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1 1  {{html wiki="false" clean="true"}}
2 +<table border="0" cellpadding="0" cellspacing="0" >
2 2  
4 + <tbody>
5 + <tr>
6 + <td align="left" valign="top" ><b><font face="Verdana, Helvetica, sans-serif" size="2">QBK-02 Symmetric
7 +Quadruped Robot Kit Assembly Instructions Rev. 1.</font></b>
8 + <p><b><font face="Verdana, Helvetica, sans-serif" size="2">Updated
9 +December 2014</font></b></p>
10 + <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye
11 +protection and never touch a powered robot!</font></p>
12 + <p><font face="Verdana, Helvetica, sans-serif" size="2">The
13 +purpose of this guide is to construct the chassis, attach the legs, and
14 +install the electronics. Both the top and bottom body plates are
15 +identical. This guide shows the Lynxmotion PS2 and PS2 mounting plate which are
16 +purchased separately from the kit (used only with BotBoarduino version). There are the following SQ3 kits:</font></p>
17 + <ul>
18 + <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with BotBoarduino and SSC-32</font></li>
19 + <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with BotBoarduino and SSC-32U</font></li>
20 + <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with SSC-32 and Bluetooth (FlowBotics)</font></li>
21 + <li><font face="Verdana, Helvetica, sans-serif" size="2">SQ3 with SSC-32U and Bluetooth (FlowBotics)<br>
22 + </font></li>
23 + </ul>
24 +
25 + <p><font face="Verdana" size="2"><strong><span style="font-weight: normal;">Take note of which version you have
26 +and follow each step accordingly, as the connections and configuration
27 +are different. <br>
28 + </span></strong></font></p>
29 + <p><font face="Verdana" size="2">Note: Loctite / thread lock
30 +can be used on the construction of the aluminum components, though it
31 +is not necessary if the nuts are properly tightened. However,
32 +don't use thread lock with Lexan or plastic, as they are not necessary and may
33 +cause
34 +damage.</font></p>
35 + </td>
36 + <td align="center" valign="top" width="320"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-finished.jpg" border="2" hspace="10" ><br>
37 + <font size="2"><b>Image of completed Robot. </b><br>
38 +(Shown with optional PS2 receiver and mount)</font></font></td>
39 + </tr>
40 + <tr>
41 + <td style="vertical-align: top;"><br>
42 + </td>
43 + <td style="vertical-align: top;"><br>
44 + </td>
45 + </tr>
46 + <tr>
47 + <td style="vertical-align: top;"><font face="Verdana" size="2"><b>Lexan
48 +Preparation.<br>
49 + <br>
50 + </b></font><font face="Verdana" size="2">The lexan pieces have a
51 +protective covering that needs to be
52 +removed before assembly. When the laser cuts, the covering melts into
53 +the cut edge which can make removal difficult. If you gently scrape the
54 +cut edge with a flat blade screwdriver, the covering can easily be
55 +lifted and peeled off.</font>
56 + <p><font face="Verdana" size="2">On smaller pieces the coverings
57 +can be more difficult to remove. If you have trouble you can gently
58 +scrape the cut edge, then use duct tape to lift the covering off.</font></p>
59 + <p><font face="Verdana" size="2">For further information on
60 +lexan, see <a href="http://www.lynxmotion.com/images/html/infolexa.htm" target="_blank">this
61 +page</a>.</font></p>
62 + <br>
63 + </td>
64 + <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="Lexan Preparation" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/lexan01.jpg" border="2"></td>
65 + </tr>
66 + <tr>
67 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
68 + </tr>
69 + <tr>
70 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 1.
71 +Electronics User Guides</font></b><font size="2"><br>
72 +<br>
73 +If you have the SSC-32 serial servo controller, please read through and understand the
74 + <a href="http://www.lynxmotion.com/images/html/build136.htm">SSC-32
75 +User Guide</a>.<br>
76 +If you have the SSC-32U USB servo controller, please read through and understand the <a href="http://www.lynxmotion.com/images/data/lynxmotion_ssc-32u_usb_user_guide.pdf%22" target="_blank">SSC-32U User Guide</a>.<br>
77 + </font></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2"><br>
78 + </font></b><font size="2">If you purchase the version with the
79 +BotBoarduino, read and understand the <a href="http://www.lynxmotion.com/images/html/build185.htm">BotBoarduino
80 +User Guide</a>.</font></font><br>
81 + <font face="Verdana, Helvetica, sans-serif"><font size="2">The
82 +QBK-02 uses the arduino software downloadable from <a href="https://www.lynxmotion.com/images/html/www.arduino.cc" target="blank" rel="nofollow">www.arduino.cc</a>.
