Last modified by Eric Nantel on 2023/01/27 15:17
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1 1  {{html wiki="false" clean="true"}}
2 2  
3 +<body>
4 +<table border="0" cellpadding="0" cellspacing="0" >
5 + <tbody><tr>
6 + <td valign="top" align="left"><b><font size="2" face="Verdana">A4WD1
7 + Tutorial for PS2 Control v1.0</font></b>
8 + <p><b><font size="2" face="Verdana">Updated
9 + <!-- #BeginDate format:Am3 -->12/20/2011<!-- #EndDate -->
10 + <!--webbot
11 + bot="Timestamp" i-CheckSum="12501" endspan -->
12 + </font></b></p>
13 + <p><font face="Verdana" size="2"><b>Safety first!</b>
14 + Wear eye protection and never touch a powered robot!</font></p>
15 + <p><font size="2" face="Verdana">Note: Do not use Loctite or thread locks
16 + on the assembly. They are not necessary and may cause damage to the Lexan.</font></p>
17 + <p><font size="2" face="Verdana">Note: This guide follows the assembly
18 + guide. The Sabertooth has already been installed.</font></p>
19 + <p><font size="2" face="Verdana"><b>Software:<br>
20 + </b>&nbsp; - Basic Micro Studio (<a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl">download</a>)</font></p></td>
21 + <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-bot-board-ii-ps2/WebHome/a4wd1p03.jpg" border="2" hspace="10" ><br>
22 + <b>Image of A4WD1.</b></font></td>
23 + </tr>
24 + <tr>
25 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font>
26 + <hr color="#808080">
27 + </td>
28 + </tr>
29 + <tr>
30 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
31 + </tr>
32 + <tr>
33 + <td valign="top" align="left"><b><font size="2" face="Verdana">Step
34 + 1. Mounting the Bot Board II</font></b><font size="2" face="Verdana"><br>
35 + Add the four standoffs for the Bot Board II to the robot's top panel as
36 + shown. Use four .250" hex socket head screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
37 + &nbsp;</font>
38 + <table border="0" >
39 + <tbody><tr>
40 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
41 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
42 + </tr>
43 + <tr>
44 + <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/4250hscs.gif" ></b></font></td>
45 + <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/4375hns.gif" ></b></font></td>
46 + </tr>
47 + </tbody></table>
48 + </td>
49 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/a4wd1p01.jpg" border="2" hspace="10" ><br>
50 + Figure 1.</font></td>
51 + </tr>
52 + <tr>
53 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
54 + </tr>
55 + <tr>
56 + <td valign="top" align="left"><b><font size="2" face="Verdana">Step
57 + 2.</font></b><font size="2" face="Verdana"><br>
58 + Install the Bot Board as shown, using four of the .250" 4-40 screws.
59 + Install the Atom Pro chip as shown.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
60 + &nbsp;</font>
61 + <table border="0" >
62 + <tbody><tr>
63 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
64 + <td ><font size="2" face="Verdana"><b>Atom Pro Orientation:</b></font></td>
65 + </tr>
66 + <tr>
67 + <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/4250hscs.gif" ></b></font></td>
68 + <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/aproinst.gif" ></b></font></td>
69 + </tr>
70 + </tbody></table>
71 + </td>
72 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/a4wd1p02.jpg" border="2" hspace="10" ><br>
73 + Figure 2.</font></td>
74 + </tr>
75 + <tr>
76 + <td valign="top" align="left" colspan="2"><br class="pb">
77 + </td>
78 + </tr>
79 + <tr>
80 + <td valign="top" align="left"><font size="2" face="Verdana"><b>Step
81 + 3. Connecting Sabertooth to Bot Board II</b><br>
82 + The Sabertooth 2x10 R/C was primarily designed to be connected to a remote
83 + control receiver. It has a BEC (battery elimination circuit) that puts
84 + 5vdc on the red wires to power the receiver. Because the Bot Board II has
85 + its own power supply, it is necessary to bypass the BEC.</font>
86 + <p><font size="2" face="Verdana">Use an exacto knife to <b>carefully</b>
87 + pry the black tab up and slip the red wire out of the black housing as
88 + shown in Figure 3.</font></p>
89 + <p><font size="2" face="Verdana">Bend the red wires up and use electrical
