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TJ PRO™ USERS MANUAL

1. 12 3 File Name tjProg txt This file provides instruction on how to edit compile download execute your TJ PRO robot using ICC11 DOS If you have purchased ICC11 for Windows skip this file and read IDEsetup IMPORTANT NOTE If you execute TJ PRO program that uses functions in serialtjp c and you loaded the s19 file with PCBUGII then you must close the DOS window in WIN95 because PCBUGII locks the COM port Hyper Terminal will not be able to communicate through the COM port with the 32 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com robot For some archaic reason PCBUGII DOS hogs the COM port and does not release it unless you kill the DOS window SOLUTION Eliminate PCBUGI11 use Buy the inexpensive and well worth it Mekatronix high speed serial downloader HSSDLI1 for the 68 11 and avoid the pain of closing DOS opening and setting up the ICC11 parameters every time you reopen the DOS window When using the HSSDL11 with Hyper Terminal on the same COM port say COMI you must disconnect Hyper Terminal ALT C d or select the Hyper Terminal telephone icon with receiver off the hook to download After download connect Hyper Terminal ALT C c or select Hyper Terminal telephone icon with receiver on the hook You do not have to do anything with HSSDL11 since it does not hog COMI an extremely useful convenience because
2. da 56 Table 3 Memory Map of MTJPROI1 IO Enables eese 64 Table 4 T PROM s Sensor S it de dud cach a X RS SEEMS NOSE PSOE VAR RUN ETRAS aS 65 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 1 SAFETY AND HANDLING OF TALRIK JUNIOR PROFESSIONAL TJ PRO 1 1 TJ PRO s Static Sensitive Parts Some of TJ PRO s components are static sensitive These are located on the printed circuit boards Do not touch these boards without being properly grounded Static discharge can destroy these parts 1 2 Caution for Biological Organisms Most individuals find TJ PRO exciting enjoyable amusing and fascinating TJ PRO s small size minimizes its threat to organic life although pets and small children might find TJ PRO either an interesting playmate or an alien to avoid A child s hands feet and mouth probing TJ PRO may lead to minor injury to both child and robot so to eliminate adverse reactions with pets children or nervous adults be sure TJ PRO operates under supervision by someone who knows how to turn it him off Remember TJ PRO is an autonomous machine and as such becomes of control once set in motion An add on IR remote control package can be purchase separately to allow you to override TJ PRO s autonomous mode 1 3 Holding Carrying and Transporting TJ PR
3. sss 41 13 5 Loading and Unloading Programs in 41 13 6 Loading and Unloading Programs IC 42 13 7 InteracttveQ d orti tet ERU euet 42 13 8 Robot Commands a ot eee RTT leet 43 13 9 Writing your own IC Programs sese nenne nennen enne enne enne 44 13 10 Programming Suggestions rt er i rte Fee Ete re RR ER RE teri cH Rege 44 13 11 Mekatronix IC Education 45 14 PROGRAMMING YOU 2 45 14 1 Installation of ICC11 and TJ PRO Software essere nennen eene 45 14 2 Integrate TJ PRO Software with 46 IMPORTANT 5 ndi e RA Rl ae Rel Ne 46 14 3 Compile TJ PRO Program with ICC11 sess eene 46 14 4 Example Compilation of a TJ PRO JUNIOR PROFESSIONAL C Program 47 14 5 Download a Compiled Assembled Program into 22 0 2222 021 47 14 5 1 Serial Connection between TJ PRO and you Personal 47 14 5 2 Downloading with the HSSDL 11 esses 48 14 5 3 Downloading with PCBUGHIH eoe pere tete pesi eens 48 14 6 Execute a Loaded TJ PRO 2 nennen eene emeret 49 15 TALRIK
4. 22020440404000 00 8 1 4 29107 H 9 25 AIP IOC Ee eID i at Das ah Shotts 9 2 Get ng TJ PROIM Ready te Hr e nU 9 2 2 Unpacking an Assembled 22 9 2 3 Computer Requirement a a E 9 2 3 1 B sic system ee RET ta gr oa ROREM das PEERS 9 2 3 2 newer system Windows95 e teen nest tnter nente ens 10 2 4 port problems to avOid eren nennen rennen EES EE EE 10 2 5 Serial Communication between Host Computer and 10 2 6 Plugging MB2325 into the host computer eene enne ener 11 27 Connecting the Host computer to 2 nennen trennen 11 2 LT Verify e Ree tbe ee ERR Ie EXER ei IRURE RUE 11 2 8 Software Language Supportt seserereseseererereresserersreressererereserneustereretueesrerererusrerensreressererererererste 11 2 9 PROGOTM Language nere eben etas Ree ee 12 3 TLPRO M OVERVIEW taie tete reete leal e eerta ea Li eda 12 3 4 WhatCan TI PROM QJ e eher E EE 12 3 2 Operating Environment for TJ PROM
5. DISTRIBUTION SOPT WARE 142165 Ree Ah SG ees 29 12 1 Installation Instructions for TJ PRO Distribution Software 29 1233 1 zFueNa me nstallt p b t orte oet UR ERE ances 29 12 2 File Name tjpReadme txt emite tee pete ee tertie 30 12 3 Fil Name tj Prog tx tices vete a ehe Robe A Re ieee eh 32 12 4 Editing TJ PROTM Programs iuste nete cm retten eie 33 DU HESIODI to pea eat E ou dad a ed dc 33 12 5 Compile with ICCI DOS tree RC oh teal eae ena hed 33 12 6 PCBUGI1 Download Procedure for 2 0 34 12 7 Execute TJ PROTM Program ete e tee tec Rt 35 12 8 Stopping TJ unos eR e ee ee Li ee ees 35 12 9 Brief Descriptions of TJ PRO programs in directory 4 35 12 10 TJ PRO M Library Code in directory Libsrtjp eene ene 36 12 11 tjpsetup bat file and the TJ PRO Library Libtjp a eene 37 12 12 Generation of TJ PROTV s Library Libtjp a with DOS Script Libtjpmake bat 38 13 PROGRAMMING YOUR TJ PRO WITH INTERACTIVE 38 13 1 Installing and Using IC ect ete eee ete reete eese esters 38 13 2 Serial Communications with the TJ PRO 2 39 13 3 Loading Pcoder with IC WINDOWS 40 13 4 Loading Pcoder with IC DOS and other Methods
6. Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 12 12 Generation of TJ PRO s Library Libtjp a with DOS Script Libtjomake bat The distribution code shipped to you will provide libt jp a compiled in a compatible version of the compiler you purchased and you do not need to do anything here This section is for experts who wish to add object files or remake 1ibtjp a You must have source files or object files to remake or add files to a library If you have source files just compile to object files and add Refer to the ICC11 manual for details For the DOS version use the batch file Libtjpmake bat listed below For the Windows IDE version you simply duplicate the process indicated by the batch file Contents of Libtjpmake bat echo off echo This script file makes a library file for the TJ PRO Routines echo Title Make TJ Pro Libraries echo Programmer Keith L Doty echo Date Sept 15 1998 iccll c vectors c iccll c serialtp c iccll c motortjp c iccll c analog c 11 e clocktjp c del lib libtjp a ilib a libtjp a serialtp o lib a libtjp a motortjp o ilib a libtjp a analog o ilib a libtjp a vectors o ilib a libtjp a clocktjp o ilib t libtjp a copy libtjp a lib 13 PROGRAMMING YOUR TJ PRO WITH INTERACTIVE C Whether you have the commercial or freeware version of IC usage is similar although the commercial version is
7. If you purchased the ICC11 software this section provides guidance in its installation and integration with the TJ PRO software Be sure to refer to your ICC11 manual for installation particulars for the ICC11 system The IDE environment makes the windows version a sweet tool for programming your Mekatronix robots and makes life much easier than the DOS version Mekatronix highly recommends the windows version Experience has shown it is well worth the additional cost Note In typed commands to your computer angle brackets indicate parameters for which you must substitute the appropriate information Do not actually type the angle brackets For example lt enter gt means Press the Enter key on the keyboard lt filename gt means Type the filename alphanumeric key sequence on the keyboard and the path to it if necessary Summary of Installation Process 1 Insert ICC11 diskette and install ICC11 or download from an authorized Mekatronix distributor www mekatronix com distributors web site 2 Remove ICC11 diskette insert the most recent version of the TJ PRO Distribution Software diskette and install or download from an authorized Mekatronix web site and install Installation essentially means copying files into appropriate directories of c icct jp 7 INSTALLATION OF ICC11 FOR WINDOWS Insert ICC11 diskette and install ICC11 or download from an authorized Mekatronix distributor www mekatronix com distributors web si
