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... ... @@ -1,707 +1,3 @@ 1 1 {{html wiki="false" clean="true"}} 2 -<body><table border="0" cellpadding="0" cellspacing="0" > 3 - <tbody><tr> 4 - <td valign="top" align="left"><b><font size="2" face="Verdana">A4WD1 & AL5 Arm Tutorial for PS2 Control v2.0</font></b> 5 - <p><b><font size="2" face="Verdana">Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" --> 6 - <!-- #BeginDate format:Am3 -->12/20/2011<!-- #EndDate --> 7 - </font></b></p> 8 - <p><font face="Verdana" size="2"><b>Safety first! </b>Wear eye protection and never touch a powered robot!</font></p> 9 - <p><font size="2" face="Verdana">Note: This guide follows the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/wheeled-tracked/alum-4wd-chassis/" target="_blank">A4WD1</a> 10 - and <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/" target="_blank">AL5 arm</a> assembly guides. The Sabertooth has already been 11 - installed.</font></p> 12 - <p><font size="2" face="Verdana"><b>Software:<br> 13 - </b> - Basic Micro Studio<br> 14 - -- Differential / Tank Mode test program (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/a4wd1tst2.zip">download</a>)<br> 15 - -- Throttle / Steering Mode test program (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/a4wd1tst1.zip">download</a>)<br> 16 - -- Arm offset finder program (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/offsetv2.zip">download</a>)<br> 17 - -- PS2 A4WD1 & AL5 arm program v1.2 (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/rover_v1.2.zip">download</a>)</font></p></td> 18 - <td align="center" valign="top" width="320"><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/a4wd102.jpg" border="2" hspace="10" width="320" height="240"><br> 19 - <b>Image of A4WD1.</b></font></td> 20 - </tr> 21 - <tr> 22 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font> 23 - <hr width="95%" color="#808080"> 24 - </td> 25 - </tr> 26 - <tr> 27 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 28 - </tr> 29 - <tr> 30 - <td valign="top" align="left"><b><font size="2" face="Verdana">Step 1. Mounting the Bot Board II</font></b><font size="2" face="Verdana"><br> 31 - Add the four standoffs for the Bot Board II to the robot's top panel as shown. Use four .250" hex socket head screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 32 - </font> 33 - <table border="0" > 34 - <tbody><tr> 35 - <td ><font size="2" face="Verdana"><b>4 x</b></font></td> 36 - <td ><font size="2" face="Verdana"><b>4 x</b></font></td> 37 - </tr> 38 - <tr> 39 - <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/4250hscs.gif" width="160" height="96"></b></font></td> 40 - <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/4375hns.gif" width="160" height="96"></b></font></td> 41 - </tr> 42 - </tbody></table> 43 - </td> 44 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/a4wd1p01.jpg" border="2" hspace="10" width="320" height="240"><br> 45 - Figure 1.</font></td> 46 - </tr> 47 - <tr> 48 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 49 - </tr> 50 - <tr> 51 - <td valign="top" align="left"><b><font size="2" face="Verdana">Step 2.</font></b><font size="2" face="Verdana"><br> 52 - Install the Bot Board as shown, using four of the .250" 4-40 screws. Install the Atom Pro chip as shown.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br> 53 - </font> 54 - <table border="0" > 55 - <tbody><tr> 56 - <td ><font size="2" face="Verdana"><b>4 x</b></font></td> 57 - <td ><font size="2" face="Verdana"><b>Atom Pro Orientation:</b></font></td> 58 - </tr> 59 - <tr> 60 - <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/4250hscs.gif" width="160" height="96"></b></font></td> 61 - <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/aproinst.gif" width="160" height="96"></b></font></td> 62 - </tr> 63 - </tbody></table> 64 - </td> 65 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/a4wd1p02.jpg" border="2" hspace="10" width="320" height="240"><br> 66 - Figure 2.</font></td> 67 - </tr> 68 - <tr> 69 - <td valign="top" align="left" colspan="2"><br class="pb"> 70 - </td> 71 - </tr> 72 - <tr> 73 - <td valign="top" align="left"><font size="2" face="Verdana"><b>Step 3. Connecting Sabertooth to Bot Board II</b><br> 74 - The Sabertooth 2x10 R/C was primarily designed to be connected to a remote control receiver. It has a BEC (battery elimination circuit) that 75 - puts 5vdc on the red wires to power the receiver. Because the Bot Board II has its own power supply, it is necessary to bypass the BEC.