83 + <br>
84 +This guide does not teach you how to use the Arduino programming language.<br>
85 + <br>
86 + </font></font> </td>
87 + <td style="text-align: center;"><img style="width: 320px; height: 240px;" alt="SSC-32" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc32.jpg" border="2"><br>
88 + <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure
89 +1 (SSC-32 Shown as example)</font></font><br>
90 + </td>
91 + </tr>
92 + <tr>
93 + <td style="vertical-align: top;"><br>
94 + </td>
95 + <td style="vertical-align: top;"><br>
96 + </td>
97 + </tr>
98 + <tr>
99 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 2
100 +(BotBoarduino and/or SSC-32).<br>
101 + </font></b><font size="2">If
102 +you have the SSC-32 (not SSC-32U) or a kit which uses the BotBoarduino, the robot will need
103 +a separate 9V battery. Both the top plate and bottom
104 +plates are
105 +identical. Place the small black rivet through the 9V metal clip and
106 +push down through one of the two inner holes as shown. It does not
107 +matter which side. This will become the bottom plate.<br>
108 +&nbsp;</font></font>
109 + <table border="0" >
110 + <tbody>
111 + <tr>
112 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>1 x</b></font></td>
113 + <td ><br>
114 + </td>
115 + </tr>
116 + <tr>
117 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/rivet-9V-clip.jpg" border="2" ></font></td>
118 + <td><br>
119 + </td>
120 + </tr>
121 + </tbody>
122 + </table>
123 + </td>
124 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-01.jpg" border="2" hspace="10" ><br>
125 + <font size="2">Figure 2 (SSC-32 and/or BotBoarduino)<br>
126 + </font></font></td>
127 + </tr>
128 + <tr>
129 + <td style="vertical-align: top;"><br>
130 + </td>
131 + <td style="vertical-align: top;"><br>
132 + </td>
133 + </tr>
134 + <tr>
135 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 3a (SSC-32 and/or BotBoarduino).<br>
136 + </font></b><font size="2">Use six 4-40 x 1/4" hex socket screws
137 +to attach the long aluminum spacers to the bottom body plate.<br>
138 +&nbsp;</font></font>
139 + <table border="0" >
140 + <tbody>
141 + <tr>
142 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x</b></font></td>
143 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x </b></font></td>
144 + </tr>
145 + <tr>
146 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td>
147 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/41875hns.gif" border="2" ></font></td>
148 + </tr>
149 + </tbody>
150 + </table>
151 + </td>
152 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-02.jpg" border="2" hspace="10" ><br>
153 + <font size="2">Figure 3a (SSC-32 and/or BotBoarduino).</font></font></td>
154 + </tr>
155 + <tr>
156 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb">
157 + </font></td>
158 + </tr>
159 + <tr>
160 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 3b (SSC-32U Alone).<br>
161 +
162 + </font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2">Use
163 +six 4-40 x 1/4" hex socket screws
164 +to attach the long aluminum spacers to the bottom body plate. Since the
165 +SSC-32U does not need a separate 9V battery, the 9V metal clip is not needed.</font></font><br>
166 + <font face="Verdana, Helvetica, sans-serif"><font size="2">
167 +
168 +&nbsp;</font></font>
169 +
170 +
171 + <table border="0" >
172 +
173 +
174 + <tbody>
175 +
176 + <tr>
177 +
178 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x</b></font></td>
179 +
180 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>6 x </b></font></td>
181 +
182 + </tr>
183 +
184 + <tr>
185 +
186 + <td ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></td>
187 +
188 + <td ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/41875hns.gif" border="2" ></td>
189 +
190 + </tr>
191 +
192 + </tbody>
193 +
194 +
195 + </table>
196 +<br>
197 + </td>
198 + <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="QBK" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-5.jpg" border="2" hspace="10"><br>
199 + <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 3b (SSC-32U Alone).</font></font><br>
200 +
201 + </td>
202 + </tr>
203 + <tr>
204 + <td style="vertical-align: top;"><br>
205 + </td>
206 + <td style="vertical-align: top;"><br>
207 + </td>
208 + </tr>
209 + <tr>
210 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4a (BotBoarduino).<br>
211 + </font></b><font size="2">If
212 +you purchased any kit which includes the BotBoarduino, follow this step, otherwise
213 +proceed to step 4b. Use the second (top) plate for this
214 +step. Use four 4-40 x 1/4" hex socket screws to attach the 1/4" long
215 +M/F plastic spacers to the plate. The M/F spacer is required because the
216 +electronics (SSC-32 / 32U) and the BotBoarduino will be stacked one on
217 +top of the other.<br>
218 +&nbsp;</font></font>
219 + <table border="0" >
220 + <tbody>
221 + <tr>
222 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
223 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x </b></font></td>
224 + </tr>
225 + <tr>
226 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td>
