">
585 - <span>Figure 13.</span>
586 - </div>
587 - </div>
588 - </div>
589 - </div>
590 -
591 -</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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="2">Step 1</font></td>
520 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Shift weight to robot's right</font></td>
521 + </tr>
522 + <tr>
523 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Step 2</font></td>
524 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Step forward</font></td>
525 + </tr>
526 + <tr>
527 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Step 3</font></td>
528 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">Shift weight to robot's left</font></td>
529 + </tr>
530 + <tr>
531 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">Step 4</font></td>
532 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="2">2</font></td>
577 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">-25</font></td>
578 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">18</font></td>
579 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">25</font></td>
580 + </tr>
581 + <tr>
582 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">1</font></td>
583 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">-20</font></td>
584 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">17</font></td>
585 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">20</font></td>
586 + </tr>
587 + <tr>
588 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">0</font></td>
589 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">-8</font></td>
590 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font face="Verdana" size="2">16</font></td>
591 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font face="Verdana" size="2">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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-bipeds/brat-biped-seq/WebHome/seq30.jpg" border="2" hspace="10" ></a><br>
676 + Figure 13.</font></p></td>
677 + </tr>
678 +</tbody></table>
679 +</body>
592 592  {{/html}}

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