8. go Unless of course you have programmed the robot to only begin after the back bumper switch is closed To get back to IC and start another programming session 3 Turn the power off Pick the robot up and plug it back into the C2325 cable and plug the AC adapter power jack into the robot power connector If you do not use a back bumper start command put the Download Run mode switch into Download turn on the robot power with wheels suspended off the table and reset The robot will stop executing the current program You must remember to switch the robot back into Run mode and press reset before resumption of IC commands If you use the back bumper as a Start command in your robot programs you do not have turn power off to stop the robot just press reset Since the robot is in Run mode the IC command line remains active This is quite handy and Mekatronix recommends you program Start this way Most future Mekatronix code will be written with a Start command 4 In a DOS environment you will have to exit IC to edit your program When finished editing exit your editor return to IC by executing ic and then type the IC command load lt file gt c into the IC command line If the file is different from the previous file you must first unload the previous file with the command unload lt file gt c and then load the new file with load new file c In the example to load senset jp c you first must unload tjprol c type unload tjprol c
9. 13 3 39 Physical Orientation eee rette toO Eee Meet uie FE 13 3 4 Sensor Layout oue Wie Suum uA AUS 13 3 5 jSWilches oi ahs el aed Beles Ae Rees ied cce 15 3 6 E EE TE 15 3 7 en ne er ep od e ade ei pre Meets 15 3 8 Installing TJ PRO V s batteries IMPORTANT NiCads only eee 16 3 9 Replacing TJ PRO s batteries IMPORTANT NiCads only eee 16 3 10 TJ PROTM Bumper ir tt rite epe ies op E EEE EEEE 16 3 11 Serial Communication estie dt Ot UR uen Go ORO TR es 17 3 12 Where is TJ PRO During Program 2 18 3 13 Can you Physically Damage a TJ PRO with 18 3 13 1 Controlling TJ PROM Motors tenete petentes ipei ee Re ree 18 3 14 Moving TI PROM edes eon eripi ef ette tope e eec 19 4 IF YOU DO NOT HAVE A C COMPILER cette 19 5 SLLPRO MPROGRAMMLING SET UD aiite to etti ta ere 20 5 1 Computer Requirements eee DH pte ERR CER DR Era REESE EEST 20 5 1 1 Primitive System DOS ines e eee tte neis 20 5 1 2 Operating from a WINDOWS System Recommended see 20 5 1 3 Com port problems to 21 5 2 Serial C
10. Design an obstacle course for TJ PRO to learn 4 Scare TJ PRO by blasting him with your TV remote 5 Write a program so TJ PRO will be attracted to your TV remote 6 Control TJ PRO V s behavior with your TV remote an IR controlled vehicle Mekatronix kit sold separately See http www mekatronix com 7 Get two or three TJ PRO s and program them to follow each other 8 Get three TJ PRO s and teach them to flock like goslings as they move around together 13 11 Mekatronix IC Education Package To learn more about how to use IC and to program your TJ PRO robot in IC you may wish to obtain Mekatronix s IC education package The package includes a 57 page manual with program exercises and source code solutions that load and execute Contact an authorized Mekatronix distributor for more information 14 PROGRAMMING YOU TJ PRO IN ICC11 ICC11 is a commercially supported C compiler for the MC68HC11 processor ICC11 with the required robot library files is only available from an authorized Mekatronix distributor The following paragraphs indicate how to incorporate ICC11 into your TJ PRO software development activities 14 1 Installation of ICC11 and TJ PRO Software If you purchased the ICC11 software from Mekatronix this section provides guidance in its installation and integration with the TJ PRO software Be sure to refer to your ICC11 manual for installation particulars for the ICC11 system N
11. and change the default setting of 0x00 to the name of your interrupt service routine You must then declare your service routine as an extern name at the top of vectors c You must also use define isr name at the beginning of the include file isrdecl h You should not attempt to write interrupt service routines unless you have extensive experience with the MC68HC11 and have great familiarity with how interrupts work Mekatronix strongly advises you not to change existing interrupt service routines Caution If you change any of the standard TJ PRO drivers Mekatronix applications and system software will not run correctly Use the example interrupt service routines provided in the directory Libsrtjp as guides to constructing your own Be sure to 4de ine your interrupt service routine name equivalent to the Mekatronix predefined names which are given for all possible MC68HC11 interrupt service routines in Libsrtjp vectors c For those routines that you do construct be sure to enable installation of the interrupt vector by the compiler through a command sequence similar to the C language construct in servot jp c namely define servo hand TOCA isr pragma interrupt handler TOCA isr install interrupt handler on OC4 void 0xffe2 servo hand A second earlier method which 15 not as elegant but maybe a little easier to understand is illustrated by motortjp c first define motortjp hand T
12. large object 2 approach the object until near 3 turn until the robot front to rear axis aligns parallel with the surface of the obstacle 4 move parallel to the obstacle surface At each instant of time a particular behavior in the sequence is invoked based on the current state of the robot and its sensory inputs Of course the programmer will have to establish to the robot s 58 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com perception the meaning of such terms as large surface and parallel Remember to Vulcan Mind Meld 16 5 Integrating Behaviors More complex behaviors may require the combination of primitive behaviors in a way not well understood Artificial neural network activation opinion guided reaction non linear dynamics and fuzzy logic all offer techniques for integrating behaviors Each technique offers specific advantages and specific difficulties Discussion of such issues is beyond the scope of this manual The reader s attention is brought to this matter to encourage investigation into these possibilities 17 TJ PRO TROUBLESHOOTING GUIDE To check out your robot download the program avoidtjp s19 inthe t3jpcode directory in the distribution software and run it Note If the robot moves avoids obstacles and responds to a bumper switch closure when running Avoidtjp s19 all hardware syste
13. performance These expectations seem to subconsciously creep into our agenda when working with autonomous machines often with disappointing results Autonomous robots have no where near the sensory and behavioral capabilities of an insect let alone higher animals 16 4 2 Virtual Mind To assist in perceiving the universe as the robot does you can write programs to generate computer graphic displays that depict the robot s perception in any sense that makes communication with the robot easier Robot Rorschach tests color maps a virtual robot environment This process we coin as a Virtual Mind Meld The robot portrays its reality in the computer graphics medium to create a virtual reality to bridge the species communication barrier 16 4 3 Relative calibration of sensors of the same type Manufacturing tolerances circuit tolerances and mounting variations make it possible for two instances of the same type of sensor to respond differently to the same stimulus Behaviors therefore should not be programmed to depend upon two sensors of the same type producing identical responses to the same stimulus Instead program sensors of the same type to relatively calibrate themselves in some fixed environment For example place a cardboard box in front of and parallel to the wheel axis of a TJ PRO Measure the response of the two front IR detectors Note the differences in the readings If there are none that s great In general
