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Eric Nantel 23.1 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 &amp; 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>
Eric Nantel 25.1 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
Eric Nantel 23.1 11 installed.</font></p>
12 <p><font size="2" face="Verdana"><b>Software:<br>
13 </b>&nbsp; - Basic Micro Studio<br>
14 &nbsp; -- 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 &nbsp; -- 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 &nbsp; -- 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 &nbsp; -- PS2 A4WD1 &amp; 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">&nbsp;</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">&nbsp;</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 &nbsp;</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">&nbsp;</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 &nbsp;</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">&nbsp;</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>
Eric Nantel 24.1 98 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers
Eric Nantel 23.1 99 &amp; Connections</font></td>
100 </tr>
101 <tr>
Eric Nantel 24.1 102 <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>
Eric Nantel 23.1 104 </tr>
105 <tr>
Eric Nantel 24.1 106 <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>
Eric Nantel 23.1 108 </tr>
109 <tr>
Eric Nantel 24.1 110 <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>
Eric Nantel 23.1 112 </tr>
113 <tr>
Eric Nantel 24.1 114 <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>
Eric Nantel 23.1 116 </tr>
117 <tr>
Eric Nantel 24.1 118 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth
Eric Nantel 23.1 119 Connections</font></td>
120 </tr>
121 <tr>
Eric Nantel 24.1 122 <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>
Eric Nantel 23.1 124 </tr>
125 <tr>
Eric Nantel 24.1 126 <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>
Eric Nantel 23.1 128 </tr>
129 <tr>
Eric Nantel 24.1 130 <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>
Eric Nantel 23.1 132 </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 &nbsp;</td>
144 </tr>
145 <tr>
146 <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</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 &nbsp;</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>
Eric Nantel 24.1 159 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth
Eric Nantel 23.1 160 Settings</font></td>
161 </tr>
162 <tr>
Eric Nantel 24.1 163 <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>
Eric Nantel 23.1 165 </tr>
166 <tr>
Eric Nantel 24.1 167 <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>
Eric Nantel 23.1 169 </tr>
170 <tr>
Eric Nantel 24.1 171 <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>
Eric Nantel 23.1 173 </tr>
174 <tr>
Eric Nantel 24.1 175 <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>
Eric Nantel 23.1 177 </tr>
178 <tr>
Eric Nantel 24.1 179 <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>
Eric Nantel 23.1 181 </tr>
182 <tr>
Eric Nantel 24.1 183 <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>
Eric Nantel 23.1 185 </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>
Eric Nantel 26.1 217 Download the BASIC Micro Studio development
Eric Nantel 23.1 218 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>
Eric Nantel 26.1 222 <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
Eric Nantel 23.1 224 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">&nbsp;</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">&nbsp;</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.&nbsp; 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 &nbsp;</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">&nbsp;</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>
Eric Nantel 24.1 303 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers</font></td>
Eric Nantel 23.1 304 </tr>
305 <tr>
Eric Nantel 24.1 306 <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>
Eric Nantel 23.1 308 </tr>
309 <tr>
Eric Nantel 24.1 310 <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>
Eric Nantel 23.1 312 </tr>
313 <tr>
Eric Nantel 24.1 314 <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>
Eric Nantel 23.1 316 </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>
Eric Nantel 24.1 329 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Connections for
Eric Nantel 23.1 330 Bot Board II</font></td>
331 </tr>
332 <tr>
Eric Nantel 24.1 333 <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>
Eric Nantel 23.1 337 </tr>
338 <tr>
Eric Nantel 24.1 339 <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>
Eric Nantel 23.1 343 </tr>
344 <tr>
Eric Nantel 24.1 345 <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>
Eric Nantel 23.1 349 </tr>
350 <tr>
Eric Nantel 24.1 351 <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>
Eric Nantel 23.1 355 </tr>
356 <tr>
Eric Nantel 24.1 357 <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>