90 + tape to cover them as shown. This will prevent accidental shorts.</font></p>
91 + </td>
92 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/stbec.jpg" border="2" hspace="10" ><br>
93 + Figure 3.</font></td>
94 + </tr>
95 + <tr>
96 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
97 + </tr>
98 + <tr>
99 + <td valign="top" align="left"><b><font size="2" face="Verdana">Step
100 + 4.</font></b><font size="2" face="Verdana"><br>
101 + Refer to Table 4 and the schematic (Figure 4) for Bot Board II and
102 + Sabertooth wiring connections. Double check your wiring. Make sure the red
103 + battery wire goes to the (+) terminal!</font></td>
104 + <td align="center" valign="top" >
105 + <div align="center">
106 + <center>
107 + <table border="0">
108 + <tbody><tr>
109 + <td >
110 + <table border="1" bordercolor="#000000" >
111 + <tbody><tr>
112 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot
113 + Board Jumpers &amp; 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">6vdc
118 + battery to VS</font></td>
119 + </tr>
120 + <tr>
121 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
122 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
123 + </tr>
124 + <tr>
125 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
126 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">A,
127 + B, C Button</font></td>
128 + </tr>
129 + <tr>
130 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
131 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VS
132 + to VL</font></td>
133 + </tr>
134 + <tr>
135 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth
136 + Connections</font></td>
137 + </tr>
138 + <tr>
139 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
140 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">12vdc
141 + battery</font></td>
142 + </tr>
143 + <tr>
144 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch1</font></td>
145 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot
146 + Board II P0</font></td>
147 + </tr>
148 + <tr>
149 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch2</font></td>
150 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot
151 + Board II P1</font></td>
152 + </tr>
153 + </tbody></table>
154 + </td>
155 + </tr>
156 + <tr>
157 + <td >
158 + <p align="center"><font size="2" face="Verdana">Table 4</font></p></td>
159 + </tr>
160 + </tbody></table>
161 + </center>
162 + </div></td>
163 + </tr>
164 + <tr>
165 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
166 + </tr>
167 + <tr>
168 + <td valign="top" align="left"><font size="2" face="Verdana"><b>Step
169 + 5.</b><br>
170 + Set the Sabertooth switches to the settings listed in Table 5 and Figure
171 + 5.<br>
172 + &nbsp;</font>
173 + <div align="center">
174 + <center>
175 + <table border="0">
176 + <tbody><tr>
177 + <td >
178 + <table border="1" bordercolor="#000000" >
179 + <tbody><tr>
180 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth
181 + Settings</font></td>
182 + </tr>
183 + <tr>
184 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">1</font></td>
185 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Enable
186 + Mixed Mode</font></td>
187 + </tr>
188 + <tr>
189 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">2</font></td>
190 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable
191 + Exponential</font></td>
192 + </tr>
193 + <tr>
194 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">3</font></td>
195 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Non-Lithium
196 + Mode</font></td>
197 + </tr>
198 + <tr>
199 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">4</font></td>
200 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">R/C
201 + Flip Mode</font></td>
202 + </tr>
203 + <tr>
204 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">5</font></td>
205 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable
206 + Autocalibrate</font></td>
207 + </tr>
208 + <tr>
209 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">6</font></td>
210 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable
211 + Timeout</font></td>
212 + </tr>
213 + </tbody></table>
214 + </td>
215 + </tr>
216 + <tr>
217 + <td >
218 + <p align="center"><font size="2" face="Verdana">Table 5</font></p></td>
219 + </tr>
