Manual_Hemisson - K
Contents
1. 2l lll 3 21 Microprocessor 20 22 dedans Moe iren 3 23 Buzzern 2 2 2 2 3 24 IR Remote Control 4 3 2 5 Switches oe ae 43 3 2 6 Infra red sensors 3 2 7 Drive mechanism 0000 004 3 3 AccessorieS 3 3 1 amp 3 32 9V Battery Hemisson Pack 3 3 3 Rechargeable Battery Hemisson DeLuxe Pack 3 3 4 FeltPen 3 3 5 _Webots Hemisson Hemisson DeLuxe Pack 3 4 Extensions 3 4 1 HemLinCam 3 4 2 HemGenIO 3 4 3 HemTextloSpeech 3 4 4 HemUltraSonicSensor 4 Running Modes 4 1 Exec Running 4 1 1 Remote Control lt s 4 1 2 Obstacle Avoidance 4 1 8 LineFollowing 41 4 CONTENTS 4 1 5 Bot Studio Execution 21 4 1 6 Serial Port Contro cen 21 4 1 7 Infra red Remote Control 23 4 1 8 Software Tools for Hemisson 24 4 2 Reprogramming Hemisson 26 4 2 212. Figure 4 2 Settings for the Obstacle Avoidance Running Mode makes a half turn Beware of any parasitic source of infra red light like incadescent lamps and sunlight that can perturbate Hemisson s behavior 4 1 3 Line Following Figure 4 3 Settings for the Line Following Running Mode Hemisson can follow a line by reading its two front infra red sensors that are di rected toward the ground The line must be a black line over a white ground and must be at least 20mm in witdh You will find printable track sections on the CD Rom in the Extras directory The left front LED shows that Hemisson is on the left handside of the line Simi larly the right front LED shows that Hemisson is on the right handside of the line Beware on start up the robot must be set on the black line Beware of any parasitic source of infra red light like incadescent lamps and sunlight that can perturbate Hemisson s behavior 20 4 Running Modes 4 1 4 Dance Figure 4 4 Settings for the Dance Running Mode In this mode Hemisson carries out a circular dance If you add a felt pen in Hemisson s center Hemisson will draw an unstable hypocycloid more information on hypocycloid at http mathworld wolfram com Hypocycloid html 4 1 5 Bot Studio Execution oo Figure 4 5 Settings for Bot Studio Execution Mode This running mode allows to execute a code previously compiled and stored in memory with Bot Studi
3. Moreover the closer the obstacle the more IR light will be reflected However IR reflection from an object will vary very much depending on the ma terial color and surface finishing Usually the darker the object the less IR it reflects but as you can see below there are exceptions e White paper 100 e White PVC 90 e White Polystyrene 120 e Black on white paper made with drawing ink Higgins Pelikan Rotring 4 6 e Black on white paper made with fiber tip pen black Stabilo 76 e Plexiglass Imm thick 10 e Cast aluminium matt 45 e Aluminium bright 110 Before use please read carefully section 4 2 12 3 Robot amp Accessories e Gold plating matt 150 e Brass bright 160 Hence except if your robot s environment is made of the same material everywhere it cannot recover distance becaus e according to the very nature of the obstacle it will not measure the same distance for two different obstacles at the same distance For ground sensors the active mode will vary according to the material beneath Hence the robot can follow a line on the ground or detect table edges if materials are well chosen see list above Last in order to avoid perturbation by ambient light the robot samples ambient light before and after emitting IR light The difference of the two sampled values is returned However under certain lighting conditions e g sunlight infra red sensors may saturate a
4. 256 words of 8 Bits of EEPROM For more information on PIC16F877 internal resources please consult documenta tion on Microchip website http www microchip com 3 2 2 LEDs Hemisson has four SMD LEDs While in Exec mode i e the mode in which He misson executes programs in Flash see Prog Exec Switch in 3 1 and 4 1 the On Off LED blinks and the Pgm Exec LED is off In Pgm mode i e the mode in which Hemisson Flash Memory can be reprogrammed the On Off LED and the Pgm Exec LED stay on 3 2 3 Buzzer Hemisson contains a buzzer circuit Unlike a loudspeaker a buzzer can emit sound at a unique frequency its resonance frequency The resonance frequency of this buzzer is 4KHz As a consequence you cannot produce a melody with Hemisson For your information the buzzer consumes 4mA under 5V and has an acoustic power of 85db at 10cm 3 2 4 IR Remote Control An IR remote receiver allows to control Hemisson wirelessly This is a 36kHZ demodulator You can control or send data to your robot with a standard TV remote control More information is provided in section 4 1 7 3 2 5 Switches There are six switches four on the top and two on the side of Hemisson The top 4 switches select internal behaviors described in section 4 1 The two other switches have s predefined function 1The Flash memory is non volatile i e data in memory will remain after the rob