Eric Nantel 23.1 361 </tr>
362 <tr>
Eric Nantel 24.1 363 <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>
Eric Nantel 23.1 367 </tr>
368 <tr>
Eric Nantel 24.1 369 <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>
Eric Nantel 23.1 373 </tr>
374 <tr>
Eric Nantel 24.1 375 <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>
Eric Nantel 23.1 379 </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">&nbsp;</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">&nbsp;</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">&nbsp;</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>
Eric Nantel 24.1 481 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Servo Offsets in Program<br>
Eric Nantel 23.1 482 (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]&nbsp;&nbsp;&nbsp; deg * 166.6</font><br>
487 <font color="#0000FF">Base_Offset&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; con</font> <font color="#FF0000">0</font><br>
488 <font color="#0000FF">Shoulder_Offset&nbsp;&nbsp;&nbsp;&nbsp; con</font> <font color="#FF0000">0</font><br>
489 <font color="#0000FF">Elbow_Offset&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; con</font> <font color="#FF0000">0</font><br>
490 <font color="#0000FF">Wrist_Offset&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; con</font> <font color="#FF0000">0</font><br>
491 <font color="#0000FF">Gripper_Offset&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; con</font> <font color="#FF0000">0</font><br>
492 <font color="#0000FF">WristRotate_Offset&nbsp; 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&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; con</font> <font color="#FF0000">1500</font><br>
495 <font color="#0000FF">LeftChNeutral&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; 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>
Eric Nantel 27.1 519 <p><font size="2" face="Verdana">(The FSR assembly and set up guide can be found <a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-robots-kits/ses-v1-robots/ses-v1-arms/arm-gripper-fsr/" target="_blank">here</a>.)</font></p>
Eric Nantel 23.1 520 </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>
Eric Nantel 24.1 531 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Arm Setup in Program<br>
Eric Nantel 23.1 532 (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">&nbsp;</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>
Eric Nantel 24.1 585 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2 Controls</font></td>
Eric Nantel 23.1 586 </tr>
587 <tr>
Eric Nantel 24.1 588 <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
Eric Nantel 23.1 592 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>
Eric Nantel 24.1 608 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Rover Control</font></td>
Eric Nantel 23.1 609 </tr>
610 <tr>
Eric Nantel 24.1 611 <td align="center" bordercolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Tank Mode:</font></td>
Eric Nantel 23.1 612 </tr>
613 <tr>
Eric Nantel 24.1 614 <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>
Eric Nantel 23.1 618 </tr>
619 <tr>
Eric Nantel 24.1 620 <td align="center" bordercolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">One-Stick Mode:</font></td>
Eric Nantel 23.1 621 </tr>
622 <tr>
Eric Nantel 24.1 623 <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>
Eric Nantel 23.1 627 </tr>
628 <tr>
Eric Nantel 24.1 629 <td align="center" bordercolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Speed Control (Both Modes):</font></td>
Eric Nantel 23.1 630 </tr>
631 <tr>
Eric Nantel 24.1 632 <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>
Eric Nantel 23.1 634 (Default gear 3)</font></td>
Eric Nantel 24.1 635 <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>
Eric Nantel 23.1 637 (Default gear 3)</font></td>
638 </tr>
639 <tr>
Eric Nantel 24.1 640 <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
Eric Nantel 23.1 642 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>
Eric Nantel 24.1 658 <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Arm Control</font></td>
Eric Nantel 23.1 659 </tr>
660 <tr>
Eric Nantel 24.1 661 <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>
Eric Nantel 23.1 665 </tr>
666 <tr>
Eric Nantel 24.1 667 <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>
Eric Nantel 23.1 671 </tr>
672 <tr>
Eric Nantel 24.1 673 <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
Eric Nantel 23.1 675 position</font></td>
Eric Nantel 24.1 676 <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>
Eric Nantel 23.1 678 </tr>
679 <tr>
Eric Nantel 24.1 680 <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>
Eric Nantel 23.1 684 </tr>
685 <tr>
Eric Nantel 24.1 686 <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>
Eric Nantel 23.1 690 </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>
Eric Nantel 1.1 707 {{/html}}
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