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1 1  {{html wiki="false" clean="true"}}
2 -
2 +<body><table border="0" cellpadding="0" cellspacing="0" >
3 + <tbody><tr>
4 + <td valign="top" align="left"><b><font size="2" face="Verdana">Tri-Track Tutorial for PS2 Control v1.0</font></b>
5 + <p><b><font size="2" face="Verdana">Updated <!--webbot bot="Timestamp" startspan s-type="EDITED" s-format="%m/%d/%Y" -->07/19/2010<!--webbot
6 + bot="Timestamp" i-CheckSum="12643" endspan --></font></b></p>
7 + <p><b><font face="Verdana" size="2">Safety first!</font></b><font face="Verdana" size="2"> Wear eye protection and never touch a powered robot!</font></p>
8 + <p><font size="2" face="Verdana">Note: Do not use Loctite or thread locks on the assembly. They are not necessary and may cause damage to the
9 + Lexan.</font></p>
10 + <p><font size="2" face="Verdana">Note: This guide follows the assembly guide. The Sabertooth 2x5 R/C has already been installed.</font></p>
11 + <p><font size="2" face="Verdana"><b>Software:<br>
12 + </b>&nbsp; - Basic Micro Studio</font></p></td>
13 + <td align="center" valign="top" width="320"><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/ttrkps20.jpg" border="2" hspace="10" ><br>
14 + <b>Image of Tri-Track Chassis.</b></font></td>
15 + </tr>
16 + <tr>
17 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font>
18 + <hr color="#808080">
19 + </td>
20 + </tr>
21 + <tr>
22 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
23 + </tr>
24 + <tr>
25 + <td valign="top" align="left"><b><font size="2" face="Verdana">Step 1. Mounting the Bot Board II</font></b><font size="2" face="Verdana"><br>
26 + Install the Atom Pro chip into the Bot Board II as shown. Add the four 1.0" standoffs to the Bot Board II, then install as shown using four
27 + of the .250" 4-40 screws.</font><font face="Verdana, Helvetica, sans-serif" size="2"><br>
28 + &nbsp;</font>
29 + <table border="0" >
30 + <tbody><tr>
31 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
32 + <td ><font size="2" face="Verdana"><b>4 x</b></font></td>
33 + </tr>
34 + <tr>
35 + <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/4250hscs.gif" ></b></font></td>
36 + <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/41000hns.gif" ></b></font></td>
37 + </tr>
38 + <tr>
39 + <td colspan="2"><font size="2" face="Verdana"><b>&nbsp;</b></font></td>
40 + </tr>
41 + <tr>
42 + <td ><font size="2" face="Verdana"><b>Atom Pro Orientation:</b></font></td>
43 + <td ><font size="2" face="Verdana"><b>&nbsp;</b></font></td>
44 + </tr>
45 + <tr>
46 + <td ><font face="Verdana" size="2"><b><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/aproinst.gif" ></b></font></td>
47 + <td ><font size="2" face="Verdana"><b>&nbsp;</b></font></td>
48 + </tr>
49 + </tbody></table>
50 + </td>
51 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/ttrkps21.jpg" border="2" hspace="10" ><br>
52 + Figure 1.</font></td>
53 + </tr>
54 + <tr>
55 + <td valign="top" align="left" colspan="2"><br class="pb">
56 + </td>
57 + </tr>
58 + <tr>
59 + <td valign="top" align="left"><font size="2" face="Verdana"><b>Step 2A. Connecting Sabertooth to Bot Board II</b><br>
60 + The Sabertooth 2x5 R/C was primarily designed to be connected to a remote control receiver. It has a BEC (battery elimination circuit) that puts
61 + 5vdc on the red wires to power the receiver. Because the Bot Board II has its own power supply, it is necessary to bypass the BEC. To do so, you can remove the VS=5V jumper associated with pins 0 to 3 and connect channel 1 from teh Sabertooth to pin 1 on the Bot Board, and channel 2 on the Sabertooth to channel 1 on the Bot Board. The diagram in step 4 shows Step 2B (different than this new approach).<br><br></font>
62 + </td>
63 +
64 + </tr>
65 +
66 + <tr>
67 + <td valign="top" align="left"><font size="2" face="Verdana"><b>Step 2B. Connecting Sabertooth to Bot Board II</b><br>
68 + A different approach than what is explained in Step 2A is to factor in that the Sabertooth 2x5 R/C was primarily designed to be connected to a remote control receiver. It has a BEC (battery elimination circuit) that puts 5vdc on the red wires to power the receiver. Because the Bot Board II has its own power supply, it is necessary to bypass the BEC.</font>
69 + <p><font size="2" face="Verdana">Use an exacto knife to <b>carefully</b> pry the black tab up and slip the red wire out of the black housing as
70 + shown in Figure 2.</font></p>
71 + <p><font size="2" face="Verdana">Bend the red wires up and use electrical tape to cover them as shown. This will prevent accidental shorts.</font></p>
72 + </td>
73 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/stbec.jpg" border="2" hspace="10" ><br>
74 + Figure 2.</font></td>
75 + </tr>
76 + <tr>