227 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4375hns2.gif" border="2" ></font></td>
228 + </tr>
229 + </tbody>
230 + </table>
231 + </td>
232 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-03.jpg" border="2" hspace="10" ><br>
233 + <font size="2">Figure 3 (M/F Spacer for BotBoarduino).</font></font></td>
234 + </tr>
235 + <tr>
236 + <td style="vertical-align: top;"><br>
237 + </td>
238 + <td style="vertical-align: top;"><br>
239 + </td>
240 + </tr>
241 + <tr>
242 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4b (SSC-32 or SSC-32U alone).<br>
243 + </font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2">If
244 +you
245 +purchased a kit with FlowBotics Studio (and therefore do not have a BotBoarduino), follow this step. Use the second (top)
246 +plate for this
247 +step. Use four 4-40 x 1/4" hex socket screws to attach the 1/4" long
248 +F/F plastic spacers to the plate. This F/F spacer is used because there
249 +will not be any additional electronics stacked above the servo controller.<br>
250 + <br>
251 +</font></font>
252 + <table border="0" >
253 +
254 +
255 + <tbody>
256 +
257 + <tr>
258 +
259 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
260 +
261 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x </b></font></td>
262 +
263 + </tr>
264 +
265 + <tr>
266 +
267 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td>
268 +
269 + <td ><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4375hns.gif" border="2" ></td>
270 +
271 + </tr>
272 +
273 + </tbody>
274 +
275 +
276 + </table>
277 + </td>
278 + <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-top-plate-b.jpg" border="2" hspace="10" ><br>
279 + <font face="Verdana, Helvetica, sans-serif">
280 + <font size="2">Figure 3 (F/F Spacer for BotBoarduino).</font></font></td>
281 + </tr>
282 + <tr>
283 + <td style="vertical-align: top;"><br>
284 + </td>
285 + <td style="vertical-align: top;"><br>
286 + </td>
287 + </tr>
288 +<tr>
289 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4a (SSC-32 and/or BotBoarduino).<br>
290 + </font></b><font size="2">Connect the 9V wiring harness and the
291 +servo (Tamiya) battery harness to the top plate. It does not matter which switch
292 +connects to which hole. The SSC-32U does not need the additional 9V wiring harness.<br>
293 +&nbsp;</font></font> </td>
294 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-04.jpg" border="2" hspace="10" ><br>
295 + <font size="2">Figure 4a (SSC-32 and/or BotBoarduino).</font></font></td>
296 + </tr>
297 + <tr>
298 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
299 + </tr>
300 + <tr>
301 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 4b (SSC-32U).<br>
302 + </font></b><font size="2">Connect
303 +only the battery harness to the top plate. It does not matter which hole you
304 +use. Note that the 9V wiring harness is not needed for the SSC-32U alone, so
305 +it is not included.<br>
306 + <br>
307 +</font></font></td>
308 + <td style="vertical-align: top; text-align: center;"><img style="width: 320px; height: 240px;" alt="QBK" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-3.jpg" border="2"><br>
309 + <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 4b (SSC-32U).</font></font><br>
310 + </td>
311 + </tr>
312 + <tr>
313 + <td style="vertical-align: top;"><br>
314 + </td>
315 + <td style="vertical-align: top;"><br>
316 + </td>
317 + </tr>
318 +<tr>
319 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 5.<br>
320 + </font></b><font size="2">Attach
321 +the legs as shown, making sure
322 +to use right / left legs as indicated. Figure 7c shows a top-down view. Note the symmetry along both
323 +axes (left side is a mirror of the right side). Use eight #2 x .250"
324 +tapping
325 +screws (two per servo). </font></font><font face="Verdana, Helvetica, sans-serif"><font size="2">The "rear" of the robot
326 +has the circular cutouts for the power connectors. </font></font><font face="Verdana, Helvetica, sans-serif"><font size="2">The
327 +legs should be at 45 degrees when the servo receives a 1500us pulse
328 +(legs at 90 degrees to each other as in figure 7c). If you are unsude
329 +how to do this, please
330 +refer back to the leg assembly guide. <br>
331 +&nbsp;</font></font>
332 + <table border="0" >
333 + <tbody>
334 + <tr>
335 + <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">8 x</font></b></td>
336 + <td ><b><font face="Verdana, Helvetica, sans-serif" size="2">&nbsp;</font></b></td>
337 + </tr>
338 + <tr>
339 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/2250phts.gif" border="2" ></font></td>
340 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/holes.gif" border="2" ></font></td>
341 + </tr>
342 + </tbody>
343 + </table>
344 + </td>
345 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-06.jpg" border="2" hspace="10" ><br>
346 + <font size="2">Figure 5.</font></font></td>
347 + </tr>
348 + <tr>
349 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
350 + </tr>
351 +
352 + <tr>
353 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 6a (BotBoarduino).