220 + </tbody></table>
221 + </center>
222 + </div>
223 + </td>
224 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/st10rc01.gif" border="2" hspace="10" ><br>
225 + Figure 5.</font></td>
226 + </tr>
227 + <tr>
228 + <td valign="top" align="left" colspan="2"><br class="pb">
229 + </td>
230 + </tr>
231 + <tr>
232 + <td valign="top" align="left" colspan="2">
233 + <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 5.<br>
234 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/4wd1sch1.gif" ><br>
235 + Schematic - Figure 5.</b></font></p>
236 + </td>
237 + </tr>
238 + <tr>
239 + <td valign="top" align="left" colspan="2"><br class="pb">
240 + </td>
241 + </tr>
242 + <tr>
243 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step
244 + 6. Programming the Atom Pro</b><br>
245 + Download the <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl">BASIC Micro Studio</a> development software. Install and run the program on
246 + your PC. The goal here is to load a program into the editor and program
247 + the Atom Pro with the code. You can use the serial port (D shaped
248 + connector with 9 pins sticking out) or a USB-to-serial cable. If you go
249 + the USB-to-serial cable route buy a good quality name brand unit. When you
250 + have a feel for the program you can load and program your Basic Atom Pro
251 + with the BASIC programs listed below.</font>
252 + <p><font face="Verdana" size="2">Now it's time to have some fun!</font></p>
253 + </td>
254 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/comp.jpg" border="2" hspace="10" ><br>
255 + Figure 6.</font></td>
256 + </tr>
257 + <tr>
258 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
259 + </tr>
260 + <tr>
261 + <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step
262 + 7.</font></b><font size="2" face="Verdana"><b> Differential or Tank Mode
263 + Test (Optional)</b><br>
264 + Download this file (<a href="https://www.lynxmotion.com/images/files/a4wd1tst2.zip" target="_blank">a4wd1tst2.zip</a>)
265 + and run it. For this program, on the Bot Board II, the "A"
266 + button is left channel throttle, "C" button is right channel
267 + throttle, and "B" is a speed and direction reset.</font>
268 + <p><font size="2" face="Verdana">This program requires the Sabertooth's
269 + Switch 1 to be flipped to the "Off" or "Independent
270 + Control" position.</font></p>
271 + <p><font size="2" face="Verdana">Upon powering up the robot, you should
272 + hear four ascending notes. Pressing A once results in a beep and slow
273 + forward motion (10%) on the left channel only. Pressing nine more times
274 + results in 100% power. Continuing to press A will make the motor act as
275 + above, except only for the right channel. The C button will control the
276 + left motor in a similar manner. Pressing the B button will reset the speed
277 + and direction of both left and right.</font></p>
278 + <p><font size="2" face="Verdana">Note: The Sabertooth's red Error LED will
279 + light to indicate overheating or current limit. The green Status1 LED will
280 + glow dimly when power is applied, and brightly when it's receiving pulses
281 + from the microcontroller. The green Status2 LED will flash out the
282 + detected number of lithium cells when lithium mode is enabled.</font></p></td>
283 + </tr>
284 + <tr>
285 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
286 + </tr>
287 + <tr>
288 + <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step
289 + 8.</font></b><font size="2" face="Verdana"><b> Throttle and Steering Mode
290 + Test (Required)</b><br>
291 + Make sure the Sabertooth's Switch 1 is flipped back into the
292 + "On" or "Enable Mixed Mode" position!</font>
293 + <p><font size="2" face="Verdana">Download this file (<a href="https://www.lynxmotion.com/images/files/a4wd1tst1.zip" target="_blank">a4wd1tst1.zip</a>)
294 + and run it. For this program, on the Bot Board II, the "B"
295 + button is throttle and the "A" and "C" buttons are
296 + steering.</font></p>
297 + <p><font size="2" face="Verdana">Upon powering up the robot, you should
298 + hear four ascending notes.&nbsp; Pressing B once results in a beep and
299 + slow forward motion (10%). Pressing nine more times results in 100% power.