77 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
78 + </tr>
79 + <tr>
80 + <td valign="top" align="left"><b><font size="2" face="Verdana">Step 3.</font></b><font size="2" face="Verdana"><br>
81 + Refer to Table 3 and the schematic (Figure 4) for Bot Board II and Sabertooth wiring connections. Double check your wiring. Make sure the red
82 + battery wire goes to the (+) terminal!</font></td>
83 + <td align="center" valign="top" >
84 + <div align="center">
85 + <center>
86 + <table border="0">
87 + <tbody><tr>
88 + <td >
89 + <table border="1" bordercolor="#000000" >
90 + <tbody><tr>
91 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers
92 + &amp; Connections</font></td>
93 + </tr>
94 + <tr>
95 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
96 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">6vdc battery to VS</font></td>
97 + </tr>
98 + <tr>
99 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
100 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
101 + </tr>
102 + <tr>
103 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Enable</font></td>
104 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">A, B, C Button</font></td>
105 + </tr>
106 + <tr>
107 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
108 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">VS to VL</font></td>
109 + </tr>
110 + <tr>
111 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth
112 + Connections</font></td>
113 + </tr>
114 + <tr>
115 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
116 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">12vdc battery</font></td>
117 + </tr>
118 + <tr>
119 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch1</font></td>
120 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot Board II P0</font></td>
121 + </tr>
122 + <tr>
123 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Ch2</font></td>
124 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Bot Board II P1</font></td>
125 + </tr>
126 + </tbody></table>
127 + </td>
128 + </tr>
129 + <tr>
130 + <td >
131 + <p align="center"><font size="2" face="Verdana">Table 3</font></p></td>
132 + </tr>
133 + </tbody></table>
134 + </center>
135 + </div>
136 + &nbsp;</td>
137 + </tr>
138 + <tr>
139 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
140 + </tr>
141 + <tr>
142 + <td valign="top" align="left"><font size="2" face="Verdana"><b>Step 4.</b><br>
143 + Set the Sabertooth switches to the settings listed in Table 4 and Figure 4.<br>
144 + &nbsp;</font>
145 + <div align="center">
146 + <center>
147 + <table border="0">
148 + <tbody><tr>
149 + <td >
150 + <table border="1" bordercolor="#000000" >
151 + <tbody><tr>
152 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Sabertooth
153 + Settings</font></td>
154 + </tr>
155 + <tr>
156 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">1</font></td>
157 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Enable Mixed Mode</font></td>
158 + </tr>
159 + <tr>
160 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">2</font></td>
161 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Exponential</font></td>
162 + </tr>
163 + <tr>
164 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">3</font></td>
165 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Non-Lithium Mode</font></td>
166 + </tr>
167 + <tr>
168 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">4</font></td>
169 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">R/C Flip Mode</font></td>
170 + </tr>
171 + <tr>
172 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">5</font></td>
173 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Autocalibrate</font></td>
174 + </tr>
175 + <tr>
176 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">6</font></td>
177 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Disable Timeout</font></td>
178 + </tr>
179 + </tbody></table>
180 + </td>
181 + </tr>
182 + <tr>
183 + <td >
184 + <p align="center"><font size="2" face="Verdana">Table 4</font></p></td>
185 + </tr>
186 + </tbody></table>
187 + </center>
188 + </div>
189 + </td>
190 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/strc01.gif" border="2" hspace="10" ><br>
191 + Figure 4.</font></td>
192 + </tr>
193 + <tr>
194 + <td valign="top" align="left" colspan="2"><br class="pb">
195 + </td>
196 + </tr>
197 + <tr>
198 + <td valign="top" align="left" colspan="2">
199 + <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 4 (Old approach using Step 2B).<br>
200 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/tritsch1.gif" ><br>
201 + Schematic - Figure 4.</b></font></p>
202 + </td>
203 + </tr>
204 + <tr>
205 + <td valign="top" align="left" colspan="2"><br class="pb">
206 + </td>
207 + </tr>
208 + <tr>
209 + <td valign="top" align="left"><font face="Verdana" size="2"><b>Step 5. Programming the Atom Pro</b><br>
