Wiki source code of A4WD1 Bot Board II & PS2 Control v1.0
Last modified by Eric Nantel on 2023/01/27 15:17
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1 | {{html wiki="false" clean="true"}} |
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> - 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"> </font> |
26 | <hr color="#808080"> |
27 | </td> |
28 | </tr> |
29 | <tr> |
30 | <td valign="top" align="left" colspan="2"><font size="2" face="Verdana"> </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 | </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"> </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 | </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"> </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 & 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"> </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 | </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"> </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"> </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. 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 | </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"> </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"> </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&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&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&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&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 | {{/html}} |