Changes for page A4WD1 & AL5 Arm Tutorial for PS2 Control (Bot Board II)
Last modified by Eric Nantel on 2023/01/30 10:12
Change comment: There is no comment for this version
Summary
-
Page properties (1 modified, 0 added, 0 removed)
Details
- Page properties
-
- Content
-
... ... @@ -1,3 +1,707 @@ 1 1 {{html wiki="false" clean="true"}} 2 - 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://www.lynxmotion.com/ViewPage.aspx?ContentCode=assem05&CategoryID=19" target="_blank">A4WD1</a> 10 + and <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=assem01&CategoryID=19" 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="1" 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="1" face="Verdana">Connect</font></td> 103 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">6vdc battery to VS</font></td> 104 + </tr> 105 + <tr> 106 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">Enable</font></td> 107 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Speaker</font></td> 108 + </tr> 109 + <tr> 110 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">Enable</font></td> 111 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">A, B, C Button</font></td> 112 + </tr> 113 + <tr> 114 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">Connect</font></td> 115 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">VS to VL</font></td> 116 + </tr> 117 + <tr> 118 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="1" face="Verdana">Sabertooth 119 + Connections</font></td> 120 + </tr> 121 + <tr> 122 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">Connect</font></td> 123 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">12vdc battery</font></td> 124 + </tr> 125 + <tr> 126 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">Ch1</font></td> 127 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Bot Board II P10</font></td> 128 + </tr> 129 + <tr> 130 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">Ch2</font></td> 131 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" 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="1" face="Verdana">Sabertooth 160 + Settings</font></td> 161 + </tr> 162 + <tr> 163 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">1</font></td> 164 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Enable Independent Control</font></td> 165 + </tr> 166 + <tr> 167 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">2</font></td> 168 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Disable Exponential</font></td> 169 + </tr> 170 + <tr> 171 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">3</font></td> 172 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Non-Lithium Mode</font></td> 173 + </tr> 174 + <tr> 175 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">4</font></td> 176 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">R/C Flip Mode</font></td> 177 + </tr> 178 + <tr> 179 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">5</font></td> 180 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Disable Autocalibrate</font></td> 181 + </tr> 182 + <tr> 183 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">6</font></td> 184 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" 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 <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl">BASIC Micro Studio</a> 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://www.lynxmotion.com/images/html/build147.htm" target="_blank">Atom Pro programming tutorial</a> and 223 + the <a href="http://www.lynxmotion.net/viewtopic.php?t=4702" 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="1" face="Verdana">Bot Board Jumpers</font></td> 304 + </tr> 305 + <tr> 306 + <td width="25%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">Connect</font></td> 307 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" 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="1" face="Verdana">Connect</font></td> 311 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" 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="1" face="Verdana">Connect</font></td> 315 + <td width="75%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" 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="1" 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="1" face="Verdana">P0</font></td> 334 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Arm: Base</font></td> 335 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P8</font></td> 336 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">N/A</font></td> 337 + </tr> 338 + <tr> 339 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P1</font></td> 340 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Arm: Shoulder</font></td> 341 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P9</font></td> 342 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Speaker</font></td> 343 + </tr> 344 + <tr> 345 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P2</font></td> 346 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Arm: Elbow</font></td> 347 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P10</font></td> 348 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Sabertooth Ch1</font></td> 349 + </tr> 350 + <tr> 351 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P3</font></td> 352 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Arm: Wrist</font></td> 353 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P11</font></td> 354 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Sabertooth Ch2</font></td> 355 + </tr> 356 + <tr> 357 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P4</font></td> 358 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Arm: Gripper open/close</font></td> 359 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P12</font></td> 360 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">PS2 Data</font></td> 361 + </tr> 362 + <tr> 363 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P5</font></td> 364 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Arm: Wrist rotate</font></td> 365 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P13</font></td> 366 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">PS2 Command</font></td> 367 + </tr> 368 + <tr> 369 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P6</font></td> 370 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">N/A</font></td> 371 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P14</font></td> 372 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">PS2 Select</font></td> 373 + </tr> 374 + <tr> 375 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P7</font></td> 376 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">N/A</font></td> 377 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">P15</font></td> 378 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" 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="1" 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="1" 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="1" face="Verdana">PS2 Controls</font></td> 586 + </tr> 587 + <tr> 588 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">Start</font></td> 589 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Turn Rover/Arm on/off</font></td> 590 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">Select</font></td> 591 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" 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="1" face="Verdana">Rover Control</font></td> 609 + </tr> 610 + <tr> 611 + <td align="center" bordercolor="#C0C0C0" colspan="4"><font size="1" face="Verdana">Tank Mode:</font></td> 612 + </tr> 613 + <tr> 614 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">L Joy U/D</font></td> 615 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Left wheels forward/reverse</font></td> 616 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">R Joy U/D</font></td> 617 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Right wheels forward/reverse</font></td> 618 + </tr> 619 + <tr> 620 + <td align="center" bordercolor="#C0C0C0" colspan="4"><font size="1" face="Verdana">One-Stick Mode:</font></td> 621 + </tr> 622 + <tr> 623 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">R Joy U/D</font></td> 624 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Forward/reverse</font></td> 625 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">R Joy L/R</font></td> 626 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Steering</font></td> 627 + </tr> 628 + <tr> 629 + <td align="center" bordercolor="#C0C0C0" colspan="4"><font size="1" face="Verdana">Speed Control (Both Modes):</font></td> 630 + </tr> 631 + <tr> 632 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">D-Pad U</font></td> 633 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" 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="1" face="Verdana">D-Pad D</font></td> 636 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" 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="1" face="Verdana">R3</font></td> 641 + <td width="85%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF" colspan="3"><font size="1" 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="1" face="Verdana">Arm Control</font></td> 659 + </tr> 660 + <tr> 661 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">L Joy U/D</font></td> 662 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Gripper Up/Down</font></td> 663 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">R Joy U/D</font></td> 664 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Gripper Angle Up/Down</font></td> 665 + </tr> 666 + <tr> 667 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">L Joy L/R</font></td> 668 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Gripper Away/Back</font></td> 669 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">R Joy L/R</font></td> 670 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Base Left/Right</font></td> 671 + </tr> 672 + <tr> 673 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana"><u>/\</u> Tri</font></td> 674 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Reset Wrist Rotate to middle 675 + position</font></td> 676 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">X</font></td> 677 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Fully open gripper</font></td> 678 + </tr> 679 + <tr> 680 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">L1</font></td> 681 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Gripper Close</font></td> 682 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">R1</font></td> 683 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Wrist Rotate CW</font></td> 684 + </tr> 685 + <tr> 686 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">L2</font></td> 687 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" face="Verdana">Gripper Open</font></td> 688 + <td width="15%" align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="1" face="Verdana">R2</font></td> 689 + <td width="35%" align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="1" 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> 3 3 {{/html}}