14. Setup for Downloading into a Robot 1 Select Target on main menu bar 2 Select Bootstrap Download Mode 3 Select Target on main menu again Verify that Bootstrap Download Mode has a check mark by it and then 4 Select Terminal 24 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com A window opens Expand it to fill your screen At the bottom of the window you will see several selection buttons These buttons allow us to configure for bootstrapping loading Select Bootstrap Options The HC11 window opens In Bootloader Programming select External RAM Set baud rate to default 1200 Close HC11 window 9o o gv You are now ready to edit compile and download programs to your robot from the IDE 7 3 Integrating TJ PRO Software with ICC11 for Windows Integrating TJ PRO software amounts to copying files into icct jp directory at the appropriate places Refer to Section 12 1 8 COMPILE AND EDIT ON IDE 1 Select File in the menu bar and click on Open Browse to select the source code file of interest for example c icctjp tjpcode avoidtjp c and open it A window opens which allows you to edit the program In the example case the program needs no editing but normally you would edit your program at this time Refer to the ICC manual for details on editor commands 2 From Window on the main IDE menu bar select Tile to tile the Status and Editor wi
15. be called once in your program before using any of the analog ports analog int port Returns the value at the analog port corresponding to port Example To get the value at analog port 3 into the variable write a analog 3 15 5 Servo Motor Routines To use the servo motors ARGOS option include servotjp h in your program The corresponding C program is servot jp c servo int servo_name int speed Will set one of the servos to a desired speed To select which servo you want to move two symbols have been defined LEFT MOTOR and RIGHT MOTOR The speed is given as a percentage of the motor s full speed Example 1 To move the right motor at half speed forward servo RIGHT MOTOR 50 Example 2 To move the left motor at full back speed Servo LEFT MOTOR 100 head int angle 22 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com Will turn the head servo PRO ARGOS to the angle specified This angle ranges between 90 and 90 degrees An angle of 90 will point the head to the right 90 will point to the left and zero points forward 15 6 Writing your own Interrupt Service Routines for TJ PRO using ICC11 Only advanced users should try to modify vectors c If you have written an interrupt driver for an interrupt which is not already in use you must open vectors c look for the name of the interrupt which you are planning to use
16. begin The MB2325 serial communications board generates the proper voltage conversions that permit the user to download and upload code and data to TJ PRO via a 6 wire serial communications link Whenever testing programs on TJ PRO the user will connect the host computer with TJ PRO via this interface Rather than duplicate this interface circuit on each robot Mekatronix chose to make a single external interface for the host computer This approach has a twofold advantage 1 removal of this circuitry from the robot platform saves battery energy and reduces printed circuit board cost 2 only one MB2325 board is required per computer instead of one per robot In multiple robot systems or swarm systems this approach yields an increasing cost advantage 10 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 2 6 Plugging MB2325 into the host computer The MB2325 serial communications board Figure 3 page 17 has a 25 pin female type D connector On most computers is 25 pin male D connector If your computer has 9 pin connector you will need a 9 to 25 pin converter available at most computer and electronics stores When the 2325 is plugged into the COMI port of the host computer D1 will light This light lets you know that the serial port on the host computer is working If D1 does not light something is wrong with the serial port of the host com
17. download from HSSDLI 1 when Terminal or any other device captures the COM port You will have to close the Terminal window or other device holding COM before HSSDLI1 can download 9 1 Installation Just copy the HSSDL11 directory with all its subdirectories and files into you hard drive and establish a shortcut to it from your desktop 9 2 HSSDL11 Setup HSSDL11 remembers its setup so you will only have to perform this procedure once or whenever you want to make changes The currently selected s19 file name appears above the HSSDL11 menu bar for convenience Repeated compiles and loads of the same program during development require only pressing the HSSDL11 menu Download button or the d key on the keyboard For more HSSDL11 downloading details refer to Sections 9 3 1 Open the HSSDLII 2 Confirm default Settings Clock 8MHz Port COMI 3 Click on Config button and verify the default settings CONFIG DO NOT CHECK ANY ITEMS HERE Default NO item is checked Features Check only High Speed option Some older computers will not allow you to communicate at 115Kbaud and you may have to unclick this option The baud rate then defaults to 9600 4 Click on Config button again to leave configuration mode 9 3 HSSDL11 Download Procedure Be sure the robot power switch is on the robot power light is on the physical serial connection is installed the HSSDL11 has been setup and its window open 26 MEKATRONIX TJ PRO USE
18. however they will differ somewhat Virtual Mind Meld 1997 by Mekatronix 57 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com Program the robot s behaviors to respond to relative sense stimuli not absolute sense measurements This will make the robot behave more organically and robustly to uncertain dynamic environments 16 4 4 Adjusting to Ambient Conditions A programmed behavior will often be brittle not flexible or adaptive if that behavior depends upon specific magnitudes of robot sensor readings Brittle behaviors fail when the environment changes from the environment in which the behavior was developed The smaller the change that causes the failure the more brittle that behaviors is For example the IR detectors on TJ PRO will detect white objects at larger distances than dark objects Suppose a collision avoidance algorithm sets a threshold value of the IR as an indication of an impending collision If this threshold is determined experimentally with light colored obstacles then dark colored obstacles will not be detected and the robot will bump into them On the other hand if the threshold is set for dark colored obstacles the robot will end up spinning in circles in a light colored environment because it detects threats everywhere The solution is not to pick an average color threshold but rather program the robot to adjust its threshold downward i
19. ma no load 3 1 25 revolutions sec at 7 2 volts full battery charge Speed decreases proportionally to the voltage as it drops 18 4 Robot Controller A Motorola MC68HC11 based microcontroller circuit the MTJPROI1 provides among other features the brains and communication capability of the TJ PRO and provides exceptional versatility for the robot Control and communication features include the following 1 MC68HC11 microcontroller 2 32Kbytes of SRAM 3 Five volt serial communication interface for downloading and uploading programs and data to a personal computer The serial bus implements RS 232 protocol except for the voltages The Mekatronix circuit board MB2325 converts this processor serial bus to a standard RS 232 bus 4 High speed 5volt synchronous serial bus Up to 1 MHz data rate 5 5 Volt regulator 6 Low voltage inhibit reset circuit 18 5 Memory Save Feature When the power switch is turned off power is still supplied to the SRAM to prevent loss of code and data in memory The batteries will be drained after about a day if you do not keep TJ PRO M plugged into the charger unit Recommended 63 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com When not in use for more than a few minutes plug TJ PRO into the charger unit to keep the batteries fresh During prolonged programming sessions Mekatronix also advises you to keep TJ PRO c
