Changes for page Quadruped QBK-02 Symmetric Robot Kit Assembly Instructions Rev. 1
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... ... @@ -1,794 +1,3 @@ 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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/polycarbonate-info-page/" 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"> </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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-manual/">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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/ssc-32u/WebHome/lynxmotion_ssc-32u_usb_user_guide.pdf" 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="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/botboarduino-manual/">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 - </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 - </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 - </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 - </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 - </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"> </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 - </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"> </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"> </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 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> <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"> </font> 439 - <p> </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 - <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 - <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 - </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 - <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"> </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"> </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">. <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.<br> 610 - </font> </p> 611 - </td> 612 - <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> 613 - <font size="2">Figure 11.<br> 614 - <br> 615 - </font></font></td> 616 - </tr> 617 - 618 - <tr> 619 - <td style="vertical-align: top;"><br> 620 - </td> 621 - <td style="vertical-align: top;"><br> 622 - </td> 623 - </tr> 624 - <tr> 625 - <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">. <br> 626 - </font></b><font size="2">Connect the 6V battery pack to the 627 -battery harness to power the servos. Flip the switch to turn the servo 628 -power (the switch to the 9V battery should be OFF). <b><br> 629 -<br> 630 -The LEDs should NOT switch on (since the logic switch to the 9V battery is off). <br> 631 -If they do turn ON, </b></font></font> 632 - <font face="Verdana, Helvetica, sans-serif" size="2"><b> 633 -immediately power off your robot and double check your connections.</b></font> 634 - <font face="Verdana, Helvetica, sans-serif" size="2"><br> 635 - <br> 636 -If they did not turn on, now turn off the servo power and thrn on the 637 -logic power (9V). The LEDs should turn on, and the servos should not 638 -move.<br> 639 - <br> 640 -Note, our 641 -battery packs do NOT come charged. You will need to charge your battery 642 -before proceeding to the next tutorial. </font></td> 643 - <td style="vertical-align: top;"><br> 644 - </td> 645 - </tr> 646 - <tr> 647 - <td style="vertical-align: top;"><br> 648 - </td> 649 - <td style="vertical-align: top;"><br> 650 - </td> 651 - </tr> 652 -<tr> 653 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 12 (BotBoarduino).<br> 654 - </font></b><font size="2">If your kit includes a BotBoarduino, use 655 -four 4-40 x 1/4" hex socket screws 656 -to mount the BotBoarduino to the hex spacers in the orientation shown, 657 -on top of the SSC-32. The figure does not show the wiring for clarity. 658 -If you have the optional PS2 mounting plate, follow those guidelines 659 -for assembly. Be sure to have the <br> 660 - <br> 661 - </font></font> 662 - <table border="0" > 663 - <tbody> 664 - <tr> 665 - <td ><font face="Verdana, Helvetica, sans-serif" size="2"><b>4 x</b></font></td> 666 - </tr> 667 - <tr> 668 - <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> 669 - </tr> 670 - </tbody> 671 - </table> 672 - </td> 673 - <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> 674 - <font size="2">Figure 12. Mount the BotBoarduino<br> 675 -(wires removed for clarity)<br> 676 - </font></font></td> 677 - </tr> 678 - <tr> 679 - <td style="vertical-align: top;"><br> 680 - </td> 681 - <td style="vertical-align: top;"><br> 682 - </td> 683 - </tr> 684 -<tr> 685 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 13a (SSC-32).<br> 686 - </font></b><font size="2">It is likely that when you assembled 687 -the legs, the positions were not exactly at 90 degrees (though be sure to get them as close as you can). You have two 688 -options to fine tune the angle of each of the servos, the first of which is to use 689 -the old <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/lynxterm/" target="_blank">Lynxterm software</a>. 