5. DOCUMENTATION AUTHOR Alexandre Colot K Team S A Ch du Vuasset CP 111 1028 Pr verenges Switzerland email info hemisson com Url www hemisson com CREDITS Sandra Ide Oleg Gerovich TRADEMARK ACKNOWLEDGMENTS Philips Koninklijke Philips Electronics Corp Sysquake Calerga SA MPLAB Microchip SA LabVIEW National Instruments Corp MATLAB MathWorks Corp Webots Hemisson Cyberbotics S A NOTICE e The contents of this manual are subject to change without notice e All efforts have been made to ensure the accuracy of this manual However should any error be detected please inform K TEAM S A e The above notwithstanding K TEAM S A can assume no responsi bility for any error in this manual K Team S A 1 CONTENTS 1 Introduction 11 The Hemisson Story 1 2 How to use this 1 3 Warnings 1 4 Recycling 2 Your First Steps With Hemisson 2 1 Package Contents 0 0020000000 2 0 First Startup ee 3 Robot amp Accessories 3 l Global view o omo 3o ook P YR y A 3 2 The Hemisson Robot
6. Hemisson Uploader 26 42 2 CCS C Compilr 27 42 39 be he oS aee E dr 27 A RS232 commands available 28 Extension connectors 32 C Electronic diagram 33 D Warranty 35 K Team S A 3 1 INTRODUCTION ES Thank you for buying Hemisson Hemisson will initiate your exposure to the extraordinary world of mobile robotics T hanks to its wealth of sensors and its software and hardware openness you will be able to create complex behavior making you an expert of this promising technology 1 1 The Hemisson Story Hemisson resulted from extra curricular activities of students at the Swiss Institute of Technology EPFL Their goal was to propose a behavior based robotics course aimed at 10 to 15 year old students Students would build the robot during the course and then bring it home at the end of the course The first version of Hemisson was already an affordable attractive robust and fully featured mobile robot Beyond the original idea Hemisson proved to be a very attractive tool for teaching many science and technology courses programming control electronics mechanics physics of sensors mathemat ics To face the interest of students and teachers improvements to the initial version of Hemisson came thanks to K Team s competence and our long standing experience with miniature mobile robotics www k team com 1 2 How to use this handbook This hand
7. SSON 2 1 Package Contents Hemisson User Figure 2 1 Contents of Pack Your package should contain the following items 1 2 3 4 Felt Pen 5 6 CDROM s Hemisson User Manual Hemisson Robot RS232 Cable Battery 9V HemPack or Ni MH Rechargeable battery HemPackDeLuxe e Hemisson Support CD e Webots Hemisson CD HemPackDeLuxe Only Here is a visual description of your package content 2 Your First Steps With Hemisson Figure 2 2 Hemisson Pack Figure 2 3 Manual and CD s Figure 2 4 Felt Pen Figure 2 5 Battery Figure 2 6 Hemisson Robot Figure 2 7 Serial Cable K Team S A 2 2 First Startup Throughout this handbook we will use the following notation to indicate the switch positions Figure 2 8 Notation of the switches The test procedure below allows you to check the status of your Hemisson robot You will find additionnal description on your Hemisson Support CD Please follow the following steps e Check that the robot is powered off refer to section 3 1 to locate the on off switch e Install the battery Hemisson Pack or the rechargeable battery Hemisson DeLuxe Pack For that first connect the battery and then insert it down into the hole see section 3 1 e Configure the switches as indicated below Pgm Exec Figure 2 9 Switch settings e Turn the robot on by putting the master switch in the On position ref
