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... ... @@ -1,361 +1,3 @@ 1 1 {{html wiki="false" clean="true"}} 2 -<body><table border="0" cellpadding="0" cellspacing="0" > 3 - <tbody><tr> 4 - <td valign="top" align="left"><b><font size="2" face="Verdana">A4WD1 Tutorial for Autonomous Behavior v1.0</font></b> 5 - <p><b><font size="2" face="Verdana">Updated 12/20/2011</font></b></p> 6 - <p><font face="Verdana" size="2"><b>Safety first!</b> Wear eye protection and never touch a powered robot!</font></p> 7 - <p><font size="2" face="Verdana">Note: Do not use Loctite or thread locks on the assembly. They are not necessary and may cause damage to the 8 - Lexan.</font></p> 9 - <p><font size="2" face="Verdana">Note: This guide follows the assembly guide. The Sabertooth has already been installed.</font></p> 10 - <p><font size="2" face="Verdana"><b>Software:<br> 11 - </b> - Basic Micro Studio</font></p></td> 12 - <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-autonomous/WebHome/auton03.jpg" border="2" hspace="10" ><br> 13 - <b>Image of A4WD1.</b></font></td> 14 - </tr> 15 - <tr> 16 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font> 17 - <hr color="#808080"> 18 - </td> 19 - </tr> 20 - <tr> 21 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 22 - </tr> 23 - <tr> 24 - <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> 25 - 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> 26 - </font> 27 - <table border="0" > 28 - <tbody><tr> 29 - <td ><font size="2" face="Verdana"><b>4 x</b></font></td> 30 - <td ><font size="2" face="Verdana"><b>4 x</b></font></td> 31 - </tr> 32 - <tr> 33 - <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4250hscs.gif" ></b></font></td> 34 - <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4375hns.gif" ></b></font></td> 35 - </tr> 36 - </tbody></table> 37 - </td> 38 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1p01.jpg" border="2" hspace="10" ><br> 39 - Figure 1.</font></td> 40 - </tr> 41 - <tr> 42 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 43 - </tr> 44 - <tr> 45 - <td valign="top" align="left"><b><font size="2" face="Verdana">Step 2.</font></b><font size="2" face="Verdana"><br> 46 - 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> 47 - </font> 48 - <table border="0" > 49 - <tbody><tr> 50 - <td ><font size="2" face="Verdana"><b>4 x</b></font></td> 51 - <td ><font size="2" face="Verdana"><b>Atom Pro Orientation:</b></font></td> 52 - </tr> 53 - <tr> 54 - <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4250hscs.gif" ></b></font></td> 55 - <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/aproinst.gif" ></b></font></td> 56 - </tr> 57 - </tbody></table> 58 - </td> 59 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1p02.jpg" border="2" hspace="10" ><br> 60 - Figure 2.</font></td> 61 - </tr> 62 - <tr> 63 - <td valign="top" align="left" colspan="2"><br class="pb"> 64 - </td> 65 - </tr> 66 - <tr> 67 - <td valign="top" align="left"><font size="2" face="Verdana"><b>Step 3. Connecting Sabertooth to Bot Board II</b><br> 68 - The Sabertooth 2x10 R/C was primarily designed to be connected to a remote control receiver. It has a BEC (battery elimination circuit) that 69 - 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> 70 - <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 71 - shown in Figure 3.</font></p> 72 - <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> 73 - </td> 74 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/stbec.jpg" border="2" hspace="10" ><br> 75 - Figure 3.</font></td> 76 - </tr> 77 - <tr> 78 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 79 - </tr> 80 - <tr> 81 - <td valign="top" align="left"><b><font size="2" face="Verdana">Step 4.</font></b><font size="2" face="Verdana"><br> 82 - 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 83 - battery wire goes to the (+) terminal!</font></td> 84 - <td align="center" valign="top" > 85 - <div align="center"> 86 - <center> 87 - <table border="0"> 88 - <tbody><tr> 89 - <td > 90 - <table border="1" bordercolor="#000000" > 91 - <tbody><tr> 92 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers 93 - & Connections</font></td> 94 - </tr> 95 - <tr> 96 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 97 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6vdc battery to VS</font></td> 98 - </tr> 99 - <tr> 100 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td> 101 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td> 102 - </tr> 103 - <tr> 104 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td> 105 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">A, B, C Button</font></td> 106 - </tr> 107 - <tr> 108 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 109 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VS to VL</font></td> 110 - </tr> 111 - <tr> 112 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth 113 - Connections</font></td> 114 - </tr> 115 - <tr> 116 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 117 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">12vdc battery</font></td> 118 - </tr> 119 - <tr> 120 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch1</font></td> 121 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot Board II P0</font></td> 122 - </tr> 123 - <tr> 124 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch2</font></td> 125 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot Board II P1</font></td> 126 - </tr> 127 - </tbody></table> 128 - </td> 129 - </tr> 130 - <tr> 131 - <td > 132 - <p align="center"><font size="2" face="Verdana">Table 4</font></p></td> 133 - </tr> 134 - </tbody></table> 135 - </center> 136 - </div></td> 137 - </tr> 138 - <tr> 139 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 140 - </tr> 141 - <tr> 142 - <td valign="top" align="left"><font size="2" face="Verdana"><b>Step 5.