</font> 76 - <p><font size="2" face="Verdana">Use an exacto knife to <b>carefully</b> pry the black tab up and slip the red wire out of the black housing as 77 - shown in Figure 3.</font></p> 78 - <p><font size="2" face="Verdana">Bend the red wires up and use electrical tape to cover them as shown. This will prevent accidental shorts.</font></p> 79 - </td> 80 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/stbec.jpg" border="2" hspace="10" width="320" height="240"><br> 81 - Figure 3.</font></td> 82 - </tr> 83 - <tr> 84 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 85 - </tr> 86 - <tr> 87 - <td valign="top" align="left"><b><font size="2" face="Verdana">Step 4.</font></b><font size="2" face="Verdana"><br> 88 - Refer to Table 4 and the schematic (Figure 4) for Bot Board II and Sabertooth wiring connections. Double check your wiring. Make sure the red 89 - battery wire goes to the (+) terminal!</font></td> 90 - <td align="center" valign="top" > 91 - <div align="center"> 92 - <center> 93 - <table border="0"> 94 - <tbody><tr> 95 - <td > 96 - <table border="1" bordercolor="#000000" width="320"> 97 - <tbody><tr> 98 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers 99 - & Connections</font></td> 100 - </tr> 101 - <tr> 102 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 103 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6vdc battery to VS</font></td> 104 - </tr> 105 - <tr> 106 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td> 107 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td> 108 - </tr> 109 - <tr> 110 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td> 111 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">A, B, C Button</font></td> 112 - </tr> 113 - <tr> 114 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 115 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VS to VL</font></td> 116 - </tr> 117 - <tr> 118 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth 119 - Connections</font></td> 120 - </tr> 121 - <tr> 122 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 123 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">12vdc battery</font></td> 124 - </tr> 125 - <tr> 126 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch1</font></td> 127 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot Board II P10</font></td> 128 - </tr> 129 - <tr> 130 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch2</font></td> 131 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot Board II P11</font></td> 132 - </tr> 133 - </tbody></table> 134 - </td> 135 - </tr> 136 - <tr> 137 - <td > 138 - <p align="center"><font size="2" face="Verdana">Table 4</font></p></td> 139 - </tr> 140 - </tbody></table> 141 - </center> 142 - </div> 143 - </td> 144 - </tr> 145 - <tr> 146 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 147 - </tr> 148 - <tr> 149 - <td valign="top" align="left"><font size="2" face="Verdana"><b>Step 5.</b><br> 150 - Set the Sabertooth switches to the settings listed in Table 5 and Figure 5.<br> 151 - </font> 152 - <div align="center"> 153 - <center> 154 - <table border="0"> 155 - <tbody><tr> 156 - <td > 157 - <table border="1" bordercolor="#000000" width="250"> 158 - <tbody><tr> 159 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth 160 - Settings</font></td> 161 - </tr> 162 - <tr> 163 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">1</font></td> 164 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Enable Independent Control</font></td> 165 - </tr> 166 - <tr> 167 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">2</font></td> 168 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Exponential</font></td> 169 - </tr> 170 - <tr> 171 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">3</font></td> 172 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Non-Lithium Mode</font></td> 173 - </tr> 174 - <tr> 175 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">4</font></td> 176 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">R/C Flip Mode</font></td> 177 - </tr> 178 - <tr> 179 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">5</font></td> 180 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Autocalibrate</font></td> 181 - </tr> 182 - <tr> 183 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">6</font></td> 184 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Timeout</font></td> 185 - </tr> 186 - </tbody></table> 187 - </td> 188 - </tr> 189 - <tr> 190 - <td > 191 - <p align="center"><font size="2" face="Verdana">Table 5</font></p></td> 192 - </tr> 193 - </tbody></table> 194 - </center> 195 - </div> 196 - </td> 197 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/st10rc02.gif" border="2" hspace="10" width="320" height="211"><br> 198 - Figure 5.