8. book introduces the Hemisson robot and its various operating modes For a quick start jump to section 2 2 If this handbook does not answer one of the problems you are confronted with please consult the Hemisson Web site www hemisson com and es pecially the Forum or the FAQs 1 9 Warnings Here are some recommendations on how to correctly use Hemisson lPrequently Asked Questions 4 1 Introduction e Keep the robot away from wet areas Contact with water could cause malfunction and or breakdown e Store your robot in a stable position This will avoid the risks of falls which could break it or cause damage to a person e Check the conformity of your batteries and accumulators Only use a standard battery or a rechargeable battery with similar specification as the ones provided in your Hemisson Pack e Do not attach any connectors while the robot is powered on To avoid any damage make all connections when the robot power is off e Never leave Hemisson powered when it is unused When you are finished working with Hemisson turn it off It will save battery life 1 4 Recycling Think about the end of life of your robot Most robot parts can be recycled so please bring used parts in appropriate con tainers or return it to the manufacturer or to your local dealer By recycling you contribute to a cleaner and healthier environment for the future generations K Team S A 5 2 YOUR FIRST STEPS WITH HEMI
9. cessories 4 RUNNING MODES Hemisson starts in the run mode selected by the position of the Pgm Exec switch e Exec Position execute program in flash memory e Pgm Position use in flash programming mode This is an advanced feature reserved for users wanting either to update HemiOS or to program Hemisson in C see Hemisson Uploader and HemiOS manuals Note The Pgm Exec switch is read at robot start up therefore to take into account a switch change done while running you must restart the robot 4 1 Exec Running Modes For all operations described in this section the Pgm Exec switch must remain in Exec position Hemisson is provided with a remote control running mode and a set of basic behaviors for demonstration purpose 4 1 1 Remote Control pu Figure 4 1 Settings for the Remote Control Running Mode This mode allows to initialize the robot in controlled mode This configuration is valid to control via serial port see section 4 1 6 via IR remote control see section 4 1 7 and for use with Webots Hemisson 4 1 2 Obstacle Avoidance In this running mode Hemisson detects obstacles in front of it and avoids them The left front LED indicates that an obstacle has been detected on the left simi larly the right front LED indicates that an obstacle has been detected on the right When obstacles are found on the right and on the left Hemisson emits a sound and K Team S A 19
10. e malfunction results from the use of the Product in conjunction with any accessories products or ancillary or peripheral equipment or where it is determined by K Team that there is no fault with the Product itself K TEAM EXPRESSLY DISCLAIMS ALL OTHER WARRANTIES THAN STATED HEREINABOVE EXPRESSED OR IMPLIED INCLUDING WITH OUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE TO THE FULLEST EXTENT PER MITTED BY LAW 36 D Warranty Limitation of Liability INNO EVENT SHALL EITHER PARTY BE LIABLE TO THE OTHER FOR ANY INDIRECT SPECIAL INCIDENTAL OR CONSE QUENTIAL DAMAGES RESULTING FROM PERFORMANCE OR FAILURE TO PERFORM UNDER THE CONTRACT OR FROM THE FURNISHING PERFORMANCE OR USE OF ANY GOODS OR SERVICE SOLD OR PRO VIDED PURSUANT HERETO WHETHER DUE TO A BREACH OF CON TRACT BREACH OF WARRANTY NEGLIGENCE OR OTHERWISE SAVE THAT NOTHING HEREIN SHALL LIMIT EITHER PARTY S LIABILITY FOR DEATH OR PERSONAL INJURY ARISING FROM ITS NEGLIGENCE NEI THER PARTY SHALL HAVE ANY LIABILITY TO THE OTHER FOR IN DIRECT OR PUNITIVE DAMAGES OR FOR ANY CLAIM BY ANY THIRD PARTY EXCEPT AS EXPRESSLY PROVIDED HEREIN K Team S A 37
11. er to section 3 1 Hemisson should dance i e drawing arcs of circle inside a fixed inner circle see complete description of dance behavior in section 4 1 8 2 Your First Steps With Hemisson Warning when you turn Hemisson off please wait 5 seconds before switching it back on K Team S A 9 3 ROBOT amp ACCESSORIES 3 1 Global view VUE DE DESSUS VUE DE DESSOUS Figure 3 1 Views of the Hemisson Robot 1 RS232 connector 15 Switch 2 2 Pgm Exec LED 16 Switch 1 3 Battery Location 17 On Off LED 4 IR Remote receiver 18 Rear sensor 5 Felt Pen Location 19 Switch On Off 6 Extension Bus A 20 Left sensor 7 Microprocessor 21 Front sensor 8 Buzzer 22 Front Left sensor 9 Front Right LED 23 Left Ground Sensor 10 Front Left LED 24 Right Ground Sensor 11 Extension Bus 25 Front Right Sensor 12 Extension Bus 26 Right Sensor 13 Switch 4 27 Prog Exec Switch 14 Switch 3 Warning when switching off Hemisson please wait 5 seconds before switching it back on 10 3 Robot amp Accessories 3 2 The Hemisson Robot 3 2 1 Microprocessor Hemisson s microcontroller is a Microchip PIC16F877 at 20MHz in SMD packaging It is the most powerful 14 bits PIC of Microchip linecard It relies on a simplified set of 35 instructions Inside the PIC16F877 there are three kind of memories e 8000 words of 14 Bits of Flash memory e 368 words of 8 Bits of RAM e