20. much more convenient and has more features The following sections explain how to program TJ PRO using Interactive C 13 1 Installing and Using IC You can download the freeware IC DOS and the IC manual from the Mekatronix web site under Free Stuff without charge Before installing IC first check a few things Check List 1 Does your robot have batteries in it and are they charged If this is the first time you are using your batteries they should have been charged overnight When you turn the power switch on the small red light should come Even with low batteries this light may come on so if you have not charged your robot please do so now or install fresh batteries 38 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com Does your computer run DOS or WINDOWS Does your computer have a serial port available There should not be conflicting hardware demands on the serial interrupt For example if you are using COMI COM3 should be left free Likewise with COM2 and We will assume here that you are using Do you have a serial cable coming from your serial port that ends in a 25 pin D connector You will need this cable to connect to your MB2325 board as shown in Figure 1 Install IC WINO95 Follow installation instructions Name your root file c Nictjp IC DOS Create a directory on your computer for IC on DOS At the DOS prompt type mkd
21. on the floor disconnect both the charger and the serial communications cable from TJ PROTM 3 13 Can you Physically Damage a TJ PRO with Software The answer is YES A program that commands the robot to oscillate between 100 forward and 10096 backward for 30 seconds or more will overheat and possibly burn out the motor driver chip Anytime your program controls servos and motors you should take extra care to insure this type of behavior does not occur WARNING Rapid oscillations of motor direction and speed for extended periods of time will burn out the motor control chip There is another case where software can damage the TJ PRO Interactive C IC uses the MC68HC11 output compare four pin to control its multi tasking timing We use to control a servo in ICC11 If a servo is connected to and you switch from ICC11 to IC IC will destroy the attached servo The rapid changes of OC4 will actually burn out any servo attached to OC4 header WARNING IC code thrashes OC4 and could easily destroy an attached servo in a short amount of time Any servo connected to OC4 must be disconnected before running IC code 3 13 1 Controlling TJ PRO Motors When the batteries are low the robot may stop after making a series of rapid moves This behavior usually indicates that the robot has reset because of high motor current surges have drawn the battery voltage down so low that the voltage regulator on the pr
22. plate 6 Rotate the top plate down onto the sides being careful not to pinch any wires between the top plate and the sides 7 With the top plate down slide the key into the key slot turn 90 degrees to lock the key into place 3 9 Replacing PRO s batteries IMPORTANT NiCads only 1 Turn On Off switch to Off 2 Turn and slide the plate key out of the rear supports and rotate TJ PRO s plate forward exposing the rear battery compartment 3 Unplug the battery connector from the male power header attached to the underside of the plate 4 Carefully remove the battery pack from the battery compartment 5 Remove the old batteries and insert six NiCad AA batteries into the pack oriented with proper voltage polarity as labeled on the pack Failure to do so may destroy all the electronics 6 Snap the 9v snap connector to the battery pack if not already snapped on and the female connector on the other end into the male power header on the underneath side of the plate 7 Rotate the top plate down onto the sides being careful not to pinch any wires between the top plate and the sides 8 With the top plate down slide the key into the key slot turn 90 degrees to lock the key into place TJ PRO will now have power when the On Off switch is turned to On 3 10 TJ PRO Bumper TJ PRO s bumper girdles the plate Objects higher or lower than TJ PRO platform will not be seen Such obstacles do exist in home a
23. robot in download mode The HSSDL11 will signal a boot error Check your switch settings press reset and verify the D2 light on the MB2325 board flashes on when the reset button is held down Try again Typically after a failure the HSSDL11 with fail a second time even with everything correct Do not worry Press reset and repeat the Download command For some reason the HSSDL11 sometimes remembers immediate past failures and then recovers on the second attempt usually Of course this problem is avoided altogether if you don t make a mistake with the switches 10 DOWNLOADING USING IDE You must carry out the setup procedures in Section 7 before using IDE to download any s19 files into the robot Your setup will be in the state that you left it in at the end of your previous IDE session 27 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com Connect your PC serial cable MB2325 communications board and the six wire Mekatronix serial cable C2325 to the robot as described in Section 14 5 Open IDE by double clicking on your ICC11 icon 1 Select Target in the menu bar 2 If Bootstrap Download Mode is checked select Terminal and skip Step 3 Otherwise select Bootstrap Download Mode and do Step 3 3 Select Target again and click Terminal You now have the terminal window open 4 Ifnecessary select Browse to find the s19 file of interest Select the desired
24. s19 file 5 Flip the robot s Download Run switch to Download 6 Press the robot s red Reset button Make sure diode D2 on the MB2325 board lights when reset is held down and goes off when reset is released 7 Select Bootstrap Download in the IDE Terminal window 8 Select OK on the IDE message 9 The s19 file loads into the robot You are now ready to execute the code on the robot 11 EXECUTION OF ROBOT CODE ON IDE The IDE terminal simulator Terminal accepts robot serial output directly This allows you to monitor robot IO while the robot remains connected to the PC a very convenient feature of IDE Execute Program Procedure 1 Download s19 file into robot from Terminal window refer to Section 9 2 Flip robot Download Run switch to Run 3 Press robot red Reset button CAREFUL PROGRAM WILL START IMMEDIATELY Your program will start to run If your program transmits serial output it will appear on the terminal simulator of IDE that you currently have open If your robot produces IO to the 28 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com Terminal screen you may have to press reset several times or hold it down for a second to get clean communication 12 TJ PRO DISTRIBUTION SOFTWARE The distribution software includes files with important instructions and information This information with some additional comments and elaboration i
25. see if flipping the IR emitter connector forward biases the diode because it will begin to shine You can also use another working TJ PRO to make this test 9 Motors don t turn 9 1 Did your program execute init_motors If only a single motor doesn t turn then 9 2 Verify the motor plug is connected to the correct header and is not reversed 10 Motors turn the wrong direction 10 1 Possibly a wrong motor specification in your program 10 2 Verify the left motor plug is mated with the left motor header If not reverse motor plugs Comments on the IR System IR Detector Connectors Black wire fits the pin next to the edge of the can We have intentionally connected the IR detectors incorrectly and have not observed any damage to the detectors Of course they do not function when connected incorrectly However we recommend avoid doing so IR Emitters Shine How can you tell if the IR emitters emit IR Run the program avoidt jp and see if TJ PRO avoids obstacles placed on either side of the robot You also run sensetjp and check operation of the IR detectors If the detectors change values as you bring your hand towards the robot the IR emitters are working 18 TJ PRO GENERAL DESCRIPTION While the TJ PRO JUNIOR PROFESSIONAL TJ shares sibling DNA with TJ the TJ PRO has more features and capabilities A single Mekatronix microcontoller board the MTJPROI1 provides all the computationa