</font></td> 199 - </tr> 200 - <tr> 201 - <td valign="top" align="left" colspan="2"><br class="pb"> 202 - </td> 203 - </tr> 204 - <tr> 205 - <td valign="top" align="left" colspan="2"> 206 - <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 5.<br> 207 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/4wd1sch8.gif" width="600" height="866"><br> 208 - Schematic - Figure 5.</b></font></p> 209 - </td> 210 - </tr> 211 - <tr> 212 - <td valign="top" align="left" colspan="2"><br class="pb"> 213 - </td> 214 - </tr> 215 - <tr> 216 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 6. Programming the Atom Pro</b><br> 217 - Download the BASIC Micro Studio development 218 - software. Install and run the program on your PC. The goal here is to load a program into the editor and program the Atom Pro with the code.</font> 219 - <p><font face="Verdana" size="2">Connect the serial data cable to the PC's serial port. This can be recognized by having 9 pins that stick out. 220 - Connect the other end of the serial data cable to the Bot Board's DB9 port. You can use a USB-to-Serial adaptor if your PC doesn't have a 221 - physical serial port; see the troubleshooting guide for a list of tested USB-to-serial adaptors.</font></p> 222 - <p><font face="Verdana" size="2">Please consult the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/support/basic-atom-pro-programming/" target="_blank">Atom Pro programming tutorial</a> and 223 - the <a href="https://community.robotshop.com/forum/t/serial-usb-to-serial-port-troubleshooting/17938" target="_blank">serial troubleshooting guide</a> if you have difficulties with 224 - this.</font></p></td> 225 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/comp.jpg" border="2" hspace="10" width="320" height="240"><br> 226 - Figure 6.</font></td> 227 - </tr> 228 - <tr> 229 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 230 - </tr> 231 - <tr> 232 - <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step 7.</font></b><font size="2" face="Verdana"><b> 233 - Differential or Tank Mode Test (Required)</b><br> 234 - Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/a4wd1tst2.zip" target="_blank">a4wd1tst2.zip</a>) and run it. For this program, on the Bot Board II, 235 - the "A" button is left channel throttle, "C" button is right channel throttle, and "B" is a speed and direction 236 - reset.</font> 237 - <p><font size="2" face="Verdana">This program requires the Sabertooth's Switch 1 to be flipped to the "Off" or "Independent 238 - Control" position.</font></p> 239 - <p><font size="2" face="Verdana">Upon powering up the robot, you should hear four ascending notes. Pressing A once results in a beep and slow 240 - forward motion (10%) on the left channel only. Pressing nine more times results in 100% power. Continuing to press A will make the motor act as 241 - above, except only for the right channel. The C button will control the left motor in a similar manner. Pressing the B button will reset the 242 - speed and direction of both left and right.</font></p> 243 - <p><font size="2" face="Verdana">Note: The Sabertooth's red Error LED will light to indicate overheating or current limit. The green Status1 LED 244 - will glow dimly when power is applied, and brightly when it's receiving pulses from the microcontroller. The green Status2 LED will flash out 245 - the detected number of lithium cells when lithium mode is enabled.</font></p></td> 246 - </tr> 247 - <tr> 248 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 249 - </tr> 250 - <tr> 251 - <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step 8.</font></b><font size="2" face="Verdana"><b> 252 - Throttle and Steering Mode Test (Optional)</b><br> 253 - Make sure the Sabertooth's Switch 1 is flipped back into the "On" or "Enable Mixed Mode" position!</font> 254 - <p><font size="2" face="Verdana">Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/a4wd1tst1.zip" target="_blank">a4wd1tst1.zip</a>) and run it. For 255 - this program, on the Bot Board II, the "B" button is throttle and the "A" and "C" buttons are steering.