354 +</font></b></font><br>Mount the SSC-32 / SSC-32U onto the four hex
355 +spacers installed in step 4a. Orient the board with the SSC-32's
356 +connector facing the front
357 +of the robot (so as to not interfere with the switches). Use four 4-40
358 +x 1" hex spacers to attach the long aluminum spacers to the underside
359 +of the top body plate. These new spacers will be used&nbsp; to support
360 +the BotBoarduino. <font face="Verdana, Helvetica, sans-serif" size="2">If you purchased or have the optional PS2 expansion plate, use the four 1" M/F
361 +standoffs included with that kit. </font>Wiring will be explained in the next steps.<br>&nbsp;<table border="0" >
362 +
363 + <tbody>
364 + <tr>
365 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
366 + </tr>
367 + <tr>
368 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/41000hns.jpg" border="2" ></font></td>
369 + </tr>
370 + </tbody>
371 + </table><br></td>
372 + <td style="vertical-align: top; text-align: center;"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-12.jpg" border="2" hspace="10" ><br>
373 + </font><font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 6a (Kits w/BotBoarduino).</font></font><br>
374 + </td>
375 + </tr>
376 + <tr>
377 + <td style="vertical-align: top;"><br>
378 + </td>
379 + <td style="vertical-align: top;"><br>
380 + </td>
381 + </tr>
382 + <tr>
383 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 6b (FlowBotics).</font></b></font><br>If
384 +you have a version of a kit which only has a servo controller (ex
385 +FlowBotics kits), mount the SSC-32 / SSC-32U onto the four hex spacers
386 +installed in step 4b.
387 +Use four 4-40 x 1" hex spacers to attach the long aluminum spacers to
388 +the underside of the top body plate.Wiring will be explained in the next steps. <br><br><table style="width: 50%;" border="0">
389 +
390 + <tbody>
391 +
392 + <tr>
393 +
394 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
395 +
396 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b> </b></font><br>
397 +</td>
398 +
399 + </tr>
400 +
401 + <tr>
402 +
403 + <td style="width: 50%;"><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td>
404 +
405 + <td style="width: 50%;"><font face="Verdana, Helvetica, sans-serif"><br>
406 +</font></td>
407 +
408 + </tr>
409 +
410 + </tbody>
411 +
412 +</table></td>
413 + <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/quadrapod-6.jpg" border="2" ><br>
414 + <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 6b (SSC-32 or SSC-32U).</font></font><br>
415 +
416 + </td>
417 + </tr>
418 + <tr>
419 + <td style="vertical-align: top;"><br>
420 + </td>
421 + <td style="vertical-align: top;"><br>
422 + </td>
423 + </tr>
424 +<tr>
425 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 6.</font></b><font size="2"><br>In
426 +preparation for connecting the wires, here are some general guidelines
427 +when inserting wires into the screw terminals. Use a ~2mm wide flat
428 +blade screw driver. Rotate
429 +the screw both directions looking into the end of the terminal. When
430 +you see it open up (moving downwards), keep turning until it is open
431 +completely. Wrap / twist the wires by hand to ensure they are aligned
432 +as in Figure 6. Be sure that the wires are fully inserted into the
433 +terminals and that <b>no stray wires touch each other between terminals</b>
434 +as this is a short and can cause the battery to discharge rapidly,
435 +causing heat and possibly fire. <b>DOUBLE CHECK THE RED AND BLACK WIRE
436 +CONNECTED TO THE SCREW TERMINALS</b> - the red wire should go to (+)
437 +and the black wire to (-), if they are reversed, the servos and the
438 +board will be damaged. </font></font><font face="Verdana" size="2">&nbsp;</font>
439 + <p>&nbsp; </p>
440 + </td>
441 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/wiring.jpg" border="2" hspace="10" ><br>
442 + <font size="2">Figure 6 (top shows open screw terminal, bottom shows closed).</font></font></td>
443 + </tr>
444 + <tr>
445 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb">
446 + </font></td>
447 + </tr>
448 + </tbody>
449 +</table>
450 +
451 +<font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7a (BotBoarduino + SSC-32 + PS2 v2).<br>
452 +</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2">This
453 +step applies if you purchased the BotBoarduino version of the SQ3 with
454 +the SSC-32 serial servo controller. The PS2 controller is optional (PS2
455 +mounting plate suggested). Attach the power cables as shown in Figure
456 +7a. Connect the servos to the SSC-32; refer to step 8 and 9
457 +below. Once all servos have been connected (having followed steps 8 and
458 +9), connect the loose power cable from the SSC-32's VL terminal to the
459 +BotBoarduino's VL terminal. We suggest wiring everything with the
460 +BotBoarduno loose, and only attaching it to the spacers at a later
461 +step. <b>DOUBLE CHECK THE RED AND BLACK WIRE
462 +CONNECTED TO THE SCREW TERMINALS</b> - the red wire should go to (+)
463 +and the black wire to (-), if they are reversed, the servos and the
464 +board will be damaged. </font><br>
465 +<p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/botboarduino-ssc-32-ps2-connections.jpg" border="0" hspace="10" ><br>
466 +&nbsp;<br>
467 +<font face="Verdana, Helvetica, sans-serif" size="2">Figure 7a.