12. es For instance here is a FSM that makes Hemisson move forward till you find an obstacle e State go forward where you set motor speed to for example 5 e State stop where you set motor speed to 0 e Transition obstacle detected from go forward to stop triggered by for exam ple a value superior to 100 on the front infrared sensor e Transition obstacle removed from stop to go forward triggered by for exam ple a value inferior or equal to 100 on the front infrared sensor Bot Studio allows you to upload a FSM directly to Hemisson Moreover Bot Studio allows you to simulate a FSM inside inside a virtual 3D world that you can modify to match your own environment 24 4 Running Modes rid Editor hemissor Automata New Load Save Upload scramble File Edit Simulation Node avance Fixed Delete ET droite tourne gauche uche obstacle gauchd Welcome to Automata for the Hemisson robot Figure 4 9 Bot Studio and Webots Hemisson Screenshots To install Webots Hemisson please insert the CD Rom and follow the instructions see section 3 3 5 If nothing happens after CD ROM insertion please open the file index html in the CD ROM root directory Beware you must register your license before having access to all Webots Hemisson features SysQuake SysQuake is a pro
13. fessionnal mathematical software developped by Calerga SysQuake Light Edition LE is provided within Hemisson Pack and Hemisson DeLuxe Pack SysQuake LE allows to control Hemisson from your PC serial port Thanks to SysQuake you will be able to visualize graphically all Hemisson sensors and set all Hemisson parameters A sample code for Hemisson is provided under GPL license on CDROM Thanks to this example you will be able to develop your own control interface For more information on SysQuake please consult the SysQuake tutorial at http www calerga com mani LE Figure 4 10 SysQuake LE K Team S A 25 Others Any development environment able to send ASCII character on the serial port of your computer can be used to control Hemisson 4 2 Reprogramming Hemisson The Pgm Running mode allows to program Hemisson s flash memory It allows to update your robot with Hemisson Uploader but also to fully reprogram it with CCS C compiler or your own set of PIC tools Beware uploading your own code inside Hemisson s flash memory means that you are responsible for damages caused to Hemisson s memory As a matter of fact the serial port upload process relies on a boot loader at the bottom of the memory If your code overwrite this piece of code you will need the external programmer interface HemFlexExtProg and an adequate PIC program mer to reprogram Hemisson You can also return Hemisson to K Team S A but
14. ghtly If the pen rubs the ground too much push it up slightly while turning it If it does not have enough contact push it down slightly while turning This is a very tight adjustement and you will need a few trials before success especially in the beginning 3 3 5 Webots Hemisson Hemisson DeLuxe Pack Webots Hemisson the 3D simulator and Bot Studio the graphical programming environment are provided on a CD ROM You may access the CD ROM with Microsoft Windows 95 98 ME 2000 XP and Linux To install Webots Hemisson please insert the CD ROM and follow instructions see section 3 3 5 If nothing happens upon CD ROM insertion please open the file index html in CD ROM root directory Your license number is printed on the CDROM case 3 4 Extensions Hemisson has an open architecture 3 extension connectors allow to add devices ei ther made by K Team S A cf www hemisson com or that you will build yourself Each of the three extension connectors is dedicated e Front connector provides I2C bus communication e Left side connector allows flash memory programming e Right side connector provides serial port communication You will find all the information to build your own devices in connector pinout schematics in the Appendix and in Hemisson schematics in Appendix 16 3 Robot amp Accessories 3 4 1 HemLinCam The HemLinCam module allow Hemisson to perceive its environment The camera reads one li
