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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</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 BASIC Micro Studio 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://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/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://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/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://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/a4wd1-bot-board-ii-ps2/WebHome/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>
684 684  {{/html}}
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