468 +BotBoarduino - SSC-32 - PS2 v2</font></p>
469 +
470 +<font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7b (BotBoarduino + SSC-32U + PS2 v2/3).<br>
471 +</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2">This step applies if you purchased the BotBoarduino version of the SQ3 with the SSC-32U USB servo controller. </font><font face="Verdana, Helvetica, sans-serif" size="2">The PS2 controller is optional. </font><font face="Verdana, Helvetica, sans-serif" size="2">Install the SSC-32U onto the body onto the standoffs shown in step 4, and secure using four 1/4" 4-40 hex standoffs.
472 +Connect the serial to XBee breakout board's positive pin to pin C (+)
473 +on the SSC-32 and the negative pin to pin D (-) on the SSC-32. Notice
474 +the Baud rate jumper is set to 9600. You can install the power
475 +switch(es) to the body in the holes at the rear of the robot. <b>DOUBLE
476 +CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS</b>
477 +- the
478 +red wire should go to (+) and the black wire to (-), if they are
479 +reversed, the servos and the board will be damaged. Change the jumper
480 +located behind the screw terminals to EXT rather than USB (so the logic
481 +voltage is powered via the 9V battery rather than the USB cable).
482 +Remove the VL=VS jumper.</font><br>
483 +<div style="text-align: center;"><img style="width: 600px;" alt="BotBoarduino + SSC-32U + PS2v3" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32u-botboarduino-ps2.png"><br>
484 +<font face="Verdana, Helvetica, sans-serif" size="2">Figure 7b.
485 +BotBoarduino - SSC-32U - PS2 v3</font><br>
486 +</div>
487 +<font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7c (SSC-32 + Bluetooth).<br>
488 +</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2">This
489 +approach applies if you plan to control the robot
490 +from the computer using a Bluetooth device (as is the case with
491 +FlowBotics Studio). Attach the power cables as shown in Figure 7b.
492 +Install the SSC-32 onto the body using four 1/4" x 4-40 hex screws.
493 +Connect the serial to XBee breakout board's positive pin to pin C (+)
494 +on the SSC-32 and the negative pin to pin D (-) on the SSC-32. Remove
495 +the Baud jumper to set the Baud rate to 9600. You can install the power
496 +switch(es) to the body in the holes at the rear of the robot. <b>DOUBLE
497 +CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS</b> - the
498 +red wire should go to (+) and the black wire to (-), if they are
499 +reversed, the servos and the board will be damaged.</font><br>
500 +<p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32-bluetooth.jpg" border="0" hspace="10" ><br>
501 +&nbsp;<br>
502 +<font face="Verdana, Helvetica, sans-serif" size="2">Figure 7c. SSC-32
503 +- Bluetooth<br>
504 +</font></p>
505 +
506 +<font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 7d (SSC-32U + Bluetooth).<br>
507 +</font></b></font><font face="Verdana, Helvetica, sans-serif" size="2"> This approach applies if you plan to control the robot
508 +from the computer using a Bluetooth device (as is the case with
509 +FlowBotics Studio). Attach the power cables as shown in Figure 7b.
510 +Install the SSC-32 onto the body using four 1/4" x 4-40 hex screws.
