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Eric Nantel 18.1 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>
Eric Nantel 19.1 20 </b>&nbsp; - Basic Micro Studio</font></p></td>
Eric Nantel 18.1 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>
Eric Nantel 20.1 245 Download the BASIC Micro Studio development software. Install and run the program on
Eric Nantel 18.1 246 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>
Eric Nantel 19.1 264 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>)
Eric Nantel 18.1 265 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>
Eric Nantel 19.1 293 <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>)
Eric Nantel 18.1 294 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>
Eric Nantel 19.1 516 </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>)
Eric Nantel 18.1 517 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>
Eric Nantel 1.1 684 {{/html}}

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