26. serial interface at the other Figure 4 The MB2325 D connector plugs directly into a COM port of your personal computer 25 pin D connector or through a serial cable If your computer serial connector only has a 9 pin D connector you will need to acquire a 25 to 9 pin plug converter 25 pin D Vi Connector to Figure 3 MB2325 Communications Board 6 wire Serial Personal Ribbon Cable Computer COM Port TJ PRO Robot Serial Cable Figure 4 This diagram illustrates the serial connection between a personal computer the communications board MB2325 and a Talrik Junior Professional 17 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 3 12 Where is TJ PRO During Program Development You will probably spend considerable time developing and testing programs to run on TJ During the initial phases of this process the user will undoubtedly make many changes and run many variations of the programs This procedure can be expedited by mounting TJ PRO on a test platform that elevates the drive wheels off the floor or desktop so that the wheels turn freely without moving the robot To maintain fresh batteries during these long development sessions keep TJ PRO connected to the charger Also keep the serial communications cable to TJ PRO connected to minimize plugging and unplugging it When the user is ready to test TJ PRO
27. side of the cable should line up with the edge of the case Check to insure the IR connectors are fully plugged into the IR emitters on top of the robot plate The IR emitters are diodes so if the plugs are not oriented properly the IR emitters will not emit Refer to the TJ PROTM Assembly Manual if in doubt about the connections 5 Check the bumper to see if it is pushing up against any switches If it is just gently shift the bumper away from the switch Latter program testing will reveal any specific problems 6 Remove the Software disks and any other documentation 7 You may have also purchased the following recommended e A wall plug adapter for recharging the robot e An MB2325 serial communications board and cable e 6 Nickel Cadmium rechargeable batteries 2 3 Computer Requirements Program development for the TJ PRO can be performed on a low cost DOS system Nothing more is required Users with more expensive sophisticated computer systems of course can run DOS under the Windows95 environment 2 3 1 Basic system DOS The following computer system will meet all the basic hardware support for developing TJ PRO programs and applications MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 1 286 or later processor running under DOS with several Megs of available hard disk space and 1 Meg of RAM 2 An available serial port We wi
28. terminal exe 20 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 5 1 3 Com port problems to avoid Randy Sargent s Interactive C for DOS C DOS and Motorola s Pcbug11 both freeware use the serial port in a manner that does not permit sharing the serial interrupt Therefore the port that communicates with the robot should not share the same interrupt with any other system resource For example COMI and COMG share the same interrupt in DOS as do COM2 and COMA Therefore if the robot is connected to COMI nothing else should be connected to COMI or or use their interrupts We have seen some extreme instances when the internal modem of a computer had to be removed to get C or Pcbug running The modem used the same interrupt as the robot COM port and disrupted the robot serial communication 5 2 Serial Communication between Host Computer and TJ PRO This section assumes TJ PRO has fully charged batteries and the processor functions Without either of these prerequisites the user cannot begin The MB2325 serial communications board generates the proper voltage conversions that permit the user to download and upload code and data to TJ PRO via a 6 wire serial communications link Whenever testing programs on TJ PRO the user will connect the host computer with TJ PRO via this interface Rather than duplicate this interface circuit on each robot Mekat
29. with novice programmers in mind and yet experts can appreciate its conveniences For one PROGO maintains compatibility with the C Language in that C statements can be mixed with PROGO statements without syntactic error For example PROGO supports only integer data types directly but any C data type can be defined and used in a PROGO program without modification I generally program in PROGO and simply use C definitions or statements when required which is seldom PROGO operates under three systems IC DOS freeware IC for WIN95 ICC11 DOS and WINDOWS versions Check with a Mekatronix distributor for ordering the PROGO Language Reference Manual with PROGO sample application programs both object and source code Middle school students have used PROGO with great success Mekatronix provides technical support for 3 TJ PRO OVERVIEW This section provides the user general orientation to TJ PRO 3 1 What TJ PRO DO TJ PRO provides an entry level platform for the development and testing of machine intelligence and autonomous behavior algorithms The creative and entertainment value of developing your own intelligent physically embodied autonomous agent provides tremendous motivation and pleasure As with most high tech tools toys the implications have broad scope By attaching different mechanisms to such an autonomous agent the user can develop autonomous vacuum cleaners aut
30. 11 gt you may prefer to include the path to PCBUGII in PATH 2 Inthe following command sp means type a space Be sure the Download Run switch is in Download position Type pcbugll lt sp gt a COM PORT NUMBER enter If the robot is connected to COMI then the command is pcbugll a 1 This command puts the DOS window into the PCBUGII Monitor window with PCBUGII command line at the bottom of your screen with command prompt gt gt 3 Step 1 in this sequence placed your computer in the PCBUG11 directory If the TJ PRO serial cable is connected to COMI then execution of the next PCBUGII command will download the file avoidtjp s19 in the tjpcode directory via COMI to the TJ PROTM memory In PCBUGI 1 execute gt gt loads icctjpNtjpcodeNavoidtjp 1 lt gt Note Your path to the code may be different than the above illustration 14 6 Execute a Loaded TJ PRO program This procedure assumes you have downloaded an s19 file into TJ PRO Do not do this procedure on a Table unless TJ PRO s wheels are suspended and not touching any surface Otherwise TJ PRO will start up and roll off 1 Turn TJ PRO M power switch to ON if it is not there already 2 Flip DOWNLOAD RUN Switch to RUN 3 Press RESET 4 Watch TJ PROTM GO To stop TJ PRO run him down and flip the ON OFF switch to OFF 49 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekat
31. 4 5 Create simple 58 16 4 06 Build on simple behaviors cette ettet eere tee tet te ee redegi 58 16 5 Integrating Behaviors i eo reote ere dpt idee ee eoe tni eue 59 17 TJ PRO TROUBLESHOOTING GUIDE cit es bat pet 59 17 1 IC Trouble ni E 60 17 2 ICCTI Trouble Guide naa Sete 60 17 3 General Trouble Shooting eese 60 18 PRO GENERAL DESCRIPTION tnnt 62 18 1 Mechanical Structure eem e teret EE eer lel ue eee dee 62 18 2 Power Requirements epe en PRO ee npe 63 18 3 e CREER ERI cove ORDRE Ub eet t ER UE e 63 18 4 Robot Controller ntl pede dle lecce entere tec eee ut Ye pretii 63 18 5 Memory Save etiatn eI ERE elite tin E eripe hn 63 18 6 Input Output Expansion Capability eese enne nennen nennen nennen 64 18 7 Memory and IO Mapping for the 22 64 18 8 5 Starter Sensor ect eiie de esten mete E tat 65 18 9 SWIICHES MEL EE 65 18 10 System Support 65 18 11 Seral Communication uii rre Re OR Eee PODER SE 66 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Qu