</font></p> 256 - <p><font size="2" face="Verdana">Upon powering up the robot, you should hear four ascending notes. Pressing B once results in a beep and 257 - slow forward motion (10%). Pressing nine more times results in 100% power. After the motor is at 100% power, pressing B will reduce the speed in 258 - 10% increments until it stops. Continue to press B to make the robot move as above, only in reverse.</font></p> 259 - <p><font size="2" face="Verdana">Press Reset, then B twice. Now press C a few times to see the robot make a gradual left turn. Pressing A a few 260 - times will return to forward motion, and continuing to press A will result in gradual right turn.</font></p> 261 - <p><font size="2" face="Verdana">Experiment with these buttons to understand how throttle and steering can be used to control the vehicle's 262 - motion.</font></p> 263 - <p><font size="2" face="Verdana">Note: The Sabertooth's red Error LED will light to indicate overheating or current limit. The green Status1 LED 264 - will glow dimly when power is applied, and brightly when it's receiving pulses from the microcontroller. The green Status2 LED will flash out 265 - the detected number of lithium cells when lithium mode is enabled.<br> 266 - </font></p></td> 267 - </tr> 268 - <tr> 269 - <td valign="top" align="left" colspan="2"><br class="pb"> 270 - </td> 271 - </tr> 272 - <tr> 273 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 9.</b><br> 274 - Now that the chassis is fully tested, it's time to add the arm. Attach the arm to the A4WD1 as shown.</font> 275 - <p><font face="Verdana" size="2">Any AL5 arm will work (AL5A, B, C, or D), with or without wrist rotate. You will edit the code later on to 276 - match your arm.</font></p> 277 - </td> 278 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/a4wd101.jpg" border="2" hspace="10" width="320" height="240"><br> 279 - Figure 9.</font></td> 280 - </tr> 281 - <tr> 282 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 283 - </tr> 284 - <tr> 285 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 10.</font></b><font size="2"><br> 286 - Now it's time to set up the A4WD1 for PS2 R/C control. Y</font></font><font size="2" face="Verdana">ou will need to change the Bot Board's power 287 - bus jumpers according to Table 10 and Schematic 10 for the AL5 arm.</font> 288 - <p><font face="Verdana" size="2">Note: Refer only to Figure 10 for 289 - connection information. The cable colors in the picture may be outdated. 290 - If your cable's colors do not match the diagram, you can find a complete 291 - listing of possible colors <a href="https://www.lynxmotion.com/images/html/build151.htm#aglance">here</a>.</font></p> 292 - <p align="center"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/wire08s.gif" align="center"><br> 293 - <font size="2" face="Verdana">Figure 10.</font></p> 294 - </td> 295 - <td align="center" valign="top" > 296 - <div align="center"> 297 - <center> 298 - <table border="0"> 299 - <tbody><tr> 300 - <td > 301 - <table border="1" bordercolor="#000000" width="320"> 302 - <tbody><tr> 303 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers</font></td> 304 - </tr> 305 - <tr> 306 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 307 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 0-3 Power Bus to VS</font></td> 308 - </tr> 309 - <tr> 310 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 311 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 4-7 Power Bus to VS</font></td> 312 - </tr> 313 - <tr> 314 - <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 315 - <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 12-15 Power Bus to 5v</font></td> 316 - </tr> 317 - </tbody></table> 318 - </td> 319 - </tr> 320 - <tr> 321 - <td > 322 - <p align="center"><font size="2" face="Verdana">Table 10-1</font></p></td> 323 - </tr> 324 - <tr> 325 - <td > 326 - <div align="center"> 327 - <table border="1" bordercolor="#000000" width="320"> 328 - <tbody><tr> 329 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Connections for 330 - Bot Board II</font></td> 331 - </tr> 332 - <tr> 333 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td> 334 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Arm: Base</font></td> 335 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P8</font></td> 336 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 337 - </tr> 338 - <tr> 339 