300 + After the motor is at 100% power, pressing B will reduce the speed in 10%
301 + increments until it stops. Continue to press B to make the robot move as
302 + above, only in reverse.</font></p>
303 + <p><font size="2" face="Verdana">Press Reset, then B twice. Now press C a
304 + few times to see the robot make a gradual left turn. Pressing A a few
305 + times will return to forward motion, and continuing to press A will result
306 + in gradual right turn.</font></p>
307 + <p><font size="2" face="Verdana">Experiment with these buttons to
308 + understand how throttle and steering can be used to control the vehicle's
309 + motion.</font></p>
310 + <p><font size="2" face="Verdana">Note: The Sabertooth's red Error LED will
311 + light to indicate overheating or current limit. The green Status1 LED will
312 + glow dimly when power is applied, and brightly when it's receiving pulses
313 + from the microcontroller. The green Status2 LED will flash out the
314 + detected number of lithium cells when lithium mode is enabled.<br>
315 + &nbsp;</font></p></td>
316 + </tr>
317 + <tr>
318 + <td valign="top" align="left" colspan="2"><br class="pb">
319 + </td>
320 + </tr>
321 + <tr>
322 + <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
323 + 9.</font></b><font size="2"><br>
324 + Now it's time to set up the A4WD1 for PS2 R/C control. The code supports a
325 + pan and tilt and gripper, but they are optional. The Pan and Tilt is
326 + installed on the front of the top panel, and the gripper is installed on
327 + the front of the base.</font></font>
328 + <p><font size="2" face="Verdana">If you are adding a pan and tilt and
329 + gripper, you will need to change the power bus jumpers according to Table
330 + 9 and Schematic 10.</font></p>
331 + <p><font face="Verdana" size="2">Note: Refer only to Figure 9 for
332 + connection information. The cable colors in the picture may be outdated.
333 + If your cable's colors do not match the diagram, you can find a complete
334 + listing of possible colors <a href="https://www.lynxmotion.com/images/html/build151.htm#aglance">here</a>.</font></p>
335 + <p align="center"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/wire08s.gif" align="center"><br>
336 + <font size="2" face="Verdana">Figure 9.</font></p>
337 + </td>
338 + <td align="center" valign="top" >
339 + <div align="center">
340 + <center>
341 + <table border="0">
342 + <tbody><tr>
343 + <td >
344 + <table border="1" bordercolor="#000000" >
345 + <tbody><tr>
346 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot
347 + Board Jumpers</font></td>
348 + </tr>
349 + <tr>
350 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
351 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O
352 + 0-3 Power Bus to VS</font></td>
353 + </tr>
354 + <tr>
355 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
356 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O
357 + 4-7 Power Bus to VS</font></td>
358 + </tr>
359 + <tr>
360 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
361 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O
362 + 12-15 Power Bus to 5v</font></td>
363 + </tr>
364 + </tbody></table>
365 + </td>
366 + </tr>
367 + <tr>
368 + <td >
369 + <p align="center"><font size="2" face="Verdana">Table 9-1</font></p></td>
370 + </tr>
371 + <tr>
372 + <td >
373 + <div align="center">
374 + <table border="1" bordercolor="#000000" >
375 + <tbody><tr>
376 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Connections
377 + for Bot Board II</font></td>
378 + </tr>
379 + <tr>
380 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td>
381 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth
382 + Ch1</font></td>
383 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P8</font></td>
384 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
385 + </tr>
386 + <tr>
387 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td>
388 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth
389 + Ch2</font></td>
390 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P9</font></td>
391 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
392 + </tr>
393 + <tr>
394 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P2</font></td>
395 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Pan
396 + servo</font></td>
397 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P10</font></td>
398 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
399 + </tr>
400 + <tr>
401 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P3</font></td>
402 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Tilt
403 + servo</font></td>
404 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P11</font></td>
405 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
406 + </tr>
407 + <tr>
408 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P4</font></td>
409 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper
410 + up/down</font></td>
411 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P12</font></td>
412 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2
413 + Data</font></td>
414 + </tr>
415 + <tr>
416 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P5</font></td>
417 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper
418 + rotate servo</font></td>