15. h Product to K TEAM within the afore mentionned period In case of repair or re placement K TEAM may own all the parts removed from the defective Product K TEAM may use new and or reconditioned parts made by various manufacturers in performing warranty repairs and replacement of the Product Even if K TEAM repairs or replaces the Product its original afore mentionned warranty term is not extended This limited warranty is invalid if the factory applied serial number has been altered or removed from the Product This limited warranty covers only the hardware and software components con tained in the Product It does not cover technical assistance for hardware or soft ware usage and it does not cover any software products contained in the Product K TEAM excludes all warranties expressed or implied in respect of any additionnal software provided with Product and any such software is provided AS IS unless expressly provided for in any enclosed software limited warranty Please refer to K Team S A 35 the End User License Agreements included with the Product for your rights with regard to the licensor or supplier of the software parts of the Product and the par ties respective obligations with respect to the software This limited warranty is non transferable It is likely that the contents of Customer s flash memory will be lost or refor matted in the course of the service and K TEAM will not be responsible for any damage to
16. n a large circle e Channel 2 Moves forward e Channel 3 Moves rightward in a large circle e Channel 4 Moves leftward on itself e Channel 5 Stop e Channel 6 Moves rightward on itself e Channel 7 Same as 1 but moves backward e Channel 8 Moves backward e Channel 9 Same as 3 but moves backward K Team S A 23 OI S OQ OOS OC 900 O O OOO Figure 4 8 Remote Control Keyboard 4 1 8 Software Tools for Hemisson Any third party software like MATLAB LabVIEW etc can control Hemisson through a serial port You can also write your own software to control Hemisson via the serial link Webots Hemisson Webots Hemisson is provided with your Hemisson DeLuxe Pack This is a powerful software for programming and simulating Hemisson The Bot Studio windows allows you to define Hemisson s behavior graphically Bot Studio programming relies on finite state machine FSM FSM is often used in famous first person shooters Quake Doom etc FSM belongs to functionnal programming an alternative to procedural programming Basic C In procedu ral programming you specify an explicit sequences of steps to follow to produce a result In functionnal programming you specify a set of function definitions and an expression whose value is output as the program s result Said differently a FSM defines a self running engine and not a sequence of action A FSM contains states and triggers between stat
17. nd therefore active mode will return incorrect information Typical response in active mode 250 200 150 Value 100 50 Distance cm The graph above displays the typical value read on Hemisson while changing the distance from a given obstacle You can notice that the response is exponential ie there is no linear correlation between the value read and the distance of the obstacle K Team S A 13 3 2 7 Drive mechanism Hemisson uses two Direct Current DC motors to drive its two wheels It is a differential drive system The main advantages of this system are related to steering By making the motors turn in opposite directions the robot will spin around its own axis which makes it much more maneuverable than a system that can only turn as it moves forwards Differential drive also makes it very easy to make turns because it just depends on the relative speeds of the motors 200 180 F 160 rud 140 M di 4 120 r d mm sjt00 H 4 80 60 40 r 20 0 0 1 2 3 4 5 6 7 8 9 Valeur A Pulse Width Modulation PWM signal allows to vary speed linearly on both motors 14 3 Robot amp Accessories 3 3 Accessories We will detail hereafter accessories included in your Hemisson Pack 3 3 1 Serial Cable We provide a serial cable to connect Hemisson to your computer For that your computer must have a DB9 serial por
18. ne of 102 pixels in 256 level of gray The optic block is a standard one M12x0 5 so that you can change it to fit to your specific needs As in all the intelligent Hemisson modules there is an board processor 16 876 dedicated here to visual processing Like Hemisson the source code of the visual processing in under LGPL license and as a consequence you can write your own visual routines To download your own code on HemLinCam you can use the same tools as for Hemisson CCS C In Circuit Debug Interface Hemisson Uploader External Programmer Interface Figure 3 4 HemLinCam 3 4 2 HemGenIO The HemGenlIO allows to interface your own electronics It is a perfect tool to imple ment your own module A board area allows you to add components 2 54mm 1 spacing The documentation explains how to access your own peripherals from the central processor 12 digital I O 5 analog 8 bit inputs and I2C bus Figure 3 5 HemGenIO K Team S A 17 3 4 3 HemTextToSpeech This interface makes your Hemisson speaks fluent English The on board speaker will pronounce every word transfered in ASCII code on Hemisson 12 bus Figure 3 6 HemText ToSpeech 3 4 4 HemUltraSonicSensor If you are looking for a higher range than the default Hemisson sensors this ul trasound sensor enables Hemisson to measure distances of up to 6 m with a 1 cm precision N e Figure 3 7 HemUltraSonicSensor 18 3 Robot amp Ac
19. nused K Unused L Change LED state Format of the command L Led_On Off Led_Pgm Exec Led_Front _Left Led_Front Right gt Format of the response r n Effect Turns on or off four LEDs 0 Off 1 On on Hemisson Example L 1 0 1 0 gt Note Led_On Off is permanently blinking and this command cannot stop it M Unused N Read proximity sensors Format of the command N gt Format of the response n Front FrontRight FrontLeft Right Left Rear GroundRight GroundLeft r n Effect Reads the 8 bit 0 to 255 proximity values of each infrared sensor The smaller the value the further the object is from it A value of 255 means that an obstacle is very too close O Read ambient light sensors Format of the command O gt Format of the response o0 Front FrontRight FrontLeft Right Left Rear GroundRight GroundLeft r n Effect Reads the 8 bit 0 to 255 brightness values of each infrared sensor The K Team S A 29 smaller the value the more infrared light is detected A value of 255 means that there is no light detected in front of the sensors P Unused Q Reserved for Webots Hemisson R Read I2C Extension Bus Format of the command R Slave_Write_Address Register_Adress Number of Register gt Format of the response r Register_Data r n Effect Reads a given number of registers of an 12 peripheral Please provide register write address i e odd address Example R C0 20 03 gt Read
20. o please consult section 4 1 8 and Webots Hemisson docu mentation available on the CD Rom 4 1 6 Serial Port Control You can control Hemisson via your PC serial port Many software allow to directly monitor serial port communication like Hyperterminal or TeraTerm Here is the procedure to control Hemisson with Hyperterminal e Connect Hemisson to one of your computer s serial ports using the RS232 serial port cable provided in the pack e Click Start Programs Accessoiries Communications Hyperterminal e Define a name for the session like Hemisson CCOM1 115200 K Team S A 21 e Select the serial port on which Hemisson is connected e Set all the parameters as shown in figure 4 6 COM1 Properties Port Settings Bits per second 1150 x Data bits 8 Parity None 7 Stop bits fit Flow control M Restore Defaults Figure 4 6 Hyperterminal Parameters e Set switches to start in remote control mode refer to section 4 1 1 e Switch Hemisson on You should see the same start up message as in figure 4 7 Here is a sequence of commands to test Hemisson e type Hemisson should display the version of the HemiOS software e by typing D 5 5 gt Hemisson should turn on itself e by typing D 0 0 gt Hemisson should stop turning Notation gt stands for the Enter or Return key on the keyboard All the a
21. ools to program Hemisson We provide the necessary Bootloader code on our web site Beware we recommend having a PIC programming experience for the operation K Team S A 27 A RS232 COMMANDS AVAILABLE Notation gt stands for carriage return that is press the Enter or Return key on the keyboard r stands for ASCII character OxA line feed n stands for ASCII character OxD carriage return A Unused __ Display HemiOS Version Format of the command B gt Format of the response b version_HemiOs r n Effect Return the HemiOs version present in the flash memory Unused D Set Speed Format of the command D speed_motor_left speed_motor_right gt Format of the response d r n Effect Sets the speed of both motors 0 stops the engine Maximum forward speed is 9 and maximum backward speed is 9 Example D 5 5 gt Note Keep the speed values between 9 and 9 E Unused Unused G Unused 28 A RS232 commands available H Beep Format of the command H Buzzer State gt Format of the response h r n Effect Generates a continuous beep 0 Off 1 On Example H 1 gt I Read Switches Format of the command I gt Format of the response i val int1 val int2 val int3 val_int4 r n Effect Reads the status of the four top switches 0 robot s right handside 1 robot s left handside The first switch comes first starting from the front of the robot J U