210 + Download the <a href="https://www.lynxmotion.com/ViewPage.aspx?ContentCode=atomdl">BASIC Atom Pro IDE v8.0.1.7</a> development
211 + software. Install and run the program on your PC. The goal here is to load a program into the editor and program the Atom Pro with the code. You
212 + can use the serial port (D shaped connector with 9 pins sticking out) or a USB-to-serial cable. If you go the USB-to-serial cable route buy a
213 + good quality name brand unit. When you have a feel for the program you can load and program your Basic Atom Pro with the BASIC programs listed
214 + below.</font>
215 + <p><font face="Verdana" size="2">Now it's time to have some fun!</font></p>
216 + </td>
217 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/comp.jpg" border="2" hspace="10" ><br>
218 + Figure 5.</font></td>
219 + </tr>
220 + <tr>
221 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
222 + </tr>
223 + <tr>
224 + <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step 6.</font></b><font size="2" face="Verdana"><b>
225 + Differential or Tank Mode Test (Optional)</b><br>
226 + Download this file (<a href="https://www.lynxmotion.com/images/files/a4wd1tst2.bas" target="_blank">a4wd1tst2.bas</a>) and run it. For this program, on the Bot Board II,
227 + the "A" button is left channel throttle, "C" button is right channel throttle, and "B" is a speed and direction
228 + reset.</font>
229 + <p><font size="2" face="Verdana">This program requires the Sabertooth's Switch 1 to be flipped to the "Off" or "Independent
230 + Control" position.</font></p>
231 + <p><font size="2" face="Verdana">Upon powering up the robot, you should hear four ascending notes. Pressing A once results in a beep and slow
232 + forward motion (10%) on the left channel only. Pressing nine more times results in 100% power. Continuing to press A will make the motor act as
233 + above, except only for the right channel. The C button will control the left motor in a similar manner. Pressing the B button will reset the
234 + speed and direction of both left and right.</font></p>
235 + <p><font size="2" face="Verdana">Note: The Sabertooth's red Error LED will light to indicate overheating or current limit. The blue Status LED
236 + will glow dimly when power is applied, and brightly when a radio signal is present. In Lithium mode, the blue Status LED will flash out the
237 + number of lithium cells detected.</font></p></td>
238 + </tr>
239 + <tr>
240 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
241 + </tr>
242 + <tr>
243 + <td valign="top" align="left" colspan="2"><b><font size="2" face="Verdana">Step 7.</font></b><font size="2" face="Verdana"><b>
244 + Throttle and Steering Mode Test (Required)</b><br>
245 + Make sure the Sabertooth's Switch 1 is flipped back into the "On" or "Enable Mixed Mode" position!</font>
246 + <p><font size="2" face="Verdana">Download this file (<a href="https://www.lynxmotion.com/images/files/a4wd1tst1.bas" target="_blank">a4wd1tst1.bas</a>) and run it. For
247 + this program, on the Bot Board II, the "B" button is throttle and the "A" and "C" buttons are steering.</font></p>
248 + <p><font size="2" face="Verdana">Upon powering up the robot, you should hear four ascending notes.&nbsp; Pressing B once results in a beep and
249 + slow forward motion (10%). Pressing nine more times results in 100% power. After the motor is at 100% power, pressing B will reduce the speed in
250 + 10% increments until it stops. Continue to press B to make the robot move as above, only in reverse.</font></p>
251 + <p><font size="2" face="Verdana">Press Reset, then B twice. Now press C a few times to see the robot make a gradual left turn. Pressing A a few
252 + times will return to forward motion, and continuing to press A will result in gradual right turn.</font></p>
253 + <p><font size="2" face="Verdana">Experiment with these buttons to understand how throttle and steering can be used to control the vehicle's
254 + motion.</font></p>
255 + <p><font size="2" face="Verdana">Note: The Sabertooth's red Error LED will light to indicate overheating or current limit. The blue Status LED
256 + will glow dimly when power is applied, and brightly when a radio signal is present. In Lithium mode, the blue Status LED will flash out the
257 + number of lithium cells detected.</font></p></td>
258 + </tr>
259 + <tr>
260 + <td valign="top" align="left" colspan="2"><br class="pb">
261 + </td>
262 + </tr>
263 + <tr>
264 + <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 8.</font></b><font size="2"><br>
265 + Now it's time to set up the robot for PS2 R/C control. The code supports a pan and tilt and gripper, but they are optional. The Pan and Tilt is