32. 8HC11 Assembly language and assemble your programs from the Motorola freeware Assembler The freeware version of IC and the MC68HC11 Assembler can be downloaded from www mekatronix downloads An IC Users Manual can also be downloaded from the Mekatronix web site NOTE Mekatronix does not support these programs and recommends the commercial versions for higher reliability expanded function and technical support The Motorola Assembler will generate S19 files from your assembly language programs S19 files are ASCII files that the Motorola boot loader can read and convert to MC68HC11 machine code The download process for 519 files is described in Section 14 5 of this manual Assembly language programming is beyond the scope of this manual A good readable beginning textbook for learning MC68HC11 assembly language programming is Microcomputer Engineering Gene H Miller Prentice Hall 1993 ISBN 0 13 584475 4 19 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 5 TJ PRO PROGRAMMING SET UP The following sections instruct you on how to setup and use your TJ PRO Distribution Software package and integrate it with the compiler systems ICC11 WIN95 or ICC11 DOS or the interpreter systems IC WIN95 or IC DOS 5 1 Computer Requirements Program development for the TJ PRO can be performed either a WINDOWS or DOS system In a windows system you have the option of r
33. C compiler is case sensitive so Bumper is not correct but BUMPER is correct for specifying analog 0 TJ PRO Defined Constants kkk KK Constants KOKCKCKCKCkCkCkCk Ck kCk Ck k kc RK KK RK KK define LEFT MOTOR 0 define RIGHT MOTOR 1 define MAX SPEED 100 define ZERO SPEED 0 define BUMPER analog 0 define RIGHT IR analog 2 define LEFT IR analog 3 define START while BUMPER 120 51 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com define FRONT_BUMP BUMPER gt 10 amp amp BUMPER lt 120 define BACK BUMP BUMPER gt 120 Enable OC4 interrupt and all servo operations define SERVOS_ON TMSK1 0x10 Disable OC4 interrupt Stops all servo holding torques useful for energy savings define SERVOS_OFF CLEAR_BIT TMSK1 0x10 Turn IR emitters ON or OFF define IRE unsigned char 0x7000 0x07 define IRE OFF unsigned char 0x7000 0x00 RR KR KKK KK KK KK KK OK End of Constants KOKCKCKCKCkCkCk ck KK OK RK KK 15 4 Analog Port Routines To make use of TJ PRO s analog ports you must include the file analog h in your program The following routines are available for controlling the analog ports The C code for these routines are in analog c init analog Turns on the analog to digital converter This function must
34. JUNIOR PROFESSIONAL SOFTWARE REFERENCE 50 15 1 Overview of the TJ PROTM Software Library eese 50 15 2 Macro Symbol Definitions eere enne eerte tenete trennen trennen 51 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 15 3 TJ PRO Defined Program 51 15 4 Analog Port Routmes ere e er e o den 52 15 5 Servo Motor ROUNE S snes de ete er eie tee intet 52 15 6 Writing your own Interrupt Service Routines for TJ PRO using ICCI1 53 16 PROGRAMMING 85 0 0 tinens 54 16 1 TJ PROM Experiments eerte eren eere ee ere 54 16 1 1 Robot Experiments sisi secs ee hene eoe Cem ure IR RH DOMO Regen et 54 16 2 SCOPES c 56 16 3 Some Possible ERE uere tx bee ERE eet 56 16 4 Advice on Developing Behaviors eene neen trennen 57 16 4 1 Vulcan Mind Meld etr terre EE PRI PE FREU 57 16 4 2 Virtual Mind MeldQ ian rg DER REACH Re DAE DRE CHR 57 16 4 3 Relative calibration of sensors of the same 37 16 4 4 Adjusting to Ambient Conditions eese eene nennen ener nene 58 16
35. L wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com Learn to spin TJ PRO in various ways for a fixed length of time Specification Make the robot spin clockwise about the left or right wheel Modify your program to make TJ PRO spin about its center axis Procedure At the beginning of the experiment place erasable marks on a tile floor at the outside edge of each wheel just below the center of the axle Draw a line between the two marks The center of this line is the center axis of the robot At the end of the experiment repeat the marking procedure Measure the distance and the compass heading between the center of the two lines you have drawn Questions For each of the two types of spins did the robot stay in one place or did it drift Measure the drift as described in the procedure Can you explain what you saw The experiments listed above will help you understand some of TJ PRO s motion characteristics You can devise others to test TJ PROTV s sensor capabilities 16 2 Scope Programming behaviors is what autonomous mobile robots is all about or at least a substantial part of what it is all about Without being technical a behavior is whatever the robot does The emphasis is on action From the engineering viewpoint you want to program behaviors that produce useful results Make a robot vacuum cleaner or a robot valet With an artistic eye you want to program behaviors that esthetically p
36. LED blinks when the motors pull large currents This warning should be heeded and the batteries charged or exchanged for fresh ones A more radical symptom occurs when the batteries drain too low to support current demands of starting and 59 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com stopping the motors The processor rapidly resets and restarts your program each time the motors demand current In such cases TJ PRO stutter rolls forward and does little else IMPORTANT When troubleshooting first check to make sure that your batteries are fully charged and the red power LED lights when the On Off switch is flipped to On 17 1 IC Trouble Guide As long as your code is syntactically correct and IC downloads then errors can usually be attributed to your code itself The most common problem is not being able to get IC to talk to your robot This is typically a COM problem an issue discussed in both Sections 13 and 14 17 2 ICC11 Trouble Guide The numbered items below indicate the most common problems encountered their possible causes and associated fixes 1 My program does not compile Refer to Section 14 and redo the instructions appropriate for your case Be sure you execute iccsetup bat each time you open a new DOS Window or start up in DOS If that does not work you might want to repeat the whole installation procedure in Section 14 2 My program compiles wi
37. O TJ PRO s small size and portability make it ideal for safe demonstrations and presentations of machine intelligence algorithms Porting TJ PRO from desk top platform to floor and back the most frequent carrying operation requires handling TJ PRO carefully The recommended carrying technique is to firmly hold TJ PRO from the rear with the thumb on top of the key holding the plate down and the battery case floor and tail skid resting on the remaining four fingers Users at their own risk may devise other carrying techniques To transport TJ PRO for long distances place it securely padded into a suitably sized box Do not expose TJ PRO to extreme cold or heat in an automobile during winter and summer for more than a few hours Although TJ PRO has survived a hot automobile for 12 hours in 40 C such treatment cannot help but reduce its lifetime TJ PRO has flown in airline luggage compartments across the Atlantic ridden in automobiles passed around in a class of electrical and computer engineering students and used by middle school students for schools science projects all without ill effects The following caution however is our official advisement Caution TJ PRO should not be exposed to moisture or continuous high humidity gt 90 or high temperatures 40 C 100 F or low temperatures 5 C 40 F We want to say his since TJ PRO is definitely a male name for us Some future robots wi
38. OC5 isr 53 MEKATRONIX TJ PRO USERS MANUAL 08 2173 Gainesville Florida www mekatronix com Tech Questions tech mekatronix com pragma interrupt_handler TOC5_isr Next to prevent the file Include isrdecl h from destroying the pointers created by the pragma you must add the lines TJ Pro Motor handler define TOC5_isr at the beginning of Include isrtjp h This defines establish the existence of the interrupt service routine name but assign nothing to that name this has already been done The conditional compilations that follow will recognize that this interrupt service routine name already exists and will not create a null function for it 16 PROGRAMMING BEHAVIOURS When you first get your TJ PRO we recommend that you write simple programs to become more familiar with the robot and its features while at the same time building your confidence in program development Mekatronix also recommends the TJ PRO Education Package which includes a tutorial manual and a large number of source code programs illustrating various robot programming techniques The next section suggests coding experiments to help you do just that 16 1 TJ PRO Experiments The numbered items below suggest a sequence of ever more complex programs and experiments you can perform to familiarize yourself with TJ PRO s capabilities These experiments will open up to you the rich variety of behaviors you can program After each suc