511 +Connect the serial to XBee breakout board's positive pin to pin C (+)
512 +on the SSC-32 and the negative pin to pin D (-) on the SSC-32. The power
513 +switch(es) should be connected to the body using the holes at the rear of the robot. <b>DOUBLE
514 +CHECK THE RED AND BLACK WIRE CONNECTED TO THE SCREW TERMINALS</b> - the
515 +red wire should go to (+) and the black wire to (-), if they are
516 +reversed, the servos and the board will be damaged.</font><br>
517 +<div style="text-align: center;"><img style="width: 600px;" alt="SSC-32U + Bluetooth" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/ssc-32u-bluetooth.jpg"><br>
518 +<font face="Verdana, Helvetica, sans-serif" size="2">Figure 7d. SSC-32U - Bluetooth</font><br>
519 +</div>
520 +<font face="Verdana, Helvetica, sans-serif" size="2">
521 +</font>
522 +<table border="0" cellpadding="0" cellspacing="0" >
523 +
524 + <tbody>
525 +
526 + <tr>
527 + </tr>
528 + <tr>
529 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb">
530 + </font></td>
531 + </tr>
532 + <tr>
533 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 8.<br>
534 + </font></b><font size="2">Plug the servos into the SSC-32 as
535 +shown in figure 9 with the yellow signal wire towards the inside of the
536 +board. Simply plug in the servo associated with the function to the
537 +corresponding pin (see step 9). Once again, be sure the black wire is
538 +near the outside of the board and the yellow wire is near the center of
539 +the board as shown in figure 8. Proper cable routing can be done later.</font></font></td>
540 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"> <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/base17.jpg"><br>
541 + <font size="2">Figure 8.</font></font></td>
542 + </tr>
543 + <tr>
544 + <td colspan="2" align="left" valign="top" >
545 + <p align="left"><font face="Verdana, Helvetica, sans-serif" size="2"><b>Step 9.</b><br>
546 + </font> <font face="Verdana, Helvetica, sans-serif" size="2">Double
547 +check your connections against the figure below. Be sure that red wires
548 +go to positive (+) and black wires go to negative (-). Also be sure
549 +that your jumpers are connected the exact same way as detailed above.
550 +Note that the VL=VS jumper on the SSC-32 is removed, as are the Tx and
551 +Rx jumpers. Depending on the configuration and code, you may also need
552 +to change the baud rate jumpers. The sample code for the BotBoarduino
553 +uses 38.4 baud, whereas in order to use the Bluetooth module, the Baud rate
554 +needs to be set to 9600. Note that the wiring from the SSC-32's Tx / Rx
555 +pins to the BotBoarduino's pins are NOT in line - the red / center /
556 +power pin needs to be removed and connected to pin 12 on the
557 +BotBoarduino.<br>
558 +&nbsp;</font><br>
559 + </p>
560 + <p align="center"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/sq3-servo-setup.jpg" border="0" hspace="10" ><br>
561 +&nbsp;<br>
562 + <font face="Verdana, Helvetica, sans-serif" size="2">Figure 7c.
563 +Servo wiring to SSC-32 / SSC-32U<br>
564 +</font></p>
565 + </td>
566 + </tr>
567 + <tr>
568 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif" size="2"><br class="pb">
569 + </font></td>
570 + </tr>
571 + <tr>
572 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
573 + </tr>
574 + <tr>
575 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 10 (SSC-32 and/or BotBoarduino).
576 +<br>
577 + </font></b><font size="2">If you have a kit with an SSC-32
578 +and/or BotBoarduino, connect a fresh / charged 9v battery to the
579 +battery
580 +clip to power the electronics and turn the On/Off switch to On. You
581 +should see the green LED in the upper right corner of the SSC-32 switch
582 +on. There is also a power LED on the BotBoarduino. If you have an
583 +SSC-32U alone, turn On the switch to power (and test) the board.</font></font>
584 +
585 + <br>
586 +<p><font face="Verdana, Helvetica, sans-serif" size="2"><b>If
587 +these LEDs do not switch on, IMMEDIATELY power off your robot and
588 +double check your connections.</b></font></p>
589 + <p>Turn this switch off.<br>
590 + </p>
591 +
592 + </td>
593 + </tr>
594 + <tr>
595 + <td colspan="2" align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif">&nbsp;</font></td>
596 + </tr>
597 + <tr>
598 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 11a</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2"> (SSC-32 and/or BotBoarduino)</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">.&nbsp;<br>
599 + </font></b><font size="2">Connect the 6V battery pack to the
600 +battery harness to power the servos. Flip the switch to turn the servo
601 +power on. <b><br>
602 + <br>