266 + installed on the front of the top panel, and the gripper is installed on the front of the base.</font></font>
267 + <p><font size="2" face="Verdana">If you are adding a pan and tilt and gripper, you will need to change the power bus jumpers according to Table
268 + 8 and Schematic 9.</font></p>
269 + <p align="center"><img border="2" src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/wire08s.gif" align="center" ><br>
270 + <font size="2" face="Verdana">Figure 8.</font></p>
271 + </td>
272 + <td align="center" valign="top" >
273 + <div align="center">
274 + <center>
275 + <table border="0">
276 + <tbody><tr>
277 + <td >
278 + <table border="1" bordercolor="#000000" >
279 + <tbody><tr>
280 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers</font></td>
281 + </tr>
282 + <tr>
283 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
284 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 0-3 Power Bus to VS</font></td>
285 + </tr>
286 + <tr>
287 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
288 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 4-7 Power Bus to VS</font></td>
289 + </tr>
290 + <tr>
291 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
292 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 12-15 Power Bus to 5v</font></td>
293 + </tr>
294 + </tbody></table>
295 + </td>
296 + </tr>
297 + <tr>
298 + <td >
299 + <p align="center"><font size="2" face="Verdana">Table 8-1</font></p></td>
300 + </tr>
301 + <tr>
302 + <td >
303 + <div align="center">
304 + <table border="1" bordercolor="#000000" >
305 + <tbody><tr>
306 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">Connections for
307 + Bot Board II</font></td>
308 + </tr>
309 + <tr>
310 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P0</font></td>
311 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth Ch1</font></td>
312 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P8</font></td>
313 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
314 + </tr>
315 + <tr>
316 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P1</font></td>
317 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Sabertooth Ch2</font></td>
318 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P9</font></td>
319 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speaker</font></td>
320 + </tr>
321 + <tr>
322 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P2</font></td>
323 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Pan servo</font></td>
324 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P10</font></td>
325 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
326 + </tr>
327 + <tr>
328 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P3</font></td>
329 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Tilt servo</font></td>
330 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P11</font></td>
331 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
332 + </tr>
333 + <tr>
334 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P4</font></td>
335 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper up/down</font></td>
336 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P12</font></td>
337 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Data</font></td>
338 + </tr>
339 + <tr>
340 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P5</font></td>
341 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper rotate servo</font></td>
342 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P13</font></td>
343 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Command</font></td>
344 + </tr>
345 + <tr>
346 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P6</font></td>
347 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Gripper open/close</font></td>
348 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P14</font></td>
349 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Select</font></td>
350 + </tr>
351 + <tr>
352 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P7</font></td>
353 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
354 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">P15</font></td>
355 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">PS2 Clock</font></td>
356 + </tr>
357 + </tbody></table>
358 + </div>
359 + </td>
360 + </tr>
361 + <tr>
362 + <td >
363 + <p align="center"><font size="2" face="Verdana">Table 8-2</font></p>
364 + </td>
365 + </tr>
366 + </tbody></table>
367 + </center>
368 + </div>
369 + </td>
370 + </tr>
371 + <tr>
372 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
373 + </tr>
374 + <tr>
375 + <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 9.</font></b><font size="2"><br>
376 + </font></font><font size="2" face="Verdana">Note, the program allows turning two I/O pins (TTL level peripherals) on or off from the controller.