</b><br> 143 - Set the Sabertooth switches to the settings listed in Table 5 and Figure 5.<br> 144 - </font> 145 - <div align="center"> 146 - <center> 147 - <table border="0"> 148 - <tbody><tr> 149 - <td > 150 - <table border="1" bordercolor="#000000" > 151 - <tbody><tr> 152 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth 153 - Settings</font></td> 154 - </tr> 155 - <tr> 156 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">1</font></td> 157 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Independent Control</font></td> 158 - </tr> 159 - <tr> 160 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">2</font></td> 161 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Exponential</font></td> 162 - </tr> 163 - <tr> 164 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">3</font></td> 165 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Non-Lithium Mode</font></td> 166 - </tr> 167 - <tr> 168 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">4</font></td> 169 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">R/C Flip Mode</font></td> 170 - </tr> 171 - <tr> 172 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">5</font></td> 173 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Autocalibrate</font></td> 174 - </tr> 175 - <tr> 176 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">6</font></td> 177 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Timeout</font></td> 178 - </tr> 179 - </tbody></table> 180 - </td> 181 - </tr> 182 - <tr> 183 - <td > 184 - <p align="center"><font size="2" face="Verdana">Table 5</font></p></td> 185 - </tr> 186 - </tbody></table> 187 - </center> 188 - </div> 189 - </td> 190 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/st10rc02.gif" border="2" hspace="10" ><br> 191 - Figure 5.</font></td> 192 - </tr> 193 - <tr> 194 - <td valign="top" align="left" colspan="2"><br class="pb"> 195 - </td> 196 - </tr> 197 - <tr> 198 - <td valign="top" align="left" colspan="2"> 199 - <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 5.<br> 200 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4wd1sch7.gif" ><br> 201 - Schematic - Figure 5.</b></font></p> 202 - </td> 203 - </tr> 204 - <tr> 205 - <td valign="top" align="left" colspan="2"><br class="pb"> 206 - </td> 207 - </tr> 208 - <tr> 209 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 6. Programming the Atom Pro</b><br> 210 - Download the <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl">BASIC Micro Studio</a> development 211 - 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. You 212 - can use the serial port (D shaped connector with 9 pins sticking out) or a USB-to-serial cable. If you go the USB-to-serial cable route buy a 213 - good quality name brand unit. When you have a feel for the program you can load and program your Basic Atom with the BASIC programs listed 214 - below.</font> 215 - <p><font face="Verdana" size="2">Now it's time to have some fun!</font></p> 216 - </td> 217 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/comp.jpg" border="2" hspace="10" ><br> 218 - Figure 6.</font></td> 219 - </tr> 220 - <tr> 221 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 222 - </tr> 223 - <tr> 224 - <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step 7.</font></b><font size="2" face="Verdana"><b> 225 - Differential or Tank Mode Test (Required)</b><br> 226 - Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1tst2.zip" target="_blank">a4wd1tst2.zip</a>) and run it. For this program, on the Bot Board II, 227 - the "A" button is left channel throttle, "C" button is right channel throttle, and "B" is a speed and direction 228 - reset.</font> 229 - <p><font size="2" face="Verdana">This program requires the Sabertooth's Switch 1 to be flipped to the "Off" or "Independent 230 - Control" position.</font></p> 231 - <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 232 - 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 233 - 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 234 - speed and direction of both left and right.</font></p> 235 - <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 236 - will glow dimly when power is applied, and brightly when it's receiving pulses from the microcontroller. The green Status2 LED will flash out 237 - the detected number of lithium cells when lithium mode is enabled.</font></p></td> 238 - </tr> 239 - <tr> 240 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 241 - </tr> 242 - <tr> 243 - <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step 8.</font></b><font size="2" face="Verdana"><b> 244 - Throttle and Steering Mode Test (Optional)</b><br> 245 - This program requires the Sabertooth's Switch 1 is flipped into the "On" or "Enable Mixed Mode" position!</font> 246 - <p><font size="2" face="Verdana">Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/a4wd1tst1.zip" target="_blank">a4wd1tst1.zip</a>) and run it. For 247 - this program, on the Bot Board II, the "B" button is throttle and the "A" and "C" buttons are steering.</font></p> 248 - <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 249 - 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 250 - 10% increments until it stops. Continue to press B to make the robot move as above, only in reverse.</font></p> 251 - <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 252 - times will return to forward motion, and continuing to press A will result in gradual right turn.