Page 1: Table Of Contents
Assembling the Toe switches page 11 PCB Mounting- Setup and run page 12 Fine tuning page 13 Schematic page 15 Milford Instruments Limited, Milford House, 120 High Street, South Milford, LS25 5AQ England Tel 01977 683665, Fax 01977 681465 www.milinst.com...
Page 2: Kit Contents
2 way plug socket Cable pins 2-way header pins Foam Pads Manual Diskette Additional Items: PBASIC 1.4 Chip 93LC56 Chip Servo Motor Milford Instruments Limited, Milford House, 120 High Street, South Milford, LS25 5AQ England Tel 01977 683665, Fax 01977 681465 www.milinst.com...
Page 3: Introduction
EEPROM chip and will require no further programming. If you bought BigFoot in the USA or if you wish to experiment by changing the programme, you may need to make a programming cable (as shown on page 5) and to load the programme from diskette.
Page 4: Electronics Board
Standard Zinc, Alkaline or Alkaline/Manganese batteries will not work and may cause loss of the embedded programme. cause loss of the embedded programme. Milford Instruments Limited, Milford House, 120 High Street, South Milford, LS25 5AQ England Tel 01977 683665, Fax 01977 681465 www.milinst.com...
Page 5: Programming
If you wish to experiment with the programme, the programme may be altered using straightforward text when displayed on the screen. Any new version may be saved by pressing ALT S- give the file a name other than bigfoot.bas otherwise your original file will be overwritten! Now return to complete the testing of the electronics board.
Page 6: Fitting The Servos
Now fit the second servo- this time make sure the REAR edge of the mounting flange is parallel to the edge of the side cheek. Figure 4 Milford Instruments Limited, Milford House, 120 High Street, South Milford, LS25 5AQ England Tel 01977 683665, Fax 01977 681465 www.milinst.com...
Page 7: Ankle Construction
Fix, using hot-melt glue, an 85mm long piece of brass wire along the bottom edge. Repeat for the other ankle piece noting that they are handed Milford Instruments Limited, Milford House, 120 High Street, South Milford, LS25 5AQ England Tel 01977 683665, Fax 01977 681465 www.milinst.com...
Page 8: Foot Construction
Build the left foot and leg in a similar manner (note again that it will be the mirror image of the right foot). Figure 9 Secure with short piece of sleeving Milford Instruments Limited, Milford House, 120 High Street, South Milford, LS25 5AQ England Tel 01977 683665, Fax 01977 681465 www.milinst.com...
Page 9: Body Board/Pace Wires
Stage 2 (Plan view) Make and fit a similar (but right-handed) piece for the right leg. Secure in place with sleeving. Figure 12 Milford Instruments Limited, Milford House, 120 High Street, South Milford, LS25 5AQ England Tel 01977 683665, Fax 01977 681465 www.milinst.com...
Page 10: Leg Tendons
Ensure everything is vertical and symmetrical as shown above before completing the joint with either epoxy or solder. the joint with either epoxy or solder. Milford Instruments Limited, Milford House, 120 High Street, South Milford, LS25 5AQ England Tel 01977 683665, Fax 01977 681465 www.milinst.com...
Page 11: Assembling The Toe Switches
Fix to the foot with hot melt. Repeat for the second toe-switch bearing in mind they are handed. Figure 15 Milford Instruments Limited, Milford House, 120 High Street, South Milford, LS25 5AQ England Tel 01977 683665, Fax 01977 681465 www.milinst.com...
Page 12: Pcb Mounting- Setup And Run
Figure 16 Insert batteries and switch ON. If all is well, BigFoot will stand to attention for 2 seconds and then proceed to walk forwards with an even pace and roll. If the legs are not vertical and feet together when BigFoot stands to attention, check the orientation of the servo horns and adjust as necessary.
Page 13: Fine Tuning
SYMBOL touch_flag =bit0 'toe switches touched? Roll Control R_STAND and P_STAND control the attention position of BigFoot- if you cannot adjust him mechanically to stand exactly upright then FINE adjustment of these two constants will bring him in line. Milford Instruments Limited, Milford House, 120 High Street, South Milford, LS25 5AQ England...
Page 14 Pace Control Length of pace is determined by P_STAND – P_LEFT_FD and by P_RIGHT_FD – P_STAND If BigFoot has a tendency to veer in one direction - slightly change the length of pace on one side to correct. Shuffle Control BigFoot shuffles to turn corners.