377 + This allows you to add headlights, etc. As a test, you can connect I/O pin 10 or 11 to the "A" and "B" LED / push button
378 + enable lines. Connect to the header pins closest to the LED's. You can also use a VOM to measure the voltage on the pins to verify their
379 + operation. See the schematic for details.</font></td>
380 + <td align="center" valign="top" >
381 + <div align="center">
382 + <center>
383 + <table border="0">
384 + <tbody><tr>
385 + <td >
386 + <table border="1" bordercolor="#000000" >
387 + <tbody><tr>
388 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="2"><font size="2" face="Verdana">Bot Board Jumpers</font></td>
389 + </tr>
390 + <tr>
391 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
392 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 10 to LED A (see text)</font></td>
393 + </tr>
394 + <tr>
395 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Connect</font></td>
396 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">I/O 11 to LED B (see text)</font></td>
397 + </tr>
398 + </tbody></table>
399 + </td>
400 + </tr>
401 + <tr>
402 + <td >
403 + <p align="center"><font size="2" face="Verdana">Table 9-1</font></p></td>
404 + </tr>
405 + </tbody></table>
406 + </center>
407 + </div>
408 + </td>
409 + </tr>
410 + <tr>
411 + <td valign="top" align="left" colspan="2"><br class="pb">
412 + </td>
413 + </tr>
414 + <tr>
415 + <td valign="top" align="left" colspan="2">
416 + <p align="center"><font size="2" face="Verdana"><b>Schematic - Figure 9.<br>
417 + <img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/4wd1sch2.gif" ><br>
418 + Schematic - Figure 9.</b></font></p>
419 + </td>
420 + </tr>
421 + <tr>
422 + <td valign="top" align="left" colspan="2"><br class="pb">
423 + </td>
424 + </tr>
425 + <tr>
426 + <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 10.</font></b><font size="2"><br>
427 + </font></font><font size="2" face="Verdana">Download this file (<a href="https://www.lynxmotion.com/images/files/ps2a4wd1.bas" target="_blank">ps2a4wd1.bas</a>) and
428 + program the Atom Pro. You will want to set the bot on something so that the wheels aren't touching the ground.</font>
429 + <p><font size="2" face="Verdana">Before running the program turn on the PS2 controller. When the program is run it will turn most PS2 game
430 + controllers to analog mode (required) automatically. If your controller does not automatically go into analog mode, you will need to do so
431 + manually.</font></p></td>
432 + <td align="center" valign="top" ><font size="2" face="Verdana"><img src="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/ttrkps23.jpg" border="2" hspace="10" ><br>
433 + Figure 10.</font></td>
434 + </tr>
435 + <tr>
436 + <td valign="top" align="left" colspan="2"><font size="2" face="Verdana">&nbsp;</font></td>
437 + </tr>
438 + <tr>
439 + <td valign="top" align="left"><font face="Verdana"><b><font size="2">Step 11.</font></b></font><font size="2" face="Verdana"><br>
440 + This program lets you control the movement of the bot and several add-on components. Use the left joystick to move the bot forward and backward,
441 + and make left and right turns. The turns can be gradual or on-the-spot, depending on how far you push the joystick.</font>
442 + <p><font size="2" face="Verdana">This program also incorporates speed limits. There are four speeds, #1 being slowest and #4 being fastest. #3
443 + is default. The speed limit is increased by pressing L1 and decreased by pressing L2. By reducing the top-end speed, you can use the full range
444 + of the joystick at a lower speed, thus increasing the accuracy of the rover's movements. This is helpful when trying to position the gripper
445 + over an object to pick up.</font></p>
446 + <p><font size="2" face="Verdana">When the program is started, the program will read the joystick positions and set those values as the "nulled"
447 + position. Pressing the Start button will null the joysticks on command. Robot movements are proportional to the joystick travel from null, and
448 + linear in both directions after the deadband. This helps with PS2 controllers that don't reliably return to 127 for joystick center.</font></p>
449 + <p><font size="2" face="Verdana">See Table 11-1 for a complete list of programmed controls.</font></p>
450 + </td>
451 + <td align="center" valign="top" >
452 + <div align="center">
453 + <center>
454 + <table border="0">
455 + <tbody><tr>
456 + <td >
457 + <div align="center">
458 + <table border="1" bordercolor="#000000" >
459 + <tbody><tr>