22. or loss of any programs data or other information stored on any media or any part of the Product serviced hereunder or damage or loss arising from the Product not being available for use before during or after the period of service provided or any indirect or consequential damages resulting therefrom IF DURING THE REPAIR OF THE PRODUCT THE CONTENTS OF THE FLASH MEMORY ARE ALTERED DELETED OR IN ANY WAY MODIFIED K TEAM IS NOT RESPONSIBLE WHATSOEVER CUSTOMER S PRODUCT WILL BE RETURNED TO CUSTOMER CONFIGURED AS ORIGINALLY PUR CHASED SUBJECT TO AVAILABILITY OF SOFTWARE Be sure to remove all third parties hardware software features parts options alterations and attachments not warranted by K TEAM prior to Product service is not responsible for any loss damage to these items This warranty is limited as set out herein and does not cover inter alia any consumable items such as batteries supplied with the Product any accessory products which is not contained in the Product cosmetic damages damage or loss to any software programs data or removable storage media or damage due to 1 acts of God accident misuse abuse negligence commercial use or modifications of the Product 2 improper operation or maintenance of the Product 3 connec tion to improper voltage supply or 4 attempted repair by any party other than a K TEAM authorized robot service facility This limited warranty does not apply when th
23. ot is switched off The RAM Random Access Memory is volatile i e any data will be lost when the robot is switched off The EEPROM Electrically Erasable Programmable Read Only Memory is non volatile K Team S A 11 e The On Off switch allows to start or stop Hemisson Note On the printed circuit board you will find the label On Off which will help you remember its use e The Pgm Exec switch allows to select the mode Pgm Programming or Exec Execution mode allows to update or change Hemisson s Firmware Note On the printed circuit board you will find the label Pgm Exec which will help you remember its use 3 2 6 Infra red sensors There are 8 similar IR sensors six on the side and two facing the ground As a matter of fact the sensor includes two components e an infra red light emitter LED e an infra red light receiver phototransistor We will describe below the two operating modes of these infra red sensors Passive mode In passive mode only the phototransistor is used to measure ambient emission also called luminosity measurement For your information there are many natural or artificial IR sources in your environment e g sunlight incandescent lamps or a candle flame Active mode In active mode IR light is first emitted by the LED and then a measurement of ambient IR light is made by the phototransistor If there is an object near the sensor it will reflect IR light
24. peret vec pic VDE vis I240 PICI6PS77 PLCC RD3 PSP3 RCAISDVSDA Rcs sp0 Ree TXCR RDo PSPU RDWPSPI NC RD2 PSP vr us Te TERTIO w vio vu TERTON TERTIO BUTTE E D WARRANTY K TEAM warrants that Hemisson Pack respectively Hemisson Pack DeLuxe is free from defects in materials and workmanship and in conformity with the respec tive specifications of the product for the minimal legal duration respectively two 2 years from the date of delivery Upon discovery of a defect in materials workmanship or failure to meet the specifications in the Product during the afore mentionned period Customer must request help on Hemisson Internet forum on http www hemisson com by detail ing e The type of Hemisson used package version e The expansion modules e The programming environment of the robot standard version OS The standard use of Product before the appearance of the problem e The description of the problem If no answers have been received within two working days Customer can contact K TEAM support by phone or by electronic mail with the full reference of its order and Hemisson serial number K TEAM shall then at K TEAM s sole discretion either repair such Product or replace it with the equivalent product without charging any technical labor fee and repair parts cost to Customer on the condition that Customer brings suc
25. s three registers at address 0x20 0x21 and 0x22 of peripheral Note that all parameters must be two characters equivalent to the value in hexadecimal S Reserved for Webots Hemisson T Read TV remote buffer Format of the command T gt Format of the response t TV_Data r n Effect Reads the last byte received by the TV remote receiver U Reserved for Webots Hemisson Unused W Write I2C Extension Bus Format of the command W Slave_Address Register Adress Number of Register gt Format of the response w r n Effect Writes a register of an I2C peripheral Example W C0 00 FF gt Writes OxFF at address 0x00 of peripheral 0xCO0 Note that all parameters must be two characters equivalent to the value in hexadecimal 30 RS232 commands available X Reserved for Webots Hemisson Y Unused A Processor Reset Format of the command Z gt Format of the response z r n Effect This command allows to reset robot as if it was cycled On Off K Team S A 31 B EXTENSION CONNECTORS ZERG Figure B 1 Hemisson connectors Note You will find the meaning of the labels in appendix 32 Extension connectors C ELECTRONIC DIAGRAM 33 K Team S A VE peurooz Ul UWOSSTULOF UOISIOA 91014299 OY osn oseo q WRISeIP IUI O RANAN RASIANSIVar RAQ ANQ Vet RAWTOCKL RASANASS KEIRUAN