603 +The LEDs should NOT switch on this time (since the logic switch to the 9V battery is off). <br>
604 +If they do turn ON, </b></font></font>
605 + <font face="Verdana, Helvetica, sans-serif" size="2"><b>
606 +immediately power off your robot and double check your connections.</b></font>
607 + <p><font face="Verdana, Helvetica, sans-serif" size="2">Note, our
608 +battery packs do NOT come charged. You will need to charge your battery
609 +before proceeding to the next tutorial. View <a href="http://www.lynxmotion.net/viewtopic.php?f=26&amp;t=5715#p57728">this
610 +page</a> for some tips. <br>
611 + </font> </p>
612 + </td>
613 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/batteryc.jpg" border="2" hspace="10" ><br>
614 + <font size="2">Figure 11.<br>
615 + <br>
616 + </font></font></td>
617 + </tr>
618 +
619 + <tr>
620 + <td style="vertical-align: top;"><br>
621 + </td>
622 + <td style="vertical-align: top;"><br>
623 + </td>
624 + </tr>
625 + <tr>
626 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 11b</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2"> (SSC-32U)</font></b></font><font face="Verdana, Helvetica, sans-serif"><b><font size="2">.&nbsp;<br>
627 + </font></b><font size="2">Connect the 6V battery pack to the
628 +battery harness to power the servos. Flip the switch to turn the servo
629 +power (the switch to the 9V battery should be OFF). <b><br>
630 +<br>
631 +The LEDs should NOT switch on (since the logic switch to the 9V battery is off). <br>
632 +If they do turn ON, </b></font></font>
633 + <font face="Verdana, Helvetica, sans-serif" size="2"><b>
634 +immediately power off your robot and double check your connections.</b></font>
635 + <font face="Verdana, Helvetica, sans-serif" size="2"><br>
636 + <br>
637 +If they did not turn on, now turn off the servo power and thrn on the
638 +logic power (9V). The LEDs should turn on, and the servos should not
639 +move.<br>
640 + <br>
641 +Note, our
642 +battery packs do NOT come charged. You will need to charge your battery
643 +before proceeding to the next tutorial. View <a href="http://www.lynxmotion.net/viewtopic.php?f=26&amp;t=5715#p57728">this
644 +page</a> for some tips. </font></td>
645 + <td style="vertical-align: top;"><br>
646 + </td>
647 + </tr>
648 + <tr>
649 + <td style="vertical-align: top;"><br>
650 + </td>
651 + <td style="vertical-align: top;"><br>
652 + </td>
653 + </tr>
654 +<tr>
655 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 12 (BotBoarduino).<br>
656 + </font></b><font size="2">If your kit includes a BotBoarduino, use
657 +four 4-40 x 1/4" hex socket screws
658 +to mount the BotBoarduino to the hex spacers in the orientation shown,
659 +on top of the SSC-32. The figure does not show the wiring for clarity.
660 +If you have the optional PS2 mounting plate, follow those guidelines
661 +for assembly. Be sure to have the <br>
662 + <br>
663 + </font></font>
664 + <table border="0" >
665 + <tbody>
666 + <tr>
667 + <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td>
668 + </tr>
669 + <tr>
670 + <td ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/4250hscs.gif" border="2" ></font></td>
671 + </tr>
672 + </tbody>
673 + </table>
674 + </td>
675 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-13.jpg" border="2" hspace="10" ><br>
676 + <font size="2">Figure 12. Mount the BotBoarduino<br>
677 +(wires removed for clarity)<br>
678 + </font></font></td>
679 + </tr>
680 + <tr>
681 + <td style="vertical-align: top;"><br>
682 + </td>
683 + <td style="vertical-align: top;"><br>
684 + </td>
685 + </tr>
686 +<tr>
687 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 13a (SSC-32).<br>
688 + </font></b><font size="2">It is likely that when you assembled
689 +the legs, the positions were not exactly at 90 degrees (though be sure to get them as close as you can). You have two
690 +options to fine tune the angle of each of the servos, the first of which is to use
691 +the old <a href="http://www.lynxmotion.com/p-567-free-download-lynxterm.aspx" target="_blank">Lynxterm software</a>.
692 +Download and install Lynxterm. Lynxterm needs a physical connection to
693 +the computer and as such cannot use the Bluetooth module. If your
694 +computer does not have a serial port, you will need a serial to USB
695 +adapter.<br>
696 + <br>
697 +Disconnect the SSC-32 from the BotBoarduino and reinstall
698 +the Tx / Rx jumpers, as well as both Baud jumpers (so the baud rate is
699 +at 115200).
700 +Power the SSC-32 (both VL and VS), open Lynxterm, select the correct
701 +COM port and click "All=1500". The servos should all move to 90
702 +degrees. Next, click "Reg." and in the new window, click "Read".