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td> 340 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Arm: Shoulder</font></td> 341 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P9</font></td> 342 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td> 343 - </tr> 344 - <tr> 345 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P2</font></td> 346 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Arm: Elbow</font></td> 347 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P10</font></td> 348 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth Ch1</font></td> 349 - </tr> 350 - <tr> 351 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P3</font></td> 352 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Arm: Wrist</font></td> 353 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P11</font></td> 354 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth Ch2</font></td> 355 - </tr> 356 - <tr> 357 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P4</font></td> 358 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Arm: Gripper open/close</font></td> 359 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P12</font></td> 360 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Data</font></td> 361 - </tr> 362 - <tr> 363 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P5</font></td> 364 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Arm: Wrist rotate</font></td> 365 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P13</font></td> 366 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Command</font></td> 367 - </tr> 368 - <tr> 369 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P6</font></td> 370 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 371 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P14</font></td> 372 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Select</font></td> 373 - </tr> 374 - <tr> 375 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P7</font></td> 376 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td> 377 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P15</font></td> 378 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Clock</font></td> 379 - </tr> 380 - </tbody></table> 381 - </div> 382 - </td> 383 - </tr> 384 - <tr> 385 - <td > 386 - <p align="center"><font size="2" face="Verdana">Table 10-2</font></p> 387 - </td> 388 - </tr> 389 - </tbody></table> 390 - </center> 391 - </div> 392 - </td> 393 - </tr> 394 - <tr> 395 - <td valign="top" align="left" colspan="2"><br class="pb"> 396 - </td> 397 - </tr> 398 - <tr> 399 - <td valign="top" align="left" colspan="2"> 400 - <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 10.<br> 401 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/4wd1sch9.gif" width="392" height="563"><br> 402 - Schematic - Figure 10.</b></font></p> 403 - </td> 404 - </tr> 405 - <tr> 406 - <td valign="top" align="left" colspan="2"><br class="pb"> 407 - </td> 408 - </tr> 409 - <tr> 410 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 11. Servo and Motor Controller Calibration</b><br> 411 - Put the rover up on a CD spindle or similar, to keep the wheels elevated.</font> 412 - <p><font face="Verdana" size="2">Download the <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/offsetv2.zip">A4WD AL5 Arm Servo Offset Finder program</a>, and load it 413 - into the BASIC Micro Studio.</font></p> 414 - <p><font face="Verdana" size="2">In the IDE, at the bottom of the screen, click on the "Terminal1" tab. Change the Baud Rate to 9600, 415 - COM port to the port you're using, Echo to NoEcho, then click Connect (it will change to say Disconnect).</font></p> 416 - <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/output2.jpg" border="2" hspace="10" width="635" height="200"><br> 417 - Figure 11.</font></p></td> 418 - </tr> 419 - <tr> 420 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 421 - </tr> 422 - <tr> 423 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 12.</b><br> 424 - </font><font face="Verdana" size="2">Program the Atom Pro, and follow these instructions to find your robot's offsets.</font> 425 - <ul> 426 - <li><font face="Verdana" size="2">Press A to decrease the servo offset.</font></li> 427 - <li><font face="Verdana" size="2">Press C to increase the servo offset.</font></li> 428 - <li><font face="Verdana" size="2">Press B to change which servo is being manipulated, and to send data back to the terminal. The order of the 429 - program is shown in Figure 12.