419 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P13</font></td>
420 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2
421 + Command</font></td>
422 + </tr>
423 + <tr>
424 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P6</font></td>
425 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper
426 + open/close</font></td>
427 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P14</font></td>
428 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2
429 + Select</font></td>
430 + </tr>
431 + <tr>
432 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P7</font></td>
433 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
434 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P15</font></td>
435 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2
436 + Clock</font></td>
437 + </tr>
438 + </tbody></table>
439 + </div>
440 + </td>
441 + </tr>
442 + <tr>
443 + <td >
444 + <p align="center"><font size="2" face="Verdana">Table 9-2</font></p>
445 + </td>
446 + </tr>
447 + </tbody></table>
448 + </center>
449 + </div>
450 + </td>
451 + </tr>
452 + <tr>
453 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
454 + </tr>
455 + <tr>
456 + <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
457 + 10.</font></b><font size="2"><br>
458 + </font></font><font size="2" face="Verdana">Note, the program allows
459 + turning two I/O pins (TTL level peripherals) on or off from the
460 + controller. This allows you to add headlights, etc. As a test, you can
461 + connect I/O pin 10 or 11 to the "A" and "B" LED / push
462 + button enable lines. Connect to the header pins closest to the LED's. You
463 + can also use a VOM to measure the voltage on the pins to verify their
464 + operation. See the schematic for details.</font></td>
465 + <td align="center" valign="top" >
466 + <div align="center">
467 + <center>
468 + <table border="0">
469 + <tbody><tr>
470 + <td >
471 + <table border="1" bordercolor="#000000" >
472 + <tbody><tr>
473 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot
474 + Board Jumpers</font></td>
475 + </tr>
476 + <tr>
477 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
478 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O
479 + 10 to LED A (see text)</font></td>
480 + </tr>
481 + <tr>
482 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
483 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O
484 + 11 to LED B (see text)</font></td>
485 + </tr>
486 + </tbody></table>
487 + </td>
488 + </tr>
489 + <tr>
490 + <td >
491 + <p align="center"><font size="2" face="Verdana">Table 10-1</font></p></td>
492 + </tr>
493 + </tbody></table>
494 + </center>
495 + </div>
496 + </td>
497 + </tr>
498 + <tr>
499 + <td valign="top" align="left" colspan="2"><br class="pb">
500 + </td>
501 + </tr>
502 + <tr>
503 + <td valign="top" align="left" colspan="2">
504 + <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 10.<br>
505 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/4wd1sch2.gif" ><br>
506 + Schematic - Figure 10.</b></font></p>
507 + </td>
508 + </tr>
509 + <tr>
510 + <td valign="top" align="left" colspan="2"><br class="pb">
511 + </td>
512 + </tr>
513 + <tr>
514 + <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
515 + 11.</font></b><font size="2"><br>
516 + </font></font><font size="2" face="Verdana">Download this file (<a href="https://www.lynxmotion.com/images/files/ps2a4wd1.zip" target="_blank">ps2a4wd1.zip</a>)
517 + and program the Atom Pro. You will want to set the bot on something so
518 + that the wheels aren't touching the ground.</font>
519 + <p><font size="2" face="Verdana">Before running the program turn on the
520 + PS2 controller. When the program is run it will turn most PS2 game
521 + controllers to analog mode (required) automatically. If your controller
522 + does not automatically go into analog mode, you will need to do so
523 + manually.</font></p></td>
524 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/a4wd1p04.jpg" border="2" hspace="10" ><br>
525 + Figure 11.</font></td>
526 + </tr>
527 + <tr>
528 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
529 + </tr>
530 + <tr>
531 + <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step
532 + 12.</font></b></font><font size="2" face="Verdana"><br>
533 + This program lets you control the movement of the bot and several add-on
534 + components. Use the left joystick to move the bot forward and backward,
535 + and make left and right turns. The turns can be gradual or on-the-spot,
536 + depending on how far you push the joystick.</font>
537 + <p><font size="2" face="Verdana">This program also incorporates speed
538 + limits. There are four speeds, #1 being slowest and #4 being fastest. #3
539 + is default. The speed limit is increased by pressing L1 and decreased by
540 + pressing L2. By reducing the top-end speed, you can use the full range of
541 + the joystick at a lower speed, thus increasing the accuracy of the rover's
542 + movements. This is helpful when trying to position the gripper over an
543 + object to pick up.</font></p>
544 + <p><font size="2" face="Verdana">When the program is started, the program
545 + will read the joystick positions and set those values as the "nulled"
546 + position. Pressing the Start button will null the joysticks on command.
