BRAT Biped SEQ Tutorial v2.01XE

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<h1 class="asm">Biped BRAT SEQ Tutorial (SSC-32 v2 with Register Support)</h1>

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<p><b>Updated March 27, 2008</b></p>

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<p><span class="asm-warning">Safety first!</span> Wear eye protection and never touch a powered robot!</p>

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<p><b>Note:</b> This tutorial applies to the SSC-32 v2 with Register Support.</p>

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<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>

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<p style="font-size:12px; color:#666; margin-top:0.3rem;"><b>Biped BRAT.</b></p>

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<div class="asm-section-title">Part I — BRAT Configuration: SSC-32 Registers</div>

<div class="asm-step-name">Registers — Verify Firmware Version</div>

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<div class="asm-step-num">Steps 1–2</div>

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<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>

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<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>

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<li>If still enabled → correct version, skip to Step 4.</li>

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<li>If now disabled → firmware needs updating, proceed to Step 3.</li>

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<span>Figure 2.</span>

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<div class="asm-step-name">Registers — Update Firmware</div>

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<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>

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<span>Figure 3.</span>

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<div class="asm-step-name">Registers — Confirm Firmware Update</div>

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<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>

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<span>Figure 4.</span>

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<div class="asm-step-name">Registers — Move to Neutral Position</div>

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<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>

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<span>Figure 5 (LynxTerm).</span>

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<span>Figure 5-2 (front neutral).</span>

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<span>Figure 5-3 (side neutral).</span>

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<div class="asm-step-name">Registers — Open Registers Page & Set Defaults</div>

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<p>From the main screen, click "Reg" to open the Registers page. Click "Default" to initialize default values.</p>

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<span>Figure 6.</span>

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<div class="asm-step-name">Registers — Calibrate Right Hip (Servo #2)</div>

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<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>

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<span>Figure 7.</span>

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<div class="asm-step-name">Registers — Calibrate Right Knee (Servo #1)</div>

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<p>Select servo #1. Adjust the Offset slider until the leg is perpendicular to the ground.</p>

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<span>Figure 8.</span>

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<div class="asm-step-name">Registers — Calibrate Right Ankle & Left Side (Servos #0, 16, 17, 18)</div>

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<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>

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<span>Figure 9.</span>

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<div class="asm-step-name">Registers — Write Offsets to SSC-32</div>

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<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>

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<span>Figure 10.</span>

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<div class="asm-section-title">Part II — BRAT Configuration: Sequencer</div>

<div class="asm-step-name">SEQ Config — Open SSC-32 Configuration</div>

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<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>

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<span>Figure 1.</span>

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<div class="asm-step-name">SEQ Config — Enable Servos One at a Time</div>

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<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>

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<span>Figure 2.</span>

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<div class="asm-step-name">SEQ Config — Set Min (−45°) for Channel 0 (Right Ankle)</div>

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<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>

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<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>

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<span>Figure 3-1.</span>

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<span>Figure 3-2 (set min).</span>

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<span>Figure 3-3 (−45° entered).</span>

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<div class="asm-step-name">SEQ Config — Set Max (84°) for Channel 0</div>

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<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>

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<span>Figure 4-1.</span>

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<span>Figure 4-2 (set max).</span>

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<span>Figure 4-3 (84° entered).</span>

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<div class="asm-step-name">SEQ Config — Configure Channel 1 (Right Knee)</div>

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<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>

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<span>Figure 5-1 (min).</span>

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<span>Figure 5-2 (max).</span>

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<div class="asm-step-name">SEQ Config — Configure Channel 2 (Right Hip)</div>

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<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>

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<span>Figure 6-1 (min −90°).</span>

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<span>Figure 6-2 (max 45°).</span>

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<div class="asm-step-name">SEQ Config — Configure Left Side (Channels 16–18) & Save</div>

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<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>

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<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>

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<span>Figure 7.</span>

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<div class="asm-step-name">SEQ Config — Import Pre-Made Projects</div>

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<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>

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<span>Figure 8.</span>

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<div class="asm-step-name">SEQ Config — Import a Walk Project</div>

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<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>

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<span>Figure 9.</span>

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<div class="asm-step-name">SEQ Config — Run the Walk Project</div>

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<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>

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<span>Figure 10-1.</span>

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<span>Figure 10-2.</span>

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<span>Figure 10-3.</span>

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<div class="asm-step-name">SEQ Config — Included Projects Reference</div>

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<p>Table 11 lists the included projects with video links where available. After getting comfortable, consult the Sequencer manual to create your own.</p>

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<tr><th>Project</th><th>Video</th></tr>

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<tr><td>Balance on Ankle</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv04.mpg">Video</a></td></tr>

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<tr><td>Balance</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv06.mpg">Video</a></td></tr>

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<tr><td>Get up from Back</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv05.mpg">Video</a></td></tr>

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<tr><td>Get up from Front</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv01.mpg">Video</a></td></tr>

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<tr><td>Headbutt</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv07.mpg">Video</a></td></tr>

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<tr><td>Kick</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv03.mpg">Video</a></td></tr>

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<tr><td>Long Stride</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv08.mpg">Video</a></td></tr>

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<tr><td>Turn</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv09.mpg">Video</a></td></tr>

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<tr><td>Walk</td><td><a href="http://www.lynxmotion.com/images/video/bp6srv02.mpg">Video</a></td></tr>

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<span style="margin-top:0.4rem;">Table 11.</span>

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<div class="asm-section-title">Part III — Creating a Walking Sequence</div>

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<div class="asm-step-name">SEQ Walk — Create New Project</div>

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<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>

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<span>Figure 1.</span>

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<div class="asm-step-name">SEQ Walk — Select Required Servos</div>

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<p>Click "Swap" to clear the screen, then select servos <b>0, 1, 2, 16, 17, and 18</b>.</p>

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<span>Figure 2.</span>

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<div class="asm-step-name">SEQ Walk — Arrange & Name Servo Layout</div>

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<div class="asm-step-num">Walk Steps 3–4</div>

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<p><b>Step 3:</b> Click and drag servo boxes to match the robot's physical layout.</p>

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<p><b>Step 4:</b> Optionally click the number in a servo box to name it and change its colour.</p>

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<span>Figure 3.</span>

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<span>Figure 4.</span>

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<div class="asm-step-name">SEQ Walk — Walking Sequence Overview & Link Servo Pairs</div>

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<div class="asm-step-num">Walk Steps 5–6</div>

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<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>

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<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>

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<span>Figure 6.</span>

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<div class="asm-step-name">SEQ Walk — Enter Starting Position & Build All 4 Steps</div>

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<div class="asm-step-num">Walk Steps 7–10</div>

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<p><b>Step 7:</b> Set servos to Table 7 values (approximate). Click red "=" to overwrite Step 1.</p>

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<p style="font-size:11px; color:#666;">Table 7.</p>

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<p><b>Step 8:</b> Click "A⟺B", deselect "Selected step", click OK, then green "+" to add Step 2.</p>

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<p><b>Step 9:</b> Swap degrees for Servos 0 and 16 to shift weight. Click green "+" to add Step 3.</p>

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<p><b>Step 10:</b> Click "A⟺B" again, deselect "Selected step", click OK, then green "+" to add Step 4.</p>

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<span>Figure 7.</span>

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<span>Figure 9.</span>

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<div class="asm-step-name">SEQ Walk — Test Walk & Adjust Speed</div>

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<div class="asm-step-num">Walk Steps 11–13</div>

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<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>

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<p><b>Step 12:</b> Click "Advanced Play" for speed controls.</p>

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<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>

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<span>Figure 11.</span>

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