Tri-Track Tutorial for PS2 Control v1.0

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).

57

</td>

58

</tr>

<tr>

<td valign="top" align="left">Step 2B. Connecting Sabertooth to Bot Board II

63

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.

64

Use an exacto knife to carefully pry the black tab up and slip the red wire out of the black housing as

65

shown in Figure 2.

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Bend the red wires up and use electrical tape to cover them as shown. This will prevent accidental shorts.

</td>

Figure 2.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 3.

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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

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battery wire goes to the (+) terminal!</td>

<td >

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

& Connections</td>

</tr>

<tr>

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

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">6vdc battery to VS</td>

92

</tr>

93

<tr>

94

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

95

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

96

</tr>

97

<tr>

98

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

99

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">A, B, C Button</td>

100

</tr>

101

<tr>

102

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

</tr>

<tr>

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

Connections</td>

</tr>

<tr>

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

111

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">12vdc battery</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Bot Board II P0</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Bot Board II P1</td>

</tr>

</tbody></table>

</td>

</tr>

<tr>

<td >

Table 3</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 4.

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Set the Sabertooth switches to the settings listed in Table 4 and Figure 4.

<td >

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

Settings</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Enable Mixed Mode</td>

</tr>

<tr>

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

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Non-Lithium Mode</td>

</tr>

<tr>

</tr>

<tr>

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

</tr>

<tr>

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

</tr>

</tbody></table>

</td>

</tr>

<tr>

<td >

Table 4</td>

</tr>

</tbody></table>

</center>

</div>

</td>

Figure 4.</td>

</tr>

<tr>

</td>

</tr>

<tr>

Schematic - Figure 4 (Old approach using Step 2B).

195

196

Schematic - Figure 4.

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 5. Programming the Atom Pro

205

Download the BASIC Atom Pro IDE development

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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

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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

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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

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below.

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Now it's time to have some fun!

</td>

Figure 5.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step 6.

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Differential or Tank Mode Test (Optional)

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Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/a4wd1tst2.zip" target="_blank">a4wd1tst2.zip</a>) and run it. For this program, on the Bot Board II,

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the "A" button is left channel throttle, "C" button is right channel throttle, and "B" is a speed and direction

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reset.

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This program requires the Sabertooth's Switch 1 to be flipped to the "Off" or "Independent

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Control" position.

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Upon powering up the robot, you should hear four ascending notes. Pressing A once results in a beep and slow

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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

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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

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speed and direction of both left and right.

230

Note: The Sabertooth's red Error LED will light to indicate overheating or current limit. The blue Status LED

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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

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number of lithium cells detected.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left" colspan="2">Step 7.

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Throttle and Steering Mode Test (Required)

240

Make sure the Sabertooth's Switch 1 is flipped back into the "On" or "Enable Mixed Mode" position!

241

Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/a4wd1tst1.zip" target="_blank">a4wd1tst1.zip</a>) and run it. For

242

this program, on the Bot Board II, the "B" button is throttle and the "A" and "C" buttons are steering.

243

Upon powering up the robot, you should hear four ascending notes.  Pressing B once results in a beep and

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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

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10% increments until it stops. Continue to press B to make the robot move as above, only in reverse.

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Press Reset, then B twice. Now press C a few times to see the robot make a gradual left turn. Pressing A a few

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times will return to forward motion, and continuing to press A will result in gradual right turn.

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Experiment with these buttons to understand how throttle and steering can be used to control the vehicle's

249

motion.

250

Note: The Sabertooth's red Error LED will light to indicate overheating or current limit. The blue Status LED

251

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

252

number of lithium cells detected.</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 8.

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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

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installed on the front of the top panel, and the gripper is installed on the front of the base.

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If you are adding a pan and tilt and gripper, you will need to change the power bus jumpers according to Table

8 and Schematic 9.

Figure 8.

</td>

<td >

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

276

</tr>

277

<tr>

278

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

279

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O 0-3 Power Bus to VS</td>

280

</tr>

281

<tr>

282

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

283

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O 4-7 Power Bus to VS</td>

284

</tr>

285

<tr>

286

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

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<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">I/O 12-15 Power Bus to 5v</td>

</tr>

</tbody></table>

</td>

</tr>

<tr>

<td >

Table 8-1</td>

</tr>

<tr>

<td >

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

Bot Board II</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Sabertooth Ch1</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Sabertooth Ch2</td>

313

314

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

</tr>

<tr>

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

</tr>

<tr>

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

</tr>

<tr>

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

</tr>

<tr>

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

337

338

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

</tr>

<tr>

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

343

344

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

</tr>

<tr>

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

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td >

Table 8-2

</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 9.

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Note, the program allows turning two I/O pins (TTL level peripherals) on or off from the controller.

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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

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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

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operation. See the schematic for details.</td>

<td >

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

384

</tr>

385

<tr>

386

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

</tr>

<tr>

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

</tr>

</tbody></table>

</td>

</tr>

<tr>

<td >

Table 9-1</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

<tr>

</td>

</tr>

<tr>

Schematic - Figure 9.

412

413

Schematic - Figure 9.

</td>

</tr>

<tr>

</td>

</tr>

<tr>

<td valign="top" align="left">Step 10.

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Download this file (<a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/wheeled-tracked/tri-track-ps2/WebHome/ps2a4wd1.zip" target="_blank">ps2a4wd1.zip</a>) and

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program the Atom Pro. You will want to set the bot on something so that the wheels aren't touching the ground.

424

Before running the program turn on the PS2 controller. When the program is run it will turn most PS2 game

425

controllers to analog mode (required) automatically. If your controller does not automatically go into analog mode, you will need to do so

manually.</td>

Figure 10.</td>

</tr>

<tr>

</tr>

<tr>

<td valign="top" align="left">Step 11.

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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,

436

and make left and right turns. The turns can be gradual or on-the-spot, depending on how far you push the joystick.

437

This program also incorporates speed limits. There are four speeds, #1 being slowest and #4 being fastest. #3

438

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

439

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

440

over an object to pick up.

441

When the program is started, the program will read the joystick positions and set those values as the "nulled"

442

position. Pressing the Start button will null the joysticks on command. Robot movements are proportional to the joystick travel from null, and

443

linear in both directions after the deadband. This helps with PS2 controllers that don't reliably return to 127 for joystick center.

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See Table 11-1 for a complete list of programmed controls.

</td>

<td >

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

</tr>

<tr>

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

460

461

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Tilts P&T Up</td>

</tr>

<tr>

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

466

467

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Tilts P&T Down</td>

</tr>

<tr>

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

472

473

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Turns P&T Left</td>

</tr>

<tr>

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

478

479

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Turns P&T Right</td>

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Speed Limit Inc.</td>

484

485

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

</tr>

<tr>

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Speed Limit Dec.</td>

490

491

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

</tr>

<tr>

</tr>

<tr>

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

502

503

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Toggle Pin 10</td>

</tr>

<tr>

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

508

509

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Toggle Pin 11</td>

</tr>

<tr>

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

</tr>

<tr>

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

</tr>

<tr>

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

525

<td align="center" bordercolor="#C0C0C0" bgcolor="#FFFFFF">Joystick Null (see text)</td>

526

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

</tr>

</tbody></table>

</div>

</td>

</tr>

<tr>

<td >

Table 11-1

</td>

</tr>

</tbody></table>

</center>

</div>

</td>

</tr>

</tbody></table>

</body>

Wiki source code of Tri-Track Tutorial for PS2 Control v1.0

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