39. ON position At this point the LED on the robot s top board should light Press and momentarily hold RESET the red button on the robot With RESET pressed D2 on the MB2325 should light When RESET is released D2 on the MB2325 turns off 21 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 5 2 3 Verify proper operation The lights on the MB2325 let you know that the basic connections are working If on power up the power light on the top circuit board of the robot did not light the robot may not be charged If the batteries are charged check battery and power connections to the circuit boards Particularly check underneath the robot to verify the battery cable has not come undone If the lights on the MB2325 board do not function as specified check that no other programs or devices are using the serial port 5 3 Software Language Support TJ PRO programs can be developed under Image Craft C ICC11 the compiled version of C for MC68HCI11 or under Interactive C IC the C interpreter with multi tasking developed by Randy Sargent for MIT s 6 270 course under Fred Martin s direction ICC11 comes in a DOS and a windows version The windows version offers an Integrated Development Environment IDE Mekatronix sells both versions of ICC11 through its distributors IC DOS is freeware is supplied at no charge and can be downloaded from the Mekatronix web si
40. OT YOU CAN CALIBRATE THE MOTOR SPEED CONTROL OF YOUR ROBOT IN SOFTWARE ALTHOUGH YOU CAN IMPROVE 43 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com THE SPEED CONTROL CONSIDERABLY THIS WAY BE WARNED THAT EVEN WITH CALIBRATION THE MOTORS SPEEDS CANNOT BE PRECISELY CONTROLLED The 68HC11 has eight analog input ports The command analog port_number reads these ports For example to read the left analog IR type analog 3 This will normally read in the high 80s to low 90s with the IR emitters off If you illuminate the area around the robot with 40kHz IR light the values will increase to a maximum 125 130 when a white surface is placed close to the robot The IR LEDs are connected to a memory mapped port on the robot The poke command may be used to turn them on type poke 0x7000 Oxf The first number in the poke command is the hex address of the port and the second number is the hex byte to be written to that port in this case it is all high therefore all the LEDs will turn on 13 9 Writing your own IC Programs Writing programs in IC is very similar to Standard C with a few exceptions For example there is no need to use the include statement since all required functions must be loaded with your program Neither the Standard C input output functions nor IC s printf function for an LCD screen display make sense on your TJ Mekatronix resolv
41. PRO However we reiterate the previous caution on environmental constraints Caution 7J PRO should not be exposed to moisture or continuous high humidity 90 or high temperatures 40 C 100 F or low temperatures 5 C 40 F 3 3 Physical Orientation TJ PRO s wheel axis determines the robot s left to right axis The diameter perpendicular to the wheel axis determines the front to back axis The TALRIK JUNIOR PROFESSIONALTM label appears the front of the robot Figure 1 presents an elevation view of TJ PROTM Top Plate IR Emitter Mounting Eyelets amp MSCC11E2 am R Rx Bumper BATTERIES B SERVO Figure 1 Schematic side view of TJ PR 3 4 Sensor Layout Figure 2 schematizes the standard layout of TJ PRO s sensor suite Table 1 defines the meaning of the labels and a typical application of the sensor The user is not limited to these applications and can devise and implement other schemes both in layout and in function The TJ PRO ARGOS extension expands PRO s sensory capability by 9 photoresistors 2 side looking IR detectors and emitters and 1 rear looking digital IR detector for IR communications or remote control 13 MEKATRONIX TJ PRO USERS MANUAL Gainesville Florida www mekatronix com Tech Questi
42. RS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 1 If necessary click on Program button to browse and find the TJ PRO s19 file of interest Select Open to open the desired 519 file For example c icctjp tjpcode taltst s19 2 Flip the robot s Download Run switch to Download 3 Press the robot s red Reset button Make sure diode D2 on the MB2325 board lights when reset is held down and goes off when reset 15 released 4 Select Download in the HSSDL menu First the 256 bytes of the bootloader file loads at 1200 baud Next your program loads at 115 2Kbaud into the robot You are now ready to execute the code on the robot 9 4 HSSDL11 Operation Tips Often the download will fail the very first time you try it In fact it may take two or three tries initially Thereafter downloads usually succeed on the first attempt Precaution A PC executing background programs may loose synchronization with the robot serial port at these high speeds so you may need to close such programs if you get repeated boot failures We have found that under normal operations with several programs and windows open the HSSDL11 has no problems If the Download prints error message that the COM port is not available it means that some other application is using COMI and must be closed before the HSSDL11 can operate Sometimes you will forget to press the reset button on the robot or to place the
43. SIONAL TM SUPPORT SOFTWAR This disk includes the following directories lt Assembler gt Freeware assembler for the M68HC11 lt Bint jp gt Batch files to compile and load TJ PRO programs lt Incltjp gt TJ PRO include files used specifically by TJ PRO programs Libtjp TJ PRO library files lt Libsrtjp gt Object code for TJ PRO library files lt PCBUG11 gt PCBugll monitor for the M68HC11 Motorola Freeware tjpcode Applications Source code for TJ PRO The distribution also contains the following files IDEsetup txt How to use IDE to edit compile download to TJ PRO 30 NIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com installtjp bat Batch file to install the TJ PRO distribution software into your ICCTJP directory Useful for both DOS and WINDOWS versions tjp install readme txt Brief directions on installation of TJ PRO distribution software tjpProg txt How to compile and download code into the robot using 1 DOS tjpReadme txt This file tjpsetup bat Batch file to setup paths and 1 linker parameters Assembler directory This directory contains asll exe a freeware assembler for the M68HC11 Bintjp directory This directory contains the batch files comptjp bat loadtjp bat cltjp bat which let you from a DOS window to 1 Compile a TJ PRO program 2 Download a TJ PRO pro
44. TALRIK JUNIOR PROFESSIONAL TJ PRO USERS MANUAL by Keith L Doty MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com AGREEMENT This is a legal agreement between you the end user and Mekatronix If you do not agree to the terms of this Agreement please promptly return the purchased product for a full refund 1 Copyright Notice Mekatronix hereby grants to any individuals or organizations permission to reproduce and distribute copies of this document in whole or in part for any personal or non commercial educational use only This copyright notice must accompany any copy that is distributed Copy Restrictions Other than cases mentioned in Copyright Notice no part of any Mekatronix document may be reproduced in any form without written permission of Mekatronix For example Mekatronix does not grant the right to make derivative works based on these documents without written consent Software License Mekatronix software is licensed and not sold Software documentation is licensed to you by Mekatronix the licensor and a corporation under the laws of Florida Mekatronix does not assume and shall have no obligation or liability to you under this license agreement You own the diskettes on which the software is recorded but Mekatronix retains title to its own software The user may not rent lease loan sell distribute Mekatronix s