26. t connector i e 9 pole connector as shown in figure 3 2 If your computer has no serial port but only USB ports you can purchase a USB Figure 3 2 Where to connect Hemisson serial adapter from your local computer store 3 3 2 9V Battery Hemisson Pack This battery allows you to use the robot When the battery runs out DO NOT RECHARGE IT You can buy an equivalent alkaline battery from your local store type 6LR61 or 9V E Block For cleaner environment we recommend to use rechargeable batteries 3 3 8 Rechargeable Battery Hemisson DeLuxe Pack We provide a Ni MH rechargeable battery with which you will be able to use Hemisson while respecting the environment You can acquire a similar rechargeable battery in your local store type 6F22 8 4V Ni MH 150mAh 3 3 4 Felt Pen A felt pen is provided with Hemisson to draw Hemisson s trajectory You must set it in the hole right in the middle see section 3 1 First switch off Hemisson Then remove the cap and insert firmly the pen in its location while holding Hemisson K Team S A 15 Figure 3 3 Felt Pen in its location in your hand During this procedure do not use any infra red sensors for support to avoid damaging them Adjust the height of the pen so that the wheels touch the ground Finally you should test it for example by setting Hemisson in dance running mode refer to 4 1 4 Most of the time you will need to adjust the position sli
27. the repair is not covered by the warranty 4 2 1 Hemisson Uploader Hemisson Uploader allows to upgrade your firmware or to load your own version of HemiOS N B Instead of Hemisson s Uploader you can also connect your favorite Ki MEMISSON UPLOADER VIO Uum cm ttem FAECHARE Figure 4 11 Hemisson Uploader PIC serial programmer via the left handside Hemisson extension connector for pinouts refer to Appendix 26 4 Running Modes 4 2 2 Compiler If you aim at accessing directly Hemisson s hardware you may use the CCS Com piler The CCS C compiler is the development environment of Hemisson s firmware HemiOS HemiOS is under GPL and as consequence you will be able to modify it You will find the latest source code of HemiOS on the web site http www hemisson com English support html File Pioject Edt Options Compile Took Help ESO 23 Winclude lt 16F877 H gt fuses HS NOWDT NOPROTECT fuse 1 1 20000000 rs232 baud 9688 xnit PIN 83 rcu PIN 82 main printf Press any key to begin n r getc printe 1 khz signal activated n r while TRUE output high PIN B0 delay us 500 output low PIN B8 delay us 580 gt ex squ Figure 4 12 CCS C Compiler PCW version 4 2 3 Others You are also free to use any other PIC development t
28. vailable commands are described in appendix A For your information you can use any third party software like MATLAB Lab VIEW etc to control Hemisson through a serial port You can also write your own software to control Hemisson via the serial link 29 4 Running Modes 115200_COM1 Hyper Terminal Fichier Edition Affichage Appeler Trensfet 7 Dia 3 xa el Hemi0S V1 23 Beta K Team S R Alexandre Colot 21 ao t 02 17 29 03 E Mail infos hemisson com 000028connect ANSW 1152081 OEL Figure 4 7 Hemisson Start up Message on Serial Port 4 1 7 Infra red Remote Control In order to proceed your infra red remote control must follow the RC5 standard Many TV sets are provided with RC5 remote control like Philips and also Daewoo Goldstar Hitachi Loewe Mitsubishi Samsung and many others Of course if you have a programmable remote control you can emulate the RC5 standard Note You must use a TV remote control and not a remote control for a VCR or any other auxilliary device If you are using a universal remote control you must first set your remote control in TV mode As a matter of fact signals differ for a TV keyboard and a VCR keyboard to avoid cross communication Once the compatibility problem settled you must set your Hemisson in remote control mode see section 4 1 1 The available commands are refer to figure 4 8 e Channel 1 Moves leftward i
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