</font></li> 430 - <li><font face="Verdana" size="2">Note: If your arm does not have wrist rotate, just press B when wrist rotate is being configured to skip it.</font></li> 431 - <li><font face="Verdana" size="2">Note: Motor offsets are only needed if the motors creep along slowly when the offset finder program is 432 - running. Adjust the offsets until they stop moving.</font></li> 433 - </ul> 434 - <p><font face="Verdana" size="2">Note, if you have the Speaker enabled, when you press the B button you will hear a short tone. The tone will 435 - raise in pitch when you change from servo to servo, and will lower in pitch and be longer when you get back to Start.</font></p> 436 - <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/roverosf.jpg" border="2" hspace="10" width="320" height="160"><br> 437 - Figure 12.</font></p></td> 438 - </tr> 439 - <tr> 440 - <td valign="top" align="left" colspan="2"><br class="pb"> 441 - </td> 442 - </tr> 443 - <tr> 444 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 13.</b><br> 445 - Place the robot in a position as close to neutral as possible, and turn it on. Your robot should go to and hold the neutral position, and should 446 - resemble figure 13. If the joints are off by more than 15° you may have made an error in assembly. To correct this, remove the center screw 447 - from the round servo horn, pull the servo horn off the servo, rotate until it's aligned, then reattach the servo horn.</font> 448 - <p><font face="Verdana" size="2">Use the A, B, and C buttons to straighten the arm as shown in Figure 13.</font></p></td> 449 - <td align="left" valign="top" > 450 - <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/align.jpg" border="2" hspace="10" width="320" height="240"><br> 451 - Figure 13.</font></p></td> 452 - </tr> 453 - <tr> 454 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"> </font></td> 455 - </tr> 456 - <tr> 457 - <td valign="top" align="left" colspan="2"><font face="Verdana" size="2"><b>Step 14.</b><br> 458 - After you've cycled through the servos and adjusted them to match Figure 13, pressing the B button again will send your servo offset values to 459 - the Terminal window. See Figure 14 for an example. Your offset values will be different from those shown in the image.</font> 460 - <p><font face="Verdana" size="2">Write your offset values down. You'll need them for the next step.</font></p> 461 - <p align="center"><font face="Verdana" size="2"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/output.jpg" border="2" hspace="10" width="635" height="260"><br> 462 - Figure 14.</font></p></td> 463 - </tr> 464 - <tr> 465 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 466 - </tr> 467 - <tr> 468 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 15.</font></b></font><font size="2" face="Verdana"><br> 469 - Open this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-al5-arm-for-ps2/WebHome/rover_v1.2.zip" target="_blank">rover_v1.2.zip</a>) with the BASIC Micro Studio editor. Find the section 470 - referencing offsets (starts at program line 84). Fill in the offset values you wrote down.</font></td> 471 - <td align="center" valign="top" > 472 - <div align="center"> 473 - <center> 474 - </center><center> 475 - </center><table border="0"> 476 - <tbody><tr> 477 - <td > 478 - <div align="center"> 479 - <table border="1" bordercolor="#000000" width="400"> 480 - <tbody><tr> 481 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Servo Offsets in Program<br> 482 - (starts at Line 84)</font></td> 483 - </tr> 484 - <tr> 485 - <td align="center" bordercolor="#000000" bgcolor="#FFFFFF"> 486 - <p align="left"><font face="Courier New" size="2"><font color="#808080">;[SERVO OFFSETS] deg * 166.6</font><br> 487 - <font color="#0000FF">Base_Offset con</font> <font color="#FF0000">0</font><br> 488 - <font color="#0000FF">Shoulder_Offset con</font> <font color="#FF0000">0</font><br> 489 - <font color="#0000FF">Elbow_Offset con</font> <font color="#FF0000">0</font><br> 490 - <font color="#0000FF">Wrist_Offset con</font> <font color="#FF0000">0</font><br> 491 - <font color="#0000FF">Gripper_Offset con</font> <font color="#FF0000">0</font><br> 492 - <font color="#0000FF">WristRotate_Offset con</font> <font color="#FF0000">0</font><br> 493 - </font><font face="Courier New" size="2"><font color="#808080">;[MOTOR NEUTRAL OFFSET]</font><br> 494 - <font color="#0000FF">RightChNeutral con</font> <font color="#FF0000">1500</font><br> 495 - <font color="#0000FF">LeftChNeutral con</font> <font color="#FF0000">1500</font></font></p></td> 496 - </tr> 497 - </tbody></table> 498 - </div> 499 - </td> 500 - </tr> 501 - <tr> 502 - <td > 503 - <p align="center"><font size="2" face="Verdana">Table 15-1</font></p> 504 - </td> 505 - </tr> 506 - </tbody></table> 507 - 508 - </div> 509 - </td> 510 - </tr> 511 - <tr> 512 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana, Helvetica, sans-serif"><br class="pb"> 513 - </font></td> 514 - </tr> 515 - <tr> 516 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 16.