Hey guys. I am in need of some help. I don’t know anything about programming and this will be my first robot I’ve ever built. I am a little confused about all the electronics I would need to make a ps2 controlled biped. I’m thinking about using the ssc-32 but I don’t know if that will be overkill on a robot with only around 12 servos max. Also, could someone link me to something that will teach me how to program robots? Thanks in advance for your help. 
You ever get that BRAT you were thinking about getting 6 months ago? 
If I were you, I’d take a look at the PS2 BRAT combo kit, and the related tutorials and assembly guides. This will give you an idea of how we program the chip and how we use the PS2 controller to control the robot.
When the servo count goes above 7 the timing involved makes it difficult to handle in linear code (most basics) so the idea is to offload the servo timing pulse tasks to the SSC-32. This frees up the host microcontroller to deal with gait generation, IK, sensors, etc.
So it would be a good idea to get the ssc-32 then. Thanks man.
@Fish: Never got the brat. 
But I want to build a custom biped on my own. I am good at building stuff and I am familiar with servos, I just can’t program. (Everyone must have been a noob like me and not been able to program at some time right? ) I might use some of lynxmotions’ servo brackets but I probably will just design custom ones and laser cut them at my high school. How hard is it for someone with no experience whatsoever with programming to get a biped walking with an ssc-32? Would it be simple for me to program it if I used the ssc-32 sequencer? Could someone please link me to all the other electronics I would need besides servos, the ssc-32, and the ps2 controller? Also, could I get by with around 5 of the hs-422’s in each leg or do I absolutely NEED more powerful servos?
Could someone please help me with electronics ^^ ?
Electronics?
buy the Brat kit, as mentioned:
lynxmotion.com/c-140-ps2-combo-kit.aspx
It can use the SSC-32. Add a battery and switch, and run from PC, or a BotBoard II.
Simple!
Alan KM6VV
On the ps2 controlled brat kit, would the ssc-32 completely replace the bot board II and the basic atom pro? Or is the basic atom pro needed for the ps2 controller? If it is, can the basic atom pro be used with the ssc-32 and not use the bot board at all? I really need help with this as I’m a huge noob at robotics. 
You need a BotBoard II with the SSC-32 to use a PS2. The ARC-32 and a PS2 could be used instead.
Get a complete package, you can’t go wrong!
Alan KM6VV
So I wouldn’t need the basic atom pro? Also, would I need this?
–> lynxmotion.com/p-714-ps2-con … e-kit.aspx
hi, may i jump in here.
The PS2 Controller Cable Kit is what will allow the PS2 receiver to connect to the botboard. you will need this if you chose the botboard.
this diagram might help you also:
Here is the schematic for the Phoenix Hexapod.
**A bref outline: **
The **ATOM **chip is the “brains” of the whole thing. you program this using the PC through a serial cable, from software.
The BotBoard, carries the Atom chip. this board can be used to run servos from and will execute the programmed code. this board can also receive signals from sensors.
The **SSC-**32 is a Servo controller. it can run up to 32 servos using code sent from the botboard. this board can be used with out the botboard and can be controlled directly by a pc.
for what you are looking for i would get:
Botboard2
Atom Pro28
&
SSC-32
you can skip getting all these to save space and just get the ARC-32 but as mentioned it has limited code etc.
i fully believe you will benefit more by getting what i have listed.
hope this helps. 
Thanks for all your help guys.
@innerbreed: Would you recommend me getting the ssc-32 sequencer to make programming easier for me since I’m a complete noob at it? Also, how does the sequencer make it easier?
Not to throw mud into the water, but with the Brat you do not necessarily need the SSC-32. If you look at the different configurations that Lynxmotion sells including: Biped BRAT Combo Kit (PS2 Control) and the tutorials that go with them, you will see that many of the configurations do not include the SSC-32. If you look through the tutorials: lynxmotion.com/driver.aspx?T … ryID=19%22
You will see several that work with just the Basic Atom Pro 28. For example: PS2 Control (Bot Board II and BA Pro) or for Mech with PS2 Control (Bot Board II and BA Pro)
If you purchase it without the SSC-32 than you will not need SEQ without it. As Robot Dude mentioned when you get beyond about 7 servos than having the SSC-32 really helps.
I hope I did not totally confuse things here.
Kurt
I stated earlier that I was not going to be buying the brat. I will be making a custom biped with either 10 or 12 servos.
Hello,
If you’ve never played around with robots before, I don’t think it’s a good idea to begin with a 10-12 servos biped.
The kinematics with be really awful to program and if your biped is custom, no one will be able to send you their code for it.
In my opinion, you’d better begin with an easier project (I, personnaly, have begun a custom made biped but with only 8 servos, so it’s a BRAT with 1 DOF more in order to turn easier).
Also, custom made project means spending a lot more time (or money) in order to complete it.
For electronics, yes, like mentionned, it is possible to control many servos with only the ABB but you will have to write an awful code and it takes a lot of process time. A dedicated servo control like the SSC 32 will allow your Atom to handle more complex tasks like monitoring sensors.
I know I might be getting in over my head but I’ve got nothin but time anyways so… How does one go about learning to write code and program and all that? Is writing code the same as programming? Also, when you say kinematics, do you mean the motions to get it walking without sensors or gyros or anything like that?
Yeah, programming is about writing code !
Most bots ,like Lynxmotion ones, are made to be programmed in BASIC. It’s an easy but still powerful langage for which you can find a lot of tutorials on the Net.
Indeed, kinematic is the science of movement. You can start programming your bot in hardcode by no other mean than try and error until it walk without falling. But, if you want something really smooth and optimized, you will need to study an optimized walking gait (there are some champions for this on the forum ! :mrgreen: ) and maybe implement closed-loop regulation.
In any case, I’m looking forward to see the biped design which came to your mind ! 
What is closed loop regulation? And is an optimized walking gait just one that looks good while walking but it took trial and error to get there?
A closed-loop system is a system in which you have sensor to feedback a position, a velocity, a pressure, … to a regulator (i.e. your microcontroller) which will then apply the required changes in order for the system to stay on wanted state.
A good exemple is a servo-mechanism, like the servo motor, in which you have a potentiometer that refers to a IC (integrated-cicuit) which then compare the actual position to the desired position (sent by the microcontroller, the Atom Pro or the SSC32).
When I’d say “Optimized walking gait”, I was refering to IK solving.
Isn’t there something where I can physically move the robot with my hands and it will recreate what I made it do on its own? In this vid he starts talking about something similar to this at 5:48.
–> youtube.com/watch?v=5HCOSPdV … re=related
lynxmotion sequencer doesnt have pose capture but it will work in a similar way. you can move the robots servos into a pose by moving the slider for each servo, and then save the pose then move it again and save, creating a sequence of movements. but this is not done by hand, but through the software.
You can store the current robot position as a ‘Step’
lynxmotion.com/p-443-ssc-32-sequencer.aspx
this is used in conjunction with the SSC-32
you can then Export Basic code for Basic Atom.
Using simple commands, you can play a sequence previously stored in the EEPROM on the botboard.
with speed, direction and pause between steps control.
If you use a Bot Board to control the SSC-32, the microcontroller on it is now free to perform other tasks,
and its memory is no longer used to store move data, as it’s now stored into the SSC-32 (optional) EEPROM , in order to save memory.
faster codes can then be used.