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1 1  {{html wiki="false" clean="true"}}
2 -<table border="0" cellpadding="0" cellspacing="0" >
3 3  
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>
796 796  {{/html}}
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