A4WD1 Bot Board II & PS2 Control v1.0

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.

252

Now it's time to have some fun!

</td>

Figure 6.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step

262

7. Differential or Tank Mode

263

Test (Optional)

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.

268

This program requires the Sabertooth's

269

Switch 1 to be flipped to the "Off" or "Independent

270

Control" position.

271

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.

278

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.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step

289

8. Throttle and Steering Mode

290

Test (Required)

291

Make sure the Sabertooth's Switch 1 is flipped back into the

292

"On" or "Enable Mixed Mode" position!

293

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.

297

Upon powering up the robot, you should

298

hear four ascending notes.  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.

303

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.

307

Experiment with these buttons to

308

understand how throttle and steering can be used to control the vehicle's

309

motion.

310

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.

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step

323

9.

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.

328

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.

331

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>.

Figure 9.

</td>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Bot

Board Jumpers</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connect</td>

351

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O

352

0-3 Power Bus to VS</td>

353

</tr>

354

<tr>

355

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connect</td>

356

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O

357

4-7 Power Bus to VS</td>

358

</tr>

359

<tr>

360

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connect</td>

361

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O

362

12-15 Power Bus to 5v</td>

</tr>

</tbody></table>

</td>

</tr>

<tr>

<td >

Table 9-1</td>

</tr>

<tr>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4">Connections

377

for Bot Board II</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Sabertooth

Ch1</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Sabertooth

389

Ch2</td>

390

391

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Speaker</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Pan

servo</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Tilt

servo</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Gripper

410

up/down</td>

411

412

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">PS2

Data</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Gripper

418

rotate servo</td>

419

420

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">PS2

Command</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Gripper

426

open/close</td>

427

428

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">PS2

Select</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">PS2

Clock</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td >

Table 9-2

</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

457

10.

458

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.</td>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2">Bot

Board Jumpers</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connect</td>

478

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O

479

10 to LED A (see text)</td>

480

</tr>

481

<tr>

482

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Connect</td>

483

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O

484

11 to LED B (see text)</td>

</tr>

</tbody></table>

</td>

</tr>

<tr>

<td >

Table 10-1</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

<tr>

</td>

</tr>

<tr>

Schematic - Figure 10.

505

506

Schematic - Figure 10.

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step

515

11.

516

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.

519

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

manually.</td>

Figure 11.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step

532

12.

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.

537

This program also incorporates speed

538

limits. There are four speeds, #1 being slowest and #4 being fastest. #3

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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.

544

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.

550

See Table 12-1 for a complete list of

programmed controls.

</td>

<td >

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4">PS2

Controls</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">L

567

Joy U</td>

568

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Moves

569

bot forward</td>

570

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">R

571

Joy U</td>

572

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Tilts

P&T Up</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">L

577

Joy D</td>

578

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Moves

579

bot backward</td>

580

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">R

581

Joy D</td>

582

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Tilts

P&T Down</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">L

587

Joy L</td>

588

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Turns

589

bot Left</td>

590

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">R

591

Joy L</td>

592

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Turns

P&T Left</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">L

597

Joy R</td>

598

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Turns

599

bot Right</td>

600

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">R

601

Joy R</td>

602

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Turns

P&T Right</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Speed

608

Limit Inc.</td>

609

610

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Close

Gripper</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Speed

616

Limit Dec.</td>

617

618

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Open

Gripper</td>

</tr>

<tr>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">D-Pad

629

U</td>

630

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Lift

631

Gripper</td>

632

633

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Toggle

Pin 10</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">D-Pad

638

D</td>

639

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Lower

640

Gripper</td>

641

642

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Toggle

Pin 11</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">D-Pad

647

L</td>

648

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Rotate

Gripper L</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">D-Pad

655

R</td>

656

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Rotate

Gripper R</td>

</tr>

<tr>

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Start</td>

663

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Joystick

664

Null (see text)</td>

665

<td align="center" bordercolor="#808080" bgcolor="#C0C0C0">Select</td>

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td >

Table 12-1

</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

</tbody></table>

</body>

Wiki source code of A4WD1 Bot Board II & PS2 Control v1.0