690 -Download and install Lynxterm. Lynxterm needs a physical connection to 691 -the computer and as such cannot use the Bluetooth module. If your 692 -computer does not have a serial port, you will need a serial to USB 693 -adapter.<br> 694 - <br> 695 -Disconnect the SSC-32 from the BotBoarduino and reinstall 696 -the Tx / Rx jumpers, as well as both Baud jumpers (so the baud rate is 697 -at 115200). 698 -Power the SSC-32 (both VL and VS), open Lynxterm, select the correct 699 -COM port and click "All=1500". The servos should all move to 90 700 -degrees. Next, click "Reg." and in the new window, click "Read". 701 -Position each servo to exactly 90 degrees by using either the slider or 702 -by typing in the offset (changing the Channel at the right of the 703 -window for each servo used). Once this is done, click "Write", which 704 -then 705 -modified the firmware on the SSC-32. <br> 706 - <br> 707 - </font></font> </td> 708 - <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> 709 - <font size="2">Figure 13a. Lynxterm <br> 710 - </font></font></td> 711 - </tr> 712 - 713 - 714 - <tr> 715 - <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> 716 -</font></font></td> 717 - <td style="vertical-align: top;"><br> 718 - </td> 719 - </tr> 720 - <tr> 721 - <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 13c (SSC-32U).<br> 722 - </font></b><font size="2">If you have the SSC-32U alone, you can calibrate / fine tune each joint using the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-software/ssc-32-sequencer/" target="_blank">SSC-32 Servo Sequencer Utility</a> 723 -(download and install). Note that fora quadruped to walk properly, the 724 -legs must be close to perfectly tuned. Connect the SSC-32U to the 725 -computer via USB (if you have the Bluetooth module installed, you can 726 -connect via Bluetooth; the green light on the Bluetooth will become 727 -solid once a 728 -connection has been established). By default, only four servos are 729 -active within the utility software. Check off all servos marked in 730 -figure 7c within the software in order to activate them.<br> 731 - <br> 732 -Click the "configure" button towards the bottom right of the window and 733 -a 734 -knob will appear next to each servo. To 735 -position each of the servos to exactly 90 degrees, click the knob and 736 -drag it up and down to offset that servo's position. Do this for each 737 -servo until their position is exactly at 90 degrees. Once all servos 738 -have been adjusted to correct any small mechanical offset, press 739 -"calibrate" 740 -once again and the ofsets will be saved to the board.<br> 741 - <br> 742 -</font></font><font face="Verdana, Helvetica, sans-serif"><font size="2">The servo 743 -calibration can also be done via FlowBotics Studio, though the 744 -calibration is saved on the specific computer as opposed to the SSC-32U.</font></font><br> 745 -</td> 746 - <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> 747 - <font face="Verdana, Helvetica, sans-serif"><font size="2">Figure 14 (SSC-32 Utility).</font></font><br></td> 748 - </tr> 749 - <tr> 750 - <td style="vertical-align: top;"><br> 751 - </td> 752 - <td style="vertical-align: top;"><br> 753 - </td> 754 - </tr> 755 -<tr> 756 - <td align="left" valign="top" ><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 14.<br> 757 - </font></b><font size="2">The robot should now be wired 758 -and calibrated correctly, but with wires going everywhere. It is now a matter of 759 -cleanly routing the cables. You can unplug and re-plug the wires as needed, 760 -especially for the servos, and well as run them through the body and 761 -brackets. Be certain to reconnect the correctly and leave enough length so each joint in the legs 762 -are able to move freely and reach all positions and do not get pinched 763 -by the brackets or servos. Use the cable ties provided in the kit to 764 -connect the wires together. Alternatively, black electrical tape or 765 -wire wrap also look nice. <br> 766 - <br> 767 -Ensure the main 6V battery is perfectly centered inside the body to ensure the 768 -robot walks properly.<br> 769 - <br> 770 - </font></font> 771 - </td> 772 - <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> 773 - <font size="2">Figure 14 (Optional PS2 receiver and PS2 mounting plate)</font></font></td> 774 - </tr><tr> 775 - <td style="vertical-align: top;"><br> 776 - </td> 777 - <td style="vertical-align: top;"><br> 778 - </td> 779 - </tr> 780 - <tr> 781 - <td style="vertical-align: top;"><font face="Verdana, Helvetica, sans-serif"><b><font size="2">Step 15.<br> 782 - </font></b><font size="2"><br> 783 -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> 784 -If you have difficulties installing the library or code, please refer to www.arduino.cc for additional information.<br> 785 - <br> 786 -If you purchased a kit which uses FlowBotics Studio, you can install and run FlowBotics Studio and open the quadruped project.<br> 787 -</font></font></td> 788 - <td style="vertical-align: top;"><br> 789 - </td> 790 - </tr> 791 - 792 - </tbody> 793 -</table> 794 794 {{/html}}
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