45. also provide a complete path to filename if it is not in the t jpcode directory 5 To compile other files during a session repeat only Step 4 If you are in an exclusively DOS environment Step 1 is automatic otherwise the procedure is the same 12 6 PCBUG11 Download Procedure for TJ PRO 1 Connect C2325 6 wire serial communications cable to the Mekatronix MB2325 serial communications board at one end and to the J54 male header on the MSCC11 at the other end The MB2325 is connected via a 25 pin D connector and cable to your Personal Computer This setup establishes a link from TJ PRO TM to your PC Check to make sure diode D1 lights 2 Switch DOWNLOAD RUN Switch to DOWNLOAD 3 Turn on TJ PRO power with POWER ON Switch 4 Press RESET switch D2 lights when you hold RESET down If it does not light reverse the C2325 6 pin connector on J54 of the MSCCII 5 Besure the s19 file you wish to download is in the tjps19 directory 6 Goto DOS window and prompt 7 Perform the Compiler setup sequence Section 12 5 if this is first time in this DOS window 8 Type loadtjp filename COM PORT NUMBER enter For example type loadtjp avoidtjp 1 enter and PCBUGII will download avoidtjp s19 into TJ PRO s RAM The serial communications will be via COMI COMI is the default if no com port is specified The cable from the MB2325 board should be connected to COMI on your PC in this situation 9 If your prog
46. bserve that the code begins at 0x8000 and the stack at Oxffbf Note that the MC68HC11 stack grows toward lower memory addresses hence the stack grows toward your data and code sections and could potentially cause havoc with your program if it gets too large Be aware of this possibility for large programs Warning Always be ready to turn the robot off immediately if it seems to be oscillating rapidly and out of control or stuck The library option 1t3p in the linker setup is essential and refers to Libtjp a The library facility of ICC11 compiler versions 5 0 and greater is not compatible with the same facility of versions less than 5 0 A safe rule is that an ICC11 compiler will compile TJ PRO code if Libtjp a has been compiled on that same version In any case you can also add object files to this library following the template in Libt jpmake bat If you have the DOS version of the compiler and the library source code you can remake the library Libtjp a with Libtjpmake bat Contents of talsetup bat doskey PATH PATH C ICCTJP bin set ICC_INCLUDE C ICCTJP include set ICC_LIB C ICCTJP lib set 11 LINKER OPTS btext 0x8000 ltjp dinit_sp 0x7fff dheap size 0 The TJ PRO library source code is not included in the Distribution Software and comes as a separate option in the TJ PRO Education software package for ICC11 Call your Mekatronix distributor for details 37 MEKATRONIX TJ PRO USERS MANUAL wee
47. cessful experiment save your program and do not change it Use copies of it to begin other programs but do not write over and destroy your only copy of a successful program You will never know when you might want to use it again either as is or as a basis for another program 16 1 1 Robot Experiments 1 Motivation TJ PRO motion control depends upon being able to start the motors Objective Learn to code a simple program to turn on one of TJ PRO s motors Specification Turn on a motor 100 percent in the forward direction Modify this program to turn on a motor 100 percent in the reverse direction Questions Did the motor turn in the direction you thought it would when you coded it 2 Motivation 54 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com Robots often use dead reckoning to navigate and make maps in non critical situations The ability to go straight enhances the accuracy of dead reckoning Objective Move the robot forward and determine if it goes straight Specification Turn on both motors in the forward direction at the same percentage Questions Does the robot go straight Which way does it prefer to turn to the left or to the right Which motor left or right appears to be turning faster for the 100 forward command Motivation DC motors may not have symmetrical characteristics Their performance may differ depending on the direction the
48. ck on the serial input IC takes advantage of that hack but it makes for strange initial loading of the system on aTJ PRO 1 Turn on the robot and place the DOWNLOAD RUN toggle switch into DOWNLOAD 2 From Windows execute IC IC will give an error message that the board is not responding Not to worry The board is not responding because you have not had a chance to load the p coder and relevant libraries into the robot 3 Select the Yes button in the IC error Window to configure the board The system is configured to enable for serial communication If you wish to use another COM port select it on the screen that now appears To make your selection the default you will need to change the Port 1 command in the ic ini file to Port n where n is the COM port number you picked 4 Select the Download Pcode button in the opened IC Window IC will now open the Libs directory 5 Select the file 7 file to open 6 Press the red RESET button on the robot and select the button in the window You will observe a flurry of loading activity with the green LEDs on the MB2325 board rapidly flashing and then another error message IC cannot communicate with the p coder program because the robot is in DOWNLOAD mode and not RUN mode 7 Place the robot DOWNLOAD RUN toggle switch into RUN 8 Press the red RESET button 9 Select the Yes button in the IC error Window IC will then load the remaining code onto the rob
49. discuss the motor driver commands Since the wheel drive motors on the TJ PRO are actually modified servos their actuation is controlled by IC s servo command and not IC s motor command Since this nomenclature and usage may confuse the programmer Mekatronix provides a routine called motorp c to control TJ PROTM s motors The file motorp c is automatically loaded into the default lis file when IC is loaded Before turning on the motors make sure the robot s wheels are held off the table or else your TJ PRO will dive off the table The motors are enabled with the command servo on The servos will probably spin as soon as you turn them on with the above function so it is wise to follow with motorp 0 0 and motorp 1 0 to definitely stop the wheels while the robot is at rest motorp 0 servo on motorp 1 0 0 After turning the servos on you can use the commands motorp at will motorp 1 100 turn on the right motor to full forward ie 100 percent motorp 1 100 turn on the right motor to full backward ie 100 percent motorp 0 50 turn on the left motor to 5096 forward speed Note that a negative number in the speed will cause that motor to go backwards IMPORTANT ULESS YOU CHANGE THE MOTOR SPEEDS WITH A DIFFERENT motorp COMMAND THE MOTORS WILL RUN AT THE LAST SPECIFIED SPEED FOREVER WARNING SPEED PERCENTAGES ARE NOT LINEAR FOR EXAMPLE 50 WOULD BE HALF SPEED IN A LINEAR SCALE BUT IT IS N
50. e TJ PRO include and library files IMPORTANT ICCII will not run on the PRO robot without the TJ PRO distribution software for 2 Always execute the modified iccsetup bat when opening a DOS window Do not execute it more than once in an opened DOS window After installing the TJ PRO Distribution Software and ICC11 the user can write C programs compile them and download their S19 file output to TJ PRO to test debug and run A convenient method for initial testing of programs on TJ PRO is to place TJ PRO next to the host computer on an elevated platform with the drive wheels suspended in the air so they do not contact any physical surface After the user develops confidence in the program s operation the user typically makes a closely monitored trial run on the floor Remember TJ PRO is autonomous and the behavior you expect may not happen 14 3 Compile a TJ PRO Program with ICC11 1 On Windows95 open an MