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Eric Nantel 46.1 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>
Eric Nantel 48.1 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>
Eric Nantel 46.1 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>
Eric Nantel 49.1 28 Download and install <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">LynxTerm</a>. Connect the
Eric Nantel 46.1 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" >
Eric Nantel 47.1 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>
Eric Nantel 46.1 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>
Eric Nantel 49.1 49 Download the 2.01XE firmware. Remove power from the
Eric Nantel 46.1 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" >
Eric Nantel 47.1 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>
Eric Nantel 46.1 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" >
Eric Nantel 47.1 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>
Eric Nantel 46.1 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" >
Eric Nantel 47.1 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>
Eric Nantel 46.1 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">
Eric Nantel 47.1 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>
Eric Nantel 46.1 91 Figure 5-2.</font></p>
92 </td>
93 <td align="left" valign="top" >
Eric Nantel 47.1 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>
Eric Nantel 46.1 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" >
Eric Nantel 47.1 106 <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>
Eric Nantel 46.1 107 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" >
Eric Nantel 47.1 119 <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>
Eric Nantel 46.1 120 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" >
Eric Nantel 47.1 130 <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>
Eric Nantel 46.1 131 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" >
Eric Nantel 47.1 143 <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>
Eric Nantel 46.1 144 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" >
Eric Nantel 47.1 159 <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>
Eric Nantel 46.1 160 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" >
Eric Nantel 47.1 184 <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>
Eric Nantel 46.1 185 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" >
Eric Nantel 47.1 196 <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>
Eric Nantel 46.1 197 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" >
Eric Nantel 47.1 209 <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>
Eric Nantel 46.1 210 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">
Eric Nantel 47.1 218 <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>
Eric Nantel 46.1 219 Figure 3-2.</font></p>
220 </td>
221 <td align="left" valign="top" >
Eric Nantel 47.1 222 <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>
Eric Nantel 46.1 223 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" >
Eric Nantel 47.1 236 <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>
Eric Nantel 46.1 237 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">
Eric Nantel 47.1 244 <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>
Eric Nantel 46.1 245 Figure 4-2.</font></p>
246 </td>
247 <td align="left" valign="top" >
Eric Nantel 47.1 248 <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>
Eric Nantel 46.1 249 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">
Eric Nantel 47.1 267 <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>
Eric Nantel 46.1 268 Figure 5-1.</font></p>
269 </td>
270 <td align="left" valign="top" >
Eric Nantel 47.1 271 <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>
Eric Nantel 46.1 272 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">
Eric Nantel 47.1 289 <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>
Eric Nantel 46.1 290 Figure 6-1.</font></p>
291 </td>
292 <td align="left" valign="top" >
Eric Nantel 47.1 293 <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>
Eric Nantel 46.1 294 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" >
Eric Nantel 47.1 309 <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>
Eric Nantel 46.1 310 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>
Eric Nantel 49.1 327 <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
Eric Nantel 46.1 328 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" >
Eric Nantel 47.1 331 <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>
Eric Nantel 46.1 332 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" >
Eric Nantel 47.1 345 <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>
Eric Nantel 46.1 346 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" >
Eric Nantel 47.1 363 <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>
Eric Nantel 46.1 364 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">
Eric Nantel 47.1 371 <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>
Eric Nantel 46.1 372 Figure 10-2.</font></p></td>
373 <td align="left" valign="top" >
Eric Nantel 47.1 374 <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>
Eric Nantel 46.1 375 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>
Eric Nantel 48.1 395 <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>
Eric Nantel 46.1 397 </tr>
398 <tr>
Eric Nantel 48.1 399 <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>
Eric Nantel 46.1 401 </tr>
402 <tr>
Eric Nantel 48.1 403 <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>
Eric Nantel 46.1 405 </tr>
406 <tr>
Eric Nantel 48.1 407 <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>
Eric Nantel 46.1 409 </tr>
410 <tr>
Eric Nantel 48.1 411 <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>
Eric Nantel 46.1 413 </tr>
414 <tr>
Eric Nantel 48.1 415 <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>
Eric Nantel 46.1 417 </tr>
418 <tr>
Eric Nantel 48.1 419 <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>
Eric Nantel 46.1 421 </tr>
422 <tr>
Eric Nantel 48.1 423 <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>
Eric Nantel 46.1 425 </tr>
426 <tr>
Eric Nantel 48.1 427 <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>
Eric Nantel 46.1 429 </tr>
430 <tr>
Eric Nantel 48.1 431 <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>
Eric Nantel 46.1 433 </tr>
434 <tr>
Eric Nantel 48.1 435 <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>
Eric Nantel 46.1 437 </tr>
438 </tbody></table>
439 </div>
440 </td>
441 </tr>
442 <tr>
443 <td >
444 <p align="center"><font face="Verdana" size="2">Table 11</font></p>
445 </td>
446 </tr>
447 </tbody></table>
448 </center>
449 </div>
450 </td>
451 </tr>
452 <tr>
453 <td valign="top" align="left" colspan="2"><br class="pb">
454 </td>
455 </tr>
456 <tr>
457 <td valign="top" align="left" colspan="2">
458 <p align="center"><font face="Verdana" size="2"><b>III. Creating a Walking Sequence</b></font></p>
459 </td>
460 </tr>
461 <tr>
462 <td valign="top" align="left" colspan="2"><font face="Verdana" size="2">&nbsp;</font></td>
463 </tr>
464 <tr>
465 <td valign="top" align="left"><font face="Verdana" size="2"><strong>Step 1.<br>
466 </strong>Run the Sequencer program.</font>
467 <p><font face="Verdana" size="2">Select the "empty" project from the Project drop down menu, and click on the black "+" to
468 make a new project. Enter a name for your project. As we are making the robot walk, a name such as "BRAT-Walk" might be applicable.</font></p></td>
Eric Nantel 47.1 469 <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>
Eric Nantel 46.1 470 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>
Eric Nantel 47.1 480 <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>
Eric Nantel 46.1 481 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>
Eric Nantel 47.1 489 <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>
Eric Nantel 46.1 490 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>
Eric Nantel 47.1 500 <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>
Eric Nantel 46.1 501 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>
Eric Nantel 48.1 519 <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>
Eric Nantel 46.1 521 </tr>
522 <tr>
Eric Nantel 48.1 523 <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>
Eric Nantel 46.1 525 </tr>
526 <tr>
Eric Nantel 48.1 527 <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>
Eric Nantel 46.1 529 </tr>
530 <tr>
Eric Nantel 48.1 531 <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>
Eric Nantel 46.1 533 </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>
Eric Nantel 47.1 551 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"
Eric Nantel 46.1 552 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" >
Eric Nantel 47.1 556 <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>
Eric Nantel 46.1 557 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>
Eric Nantel 48.1 576 <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>
Eric Nantel 46.1 580 </tr>
581 <tr>
Eric Nantel 48.1 582 <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>
Eric Nantel 46.1 586 </tr>
587 <tr>
Eric Nantel 48.1 588 <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>
Eric Nantel 46.1 592 </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" >
Eric Nantel 47.1 604 <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>
Eric Nantel 46.1 605 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>
Eric Nantel 47.1 614 <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>
Eric Nantel 46.1 615 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>
Eric Nantel 47.1 624 <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>
Eric Nantel 46.1 625 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>
Eric Nantel 47.1 635 <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>
Eric Nantel 46.1 636 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" >
Eric Nantel 47.1 649 <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>
Eric Nantel 46.1 650 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" >
Eric Nantel 47.1 660 <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>
Eric Nantel 46.1 661 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" >
Eric Nantel 47.1 675 <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>
Eric Nantel 46.1 676 Figure 13.</font></p></td>
677 </tr>
678 </tbody></table>
679 </body>
Eric Nantel 1.1 680 {{/html}}
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