547 + Robot movements are proportional to the joystick travel from null, and
548 + linear in both directions after the deadband. This helps with PS2
549 + controllers that don't reliably return to 127 for joystick center.</font></p>
550 + <p><font size="2" face="Verdana">See Table 12-1 for a complete list of
551 + programmed controls.</font></p>
552 + </td>
553 + <td align="center" valign="top" >
554 + <div align="center">
555 + <center>
556 + <table border="0">
557 + <tbody><tr>
558 + <td >
559 + <div align="center">
560 + <table border="1" bordercolor="#000000" >
561 + <tbody><tr>
562 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2
563 + Controls</font></td>
564 + </tr>
565 + <tr>
566 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L
567 + Joy U</font></td>
568 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Moves
569 + bot forward</font></td>
570 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R
571 + Joy U</font></td>
572 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Tilts
573 + P&amp;T Up</font></td>
574 + </tr>
575 + <tr>
576 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L
577 + Joy D</font></td>
578 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Moves
579 + bot backward</font></td>
580 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R
581 + Joy D</font></td>
582 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Tilts
583 + P&amp;T Down</font></td>
584 + </tr>
585 + <tr>
586 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L
587 + Joy L</font></td>
588 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Turns
589 + bot Left</font></td>
590 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R
591 + Joy L</font></td>
592 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Turns
593 + P&amp;T Left</font></td>
594 + </tr>
595 + <tr>
596 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L
597 + Joy R</font></td>
598 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Turns
599 + bot Right</font></td>
600 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R
601 + Joy R</font></td>
602 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Turns
603 + P&amp;T Right</font></td>
604 + </tr>
605 + <tr>
606 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L1</font></td>
607 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speed
608 + Limit Inc.</font></td>
609 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R1</font></td>
610 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Close
611 + Gripper</font></td>
612 + </tr>
613 + <tr>
614 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L2</font></td>
615 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speed
616 + Limit Dec.</font></td>
617 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R2</font></td>
618 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Open
619 + Gripper</font></td>
620 + </tr>
621 + <tr>
622 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L3</font></td>
623 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
624 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R3</font></td>
625 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
626 + </tr>
627 + <tr>
628 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad
629 + U</font></td>
630 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Lift
631 + Gripper</font></td>
632 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Tri</font></td>
633 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Toggle
634 + Pin 10</font></td>
635 + </tr>
636 + <tr>
637 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad
638 + D</font></td>
639 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Lower
640 + Gripper</font></td>
641 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">X</font></td>
642 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Toggle
643 + Pin 11</font></td>
644 + </tr>
645 + <tr>
646 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad
647 + L</font></td>
648 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Rotate
649 + Gripper L</font></td>
650 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Squ</font></td>
651 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
652 + </tr>
653 + <tr>
654 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad
655 + R</font></td>
656 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Rotate
657 + Gripper R</font></td>
658 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">O</font></td>
659 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
660 + </tr>
661 + <tr>
662 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Start</font></td>
663 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Joystick
664 + Null (see text)</font></td>
665 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Select</font></td>
666 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
667 + </tr>
668 + </tbody></table>
669 + </div>
670 + </td>
671 + </tr>
672 + <tr>
673 + <td >
674 + <p align="center"><font size="2" face="Verdana">Table 12-1</font></p>
675 + </td>
676 + </tr>
677 + </tbody></table>
678 + </center>
679 + </div>
680 + </td>
681 + </tr>
682 +</tbody></table>
683 +</body>
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