703 +Position each servo to exactly 90 degrees by using either the slider or
704 +by typing in the offset (changing the Channel at the right of the
705 +window for each servo used). Once this is done, click "Write", which
706 +then
707 +modified the firmware on the SSC-32. <br>
708 + <br>
709 + </font></font> </td>
710 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/lynxterm.jpg" border="2" hspace="10" ><br>
711 + <font size="2">Figure 13a. Lynxterm <br>
712 + </font></font></td>
713 + </tr>
714 +
715 +
716 + <tr>
717 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2"></font></b></font><font face="Verdana, Helvetica, sans-serif"><font size="2"><br>
718 +</font></font></td>
719 + <td style="vertical-align: top;"><br>
720 + </td>
721 + </tr>
722 + <tr>
723 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 13c (SSC-32U).<br>
724 + </font></b><font size="2">If you have the SSC-32U alone, you can calibrate / fine tune each joint using the <a href="http://www.lynxmotion.com/p-895-free-download-ssc-32-servo-sequencer-utility-created-using-flowbotics-studio.aspx" target="_blank">SSC-32 Servo Sequencer Utility</a>
725 +(download and install). Note that fora quadruped to walk properly, the
726 +legs must be close to perfectly tuned. Connect the SSC-32U to the
727 +computer via USB (if you have the Bluetooth module installed, you can
728 +connect via Bluetooth; the green light on the Bluetooth will become
729 +solid once a
730 +connection has been established). By default, only four servos are
731 +active within the utility software. Check off all servos marked in
732 +figure 7c within the software in order to activate them.<br>
733 + <br>
734 +Click the "configure" button towards the bottom right of the window and
735 +a
736 +knob will appear next to each servo. To
737 +position each of the servos to exactly 90 degrees, click the knob and
738 +drag it up and down to offset that servo's position. Do this for each
739 +servo until their position is exactly at 90 degrees. Once all servos
740 +have been adjusted to correct any small mechanical offset, press
741 +"calibrate"
742 +once again and the ofsets will be saved to the board.<br>
743 + <br>
744 +</font></font><font face="Verdana, Helvetica, sans-serif"><font size="2">The servo
745 +calibration can also be done via FlowBotics Studio, though the
746 +calibration is saved on the specific computer as opposed to the SSC-32U.</font></font><br>
747 +</td>
748 + <td style="vertical-align: top; text-align: center;"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/RB-Dsp-07.jpg" border="1"><br>
749 + <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 14 (SSC-32 Utility).</font></font><br></td>
750 + </tr>
751 + <tr>
752 + <td style="vertical-align: top;"><br>
753 + </td>
754 + <td style="vertical-align: top;"><br>
755 + </td>
756 + </tr>
757 +<tr>
758 + <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 14.<br>
759 + </font></b><font size="2">The robot should now be wired
760 +and calibrated correctly, but with wires going everywhere. It is now a matter of
761 +cleanly routing the cables. You can unplug and re-plug the wires as needed,
762 +especially for the servos, and well as run them through the body and
763 +brackets. Be certain to reconnect the correctly and leave enough length so each joint in the legs
764 +are able to move freely and reach all positions and do not get pinched
765 +by the brackets or servos. Use the cable ties provided in the kit to
766 +connect the wires together. Alternatively, black electrical tape or
767 +wire wrap also look nice. <br>
768 + <br>
769 +Ensure the main 6V battery is perfectly centered inside the body to ensure the
770 +robot walks properly.<br>
771 + <br>
772 + </font></font>
773 + </td>
774 + <td align="center" valign="top" ><font face="Verdana, Helvetica, sans-serif"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-quadrapods/quadrapod-qbk-02/WebHome/qbk-02-assembly-finished.jpg" border="2" hspace="10" ><br>
775 + <font size="2">Figure 14 (Optional PS2 receiver and PS2 mounting plate)</font></font></td>
776 + </tr><tr>
777 + <td style="vertical-align: top;"><br>
778 + </td>
779 + <td style="vertical-align: top;"><br>
780 + </td>
781 + </tr>
782 + <tr>
783 + <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 15.<br>
784 + </font></b><font size="2"><br>
785 +If you purchase a kit which uses the BotBoarduino, sample code (based on PS2 control) can be found <a href="https://github.com/Lynxmotion/Quadrupeds" target="_blank">here</a>.<br>
786 +If you have difficulties installing the library or code, please refer to www.arduino.cc for additional information.<br>
787 + <br>
788 +If you purchased a kit which uses FlowBotics Studio, you can install and run FlowBotics Studio and open the quadruped project.<br>
789 +</font></font></td>
790 + <td style="vertical-align: top;"><br>
791 + </td>
792 + </tr>
793 +
794 + </tbody>
795 +</table>
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