</font></b><font size="2"><br> 517 - Select the proper arm type</font></font><font size="2" face="Verdana"> (starts at program line 73). If you're using FSR sensor on the gripper, 518 - change the 0 to a 1 on that line.</font> 519 - <p><font size="2" face="Verdana">(The FSR assembly and set up guide can be found <a href="https://www.lynxmotion.com/images/html/build129.htm" target="_blank">here</a>.)</font></p> 520 - </td> 521 - <td align="center" valign="top" > 522 - <div align="center"> 523 - <center> 524 - </center><table border="0"> 525 - <tbody><tr> 526 - <td > 527 - <div align="center"> 528 - <center> 529 - </center><table border="1" bordercolor="#000000" width="400"> 530 - <tbody><tr> 531 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Arm Setup in Program<br> 532 - (starts at Line 73)</font></td> 533 - </tr> 534 - 535 - <tr> 536 - <td align="center" bordercolor="#000000" bgcolor="#FFFFFF"> 537 - <p align="left"><font face="Courier New" size="2"><font color="#808080">;[SETUP]<br> 538 - ;disable(0)/enable(1) the FSR Gripper</font><br> 539 - <font color="#0000FF">EnableFSR con</font> 0<br> 540 - <br> 541 - <font color="#808080">;Select Arm type<br> 542 - ;NOTE: Enable only one arm!<br> 543 - ;AL5A con 1<br> 544 - </font><font color="#0000FF">AL5B con </font><font color="#FF0000">1</font><font color="#808080"><br> 545 - ;AL5C con 1<br> 546 - ;AL5D con 1</font></font></p></td> 547 - </tr> 548 - </tbody></table> 549 - </div> 550 - </td> 551 - </tr> 552 - <tr> 553 - <td > 554 - <p align="center"><font size="2" face="Verdana">Table 16-1</font></p> 555 - </td> 556 - </tr> 557 - </tbody></table> 558 - 559 - </div> 560 - </td> 561 - </tr> 562 - <tr> 563 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 564 - </tr> 565 - <tr> 566 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 17.</font></b><font size="2"><br> 567 - </font></font><font size="2" face="Verdana">You will want to set the bot on something so that the wheels aren't touching the ground. When the 568 - program is run, there will be a series of beeps telling you that the Atom is trying to communicate with the PS2 game controller. When 569 - communication is established, the beeps will stop, but you may need to put the controller in Analog mode.</font> 570 - <p><font size="2" face="Verdana">This program lets you control the movement of the bot in two modes. On powerup, the vehicle is controlled with 571 - a tank mode, meaning left and right joysticks control the left and right motors independently. Pressing the right joystick in (R3) switches the 572 - control mode from tank mode to a single joystick control mode. Up and Down on the D-pad control the robot's max speed. This is useful when 573 - precise positioning of the robot base is required.</font></p> 574 - <p><font size="2" face="Verdana">Consult Tables 17-1, 17-2, and 17-3 for more information on controlling the 4WD.</font></p> 575 - </td> 576 - <td align="center" valign="top" > 577 - <div align="center"> 578 - <center> 579 - <table border="0"> 580 - <tbody><tr> 581 - <td > 582 - <div align="center"> 583 - <table border="1" bordercolor="#000000" width="400"> 584 - <tbody><tr> 585 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2 Controls</font></td> 586 - </tr> 587 - <tr> 588 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Start</font></td> 589 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Turn Rover/Arm on/off</font></td> 590 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Select</font></td> 591 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Switch between Rover and Arm 592 - control</font></td> 593 - </tr> 594 - </tbody></table> 595 - </div> 596 - </td> 597 - </tr> 598 - <tr> 599 - <td > 600 - <p align="center"><font size="2" face="Verdana">Table 17-1</font></p> 601 - </td> 602 - </tr> 