460 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0" colspan="4"><font size="2" face="Verdana">PS2 Controls</font></td>
461 + </tr>
462 + <tr>
463 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy U</font></td>
464 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Moves bot forward</font></td>
465 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy U</font></td>
466 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Tilts P&amp;T Up</font></td>
467 + </tr>
468 + <tr>
469 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy D</font></td>
470 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Moves bot backward</font></td>
471 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy D</font></td>
472 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Tilts P&amp;T Down</font></td>
473 + </tr>
474 + <tr>
475 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy L</font></td>
476 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Turns bot Left</font></td>
477 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy L</font></td>
478 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Turns P&amp;T Left</font></td>
479 + </tr>
480 + <tr>
481 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L Joy R</font></td>
482 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Turns bot Right</font></td>
483 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R Joy R</font></td>
484 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Turns P&amp;T Right</font></td>
485 + </tr>
486 + <tr>
487 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L1</font></td>
488 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speed Limit Inc.</font></td>
489 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R1</font></td>
490 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Close Gripper</font></td>
491 + </tr>
492 + <tr>
493 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L2</font></td>
494 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Speed Limit Dec.</font></td>
495 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R2</font></td>
496 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Open Gripper</font></td>
497 + </tr>
498 + <tr>
499 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">L3</font></td>
500 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
501 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">R3</font></td>
502 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
503 + </tr>
504 + <tr>
505 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad U</font></td>
506 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Lift Gripper</font></td>
507 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Tri</font></td>
508 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Toggle Pin 10</font></td>
509 + </tr>
510 + <tr>
511 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad D</font></td>
512 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Lower Gripper</font></td>
513 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">X</font></td>
514 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Toggle Pin 11</font></td>
515 + </tr>
516 + <tr>
517 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad L</font></td>
518 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Rotate Gripper L</font></td>
519 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Squ</font></td>
520 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
521 + </tr>
522 + <tr>
523 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">D-Pad R</font></td>
524 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Rotate Gripper R</font></td>
525 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">O</font></td>
526 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
527 + </tr>
528 + <tr>
529 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Start</font></td>
530 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">Joystick Null (see text)</font></td>
531 + <td align="center" bordercolor="#808080" bgcolor="#C0C0C0"><font size="2" face="Verdana">Select</font></td>
532 + <td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF"><font size="2" face="Verdana">N/A</font></td>
533 + </tr>
534 + </tbody></table>
535 + </div>
536 + </td>
537 + </tr>
538 + <tr>
539 + <td >
540 + <p align="center"><font size="2" face="Verdana">Table 11-1</font></p>
541 + </td>
542 + </tr>
543 + </tbody></table>
544 + </center>
545 + </div>
546 + </td>
547 + </tr>
548 +</tbody></table>
549 +</body>
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