A4WD1 & AL5 Arm Tutorial for PS2 Control

<td valign="top" align="left">A4WD1 & AL5 Arm Tutorial for PS2 Control v2.0

Updated

6

12/20/2011

7

8

Safety first! Wear eye protection and never touch a powered robot!

9

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

installed.

Software:

- Basic Micro Studio

-- 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>)

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>)

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>)

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>)</td>

Image of A4WD1.</td>

</tr>

<tr>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 1. Mounting the Bot Board II

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.

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 1.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 2.

52

Install the Bot Board as shown, using four of the .250" 4-40 screws. Install the Atom Pro chip as shown.

<td >Atom Pro Orientation:</td>

</tr>

<tr>

</tr>

</tbody></table>

</td>

Figure 2.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 3. Connecting Sabertooth to Bot Board II

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.

76

Use an exacto knife to carefully pry the black tab up and slip the red wire out of the black housing as

77

shown in Figure 3.

78

Bend the red wires up and use electrical tape to cover them as shown. This will prevent accidental shorts.

</td>

Figure 3.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 4.

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!</td>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Bot Board Jumpers

& Connections</td>

</tr>

<tr>

<td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connect</td>

103

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">6vdc battery to VS</td>

104

</tr>

105

<tr>

106

<td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0">Enable</td>

107

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Speaker</td>

108

</tr>

109

<tr>

110

<td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0">Enable</td>

111

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">A, B, C Button</td>

112

</tr>

113

<tr>

114

<td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connect</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Sabertooth

Connections</td>

</tr>

<tr>

<td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connect</td>

123

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">12vdc battery</td>

</tr>

<tr>

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Bot Board II P10</td>

</tr>

<tr>

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Bot Board II P11</td>

</tr>

</tbody></table>

</td>

</tr>

<tr>

<td >

Table 4</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 5.

150

Set the Sabertooth switches to the settings listed in Table 5 and Figure 5.

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Sabertooth

Settings</td>

</tr>

<tr>

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Enable Independent Control</td>

</tr>

<tr>

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Disable Exponential</td>

</tr>

<tr>

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Non-Lithium Mode</td>

</tr>

<tr>

</tr>

<tr>

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Disable Autocalibrate</td>

</tr>

<tr>

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Disable Timeout</td>

</tr>

</tbody></table>

</td>

</tr>

<tr>

<td >

Table 5</td>

</tr>

</tbody></table>

</center>

</div>

</td>

Figure 5.</td>

</tr>

<tr>

</td>

</tr>

<tr>

Schematic - Figure 5.

207

208

Schematic - Figure 5.

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 6. Programming the Atom Pro

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.

219

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.

222

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

this.</td>

Figure 6.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step 7.

233

Differential or Tank Mode Test (Required)

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.

237

This program requires the Sabertooth's Switch 1 to be flipped to the "Off" or "Independent

238

Control" position.

239

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.

243

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.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step 8.

252

Throttle and Steering Mode Test (Optional)

253

Make sure the Sabertooth's Switch 1 is flipped back into the "On" or "Enable Mixed Mode" position!

254

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.

256

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.

259

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.

261

Experiment with these buttons to understand how throttle and steering can be used to control the vehicle's

262

motion.

263

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.

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 9.

274

Now that the chassis is fully tested, it's time to add the arm. Attach the arm to the A4WD1 as shown.

275

Any AL5 arm will work (AL5A, B, C, or D), with or without wrist rotate. You will edit the code later on to

match your arm.

</td>

Figure 9.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 10.

286

Now it's time to set up the A4WD1 for PS2 R/C control. You will need to change the Bot Board's power

287

bus jumpers according to Table 10 and Schematic 10 for the AL5 arm.

288

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>.

Figure 10.

</td>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Bot Board Jumpers</td>

304

</tr>

305

<tr>

306

<td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connect</td>

307

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O 0-3 Power Bus to VS</td>

308

</tr>

309

<tr>

310

<td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connect</td>

311

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O 4-7 Power Bus to VS</td>

312

</tr>

313

<tr>

314

<td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connect</td>

315

<td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O 12-15 Power Bus to 5v</td>

</tr>

</tbody></table>

</td>

</tr>

<tr>

<td >

Table 10-1</td>

</tr>

<tr>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4">Connections for

Bot Board II</td>

</tr>

<tr>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Arm: Shoulder</td>

341

342

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Speaker</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Arm: Elbow</td>

347

348

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Sabertooth Ch1</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Arm: Wrist</td>

353

354

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Sabertooth Ch2</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Arm: Gripper open/close</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Arm: Wrist rotate</td>

365

366

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">PS2 Command</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">PS2 Select</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">PS2 Clock</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td >

Table 10-2

</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

<tr>

</td>

</tr>

<tr>

Schematic - Figure 10.