603 - <tr> 604 - <td > 605 - <div align="center"> 606 - <table border="1" bordercolor="#000000" width="400"> 607 - <tbody><tr> 608 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Rover Control</font></td> 609 - </tr> 610 - <tr> 611 - <td align="center" bordercolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Tank Mode:</font></td> 612 - </tr> 613 - <tr> 614 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy U/D</font></td> 615 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Left wheels forward/reverse</font></td> 616 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy U/D</font></td> 617 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Right wheels forward/reverse</font></td> 618 - </tr> 619 - <tr> 620 - <td align="center" bordercolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">One-Stick Mode:</font></td> 621 - </tr> 622 - <tr> 623 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy U/D</font></td> 624 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Forward/reverse</font></td> 625 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy L/R</font></td> 626 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Steering</font></td> 627 - </tr> 628 - <tr> 629 - <td align="center" bordercolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Speed Control (Both Modes):</font></td> 630 - </tr> 631 - <tr> 632 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad U</font></td> 633 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Shift gear up (1-4)<br> 634 - (Default gear 3)</font></td> 635 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad D</font></td> 636 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Shift Gear down (1-4)<br> 637 - (Default gear 3)</font></td> 638 - </tr> 639 - <tr> 640 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R3</font></td> 641 - <td width="85%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF" colspan="3"><font size="2" face="Verdana">Switch steering 642 - mode (Tank/One-Stick)</font></td> 643 - </tr> 644 - </tbody></table> 645 - </div> 646 - </td> 647 - </tr> 648 - <tr> 649 - <td > 650 - <p align="center"><font size="2" face="Verdana">Table 17-2</font></p> 651 - </td> 652 - </tr> 653 - <tr> 654 - <td > 655 - <div align="center"> 656 - <table border="1" bordercolor="#000000" width="400"> 657 - <tbody><tr> 658 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Arm Control</font></td> 659 - </tr> 660 - <tr> 661 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy U/D</font></td> 662 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Up/Down</font></td> 663 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy U/D</font></td> 664 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Angle Up/Down</font></td> 665 - </tr> 666 - <tr> 667 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy L/R</font></td> 668 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Away/Back</font></td> 669 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy L/R</font></td> 670 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Base Left/Right</font></td> 671 - </tr> 672 - <tr> 673 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana"><u>/\</u> Tri</font></td> 674 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Reset Wrist Rotate to middle 675 - position</font></td> 676 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">X</font></td> 677 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Fully open gripper</font></td> 678 - </tr> 679 - <tr> 680 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L1</font></td> 681 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Close</font></td> 682 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R1</font></td> 683 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CW</font></td> 684 - </tr> 685 - <tr> 686 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L2</font></td> 687 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper Open</font></td> 688 - <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R2</font></td> 689 - <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Wrist Rotate CCW</font></td> 690 - </tr> 691 - </tbody></table> 692 - </div> 693 - </td> 694 - </tr> 695 - <tr> 696 - <td > 697 - <p align="center"><font size="2" face="Verdana">Table 17-3</font></p> 698 - </td> 699 - </tr> 700 - </tbody></table> 701 - </center> 702 - </div> 703 - </td> 704 - </tr> 705 -</tbody></table> 706 -</body> 2 + 707 707 {{/html}}