</font></p> 253 - <p><font size="2" face="Verdana">Experiment with these buttons to understand how throttle and steering can be used to control the vehicle's 254 - motion.</font></p> 255 - <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 256 - will glow dimly when power is applied, and brightly when it's receiving pulses from the microcontroller. The green Status2 LED will flash out 257 - the detected number of lithium cells when lithium mode is enabled.</font></p> 258 - <p><font size="2" face="Verdana"><i>When you're done with this testing program, flip the Sabertooth's Switch 1 back into the "Independent 259 - Control" position!</i><br> 260 - </font></p></td> 261 - </tr> 262 - <tr> 263 - <td valign="top" align="left" colspan="2"><br class="pb"> 264 - </td> 265 - </tr> 266 - <tr> 267 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 9.</font></b><font size="2"><br> 268 - Now it's time to set up the A4WD1 for autonomous behavior.</font></font> 269 - <p><font size="2" face="Verdana">The code supports three Sharp GP2D12 sensors; two in the front and one in the back.</font></p></td> 270 - <td align="center" valign="top" > 271 - <div align="center"> 272 - <center> 273 - <table border="0"> 274 - <tbody><tr> 275 - <td > 276 - <table border="1" bordercolor="#000000" > 277 - <tbody><tr> 278 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers 279 - & Connections</font></td> 280 - </tr> 281 - <tr> 282 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td> 283 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">AX 0-3 Power Bus Jumper to 5v</font></td> 284 - </tr> 285 - <tr> 286 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">AX1</font></td> 287 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Robot's front left sensor</font></td> 288 - </tr> 289 - <tr> 290 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">AX2</font></td> 291 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Robot's front right sensor</font></td> 292 - </tr> 293 - <tr> 294 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">AX3</font></td> 295 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Rear sensor</font></td> 296 - </tr> 297 - <tr> 298 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td> 299 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth Ch1</font></td> 300 - </tr> 301 - <tr> 302 - <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td> 303 - <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth Ch2</font></td> 304 - </tr> 305 - </tbody></table> 306 - </td> 307 - </tr> 308 - <tr> 309 - <td > 310 - <p align="center"><font size="2" face="Verdana">Table 9</font></p></td> 311 - </tr> 312 - </tbody></table> 313 - </center> 314 - </div> 315 - </td> 316 - </tr> 317 - <tr> 318 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 319 - </tr> 320 - <tr> 321 - <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 10.</b><br> 322 - Attach two GP2D12 sensors to the chassis as shown, using either double-sided foam tape or optional multi-purpose sensor housing brackets. The 323 - exact angle isn't critical, but will affect the robot's behavior. Experimentation is encouraged.</font> 324 - <p><font face="Verdana" size="2">Make sure you place the robot's right sensor on the robot's right side, facing left! Place the robot's left 325 - sensor on the robot's left side, facing right! This overlap ensures there isn't a blind spot in the center. If you switch the positions of the 326 - sensors accidentally, the robot will turn <i>into</i> objects, instead of away.</font></p> 327 - <p><font face="Verdana" size="2">Attach the other GP2D12 sensor at the rear of the robot as shown. Use double-sided foam tape to hold it in 328 - place.</font></p></td> 329 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/auton01.jpg" border="2" hspace="10" ><br> 330 - Figure 10.</font></td> 331 - </tr> 332 - <tr> 333 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 334 - </tr> 335 - <tr> 336 - <td valign="top" align="left" colspan="2"> 337 - <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 11.<br> 338 - <br> 339 - <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4wd1sch6.gif" ><br> 340 - <br> 341 - Schematic - Figure 11.</b></font></p> 342 - </td> 343 - </tr> 344 - <tr> 345 - <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </font></td> 346 - </tr> 347 - <tr> 348 - <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 12.</font></b><font size="2"><br> 349 - </font></font><font size="2" face="Verdana">Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/4wd1auto.zip" target="_blank">4wd1auto.zip</a>) and 350 - program the Atom Pro. You will want to set the bot on something so that the wheels aren't touching the ground.</font> 351 - <p><font size="2" face="Verdana">This program allows the robot to roam around the room without bumping into things. It uses three Sharp GP2D12 352 - analog distance sensors to "see" things in its environment. Feel free to experiment with the variables and math in the main section of 353 - the program. The robot does a very good job navigating without getting stuck. The motor control is based on the GP2D12 sensors with a bias for 354 - forward motion. The robot will sometimes back up and turn even though there are no specific instructions to do so. Look for this and other 355 - emergent behaviors during your experimentation.</font></p></td> 356 - <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-autonomous/WebHome/auton02.jpg" border="2" hspace="10" ><br> 357 - Figure 12.</font></td> 358 - </tr> 359 -</tbody></table> 360 -</body> 2 + 361 361 {{/html}}