401

402

Schematic - Figure 10.

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step 11. Servo and Motor Controller Calibration

411

Put the rover up on a CD spindle or similar, to keep the wheels elevated.

412

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.

414

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).

Figure 11.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step 12.

424

Program the Atom Pro, and follow these instructions to find your robot's offsets.

425

<ul>

426

<li>Press A to decrease the servo offset.</li>

427

<li>Press C to increase the servo offset.</li>

428

<li>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.</li>

430

<li>Note: If your arm does not have wrist rotate, just press B when wrist rotate is being configured to skip it.</li>

431

<li>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.</li>

433

</ul>

434

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.

Figure 12.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 13.

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.

448

Use the A, B, and C buttons to straighten the arm as shown in Figure 13.</td>

Figure 13.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step 14.

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.

460

Write your offset values down. You'll need them for the next step.

Figure 14.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 15.

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.</td>

</center><center>

</center><table border="0">

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Servo Offsets in Program

482

(starts at Line 84)</td>

</tr>

<tr>

;[SERVO OFFSETS]    deg * 166.6

487

Base_Offset         con 0

488

Shoulder_Offset     con 0

489

Elbow_Offset        con 0

490

Wrist_Offset        con 0

491

Gripper_Offset      con 0

492

WristRotate_Offset  con 0

493

;[MOTOR NEUTRAL OFFSET]

494

RightChNeutral      con 1500

495

LeftChNeutral       con 1500</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td >

Table 15-1

</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 16.

517

Select the proper arm type (starts at program line 73). If you're using FSR sensor on the gripper,

518

change the 0 to a 1 on that line.

519

(The FSR assembly and set up guide can be found <a href="https://www.lynxmotion.com/images/html/build129.htm" target="_blank">here</a>.)

</td>

</center><table border="0">

<td >

</center><table border="1" bordercolor="#000000" width="400">

530

531

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Arm Setup in Program

532

(starts at Line 73)</td>

</tr>

<tr>

;[SETUP]

;disable(0)/enable(1) the FSR Gripper

EnableFSR con 0

;Select Arm type

;NOTE: Enable only one arm!

;AL5A con 1

AL5B con 1

;AL5C con 1

;AL5D con 1</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td >

Table 16-1

</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 17.

567

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.

570

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.

574

Consult Tables 17-1, 17-2, and 17-3 for more information on controlling the 4WD.

</td>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4">PS2 Controls</td>

586

</tr>

587

<tr>

588

<td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0">Start</td>

589

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Turn Rover/Arm on/off</td>

590

<td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0">Select</td>

591

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Switch between Rover and Arm

control</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td >

Table 17-1

</td>

</tr>

<tr>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4">Rover Control</td>

</tr>

<tr>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Left wheels forward/reverse</td>

616

617

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Right wheels forward/reverse</td>

618

</tr>

619

<tr>

620

<td align="center" bordercolor="#C0C0C0" colspan="4">One-Stick Mode:</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Forward/reverse</td>

625

626

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Steering</td>

627

</tr>

628

<tr>

629

<td align="center" bordercolor="#C0C0C0" colspan="4">Speed Control (Both Modes):</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Shift gear up (1-4)

634

(Default gear 3)</td>

635

636

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Shift Gear down (1-4)

637

(Default gear 3)</td>

</tr>

<tr>

<td width="85%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF" colspan="3">Switch steering

642

mode (Tank/One-Stick)</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td >

Table 17-2

</td>

</tr>

<tr>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4">Arm Control</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Gripper Up/Down</td>

663

664

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Gripper Angle Up/Down</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Gripper Away/Back</td>

669

670

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Base Left/Right</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Reset Wrist Rotate to middle

675

position</td>

676

677

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Fully open gripper</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Gripper Close</td>

682

683

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Wrist Rotate CW</td>

</tr>

<tr>

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Gripper Open</td>

688

689

<td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Wrist Rotate CCW</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td >

Table 17-3

</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

</tbody></table>

</body>

Wiki source code of A4WD1 & AL5 Arm Tutorial for PS2 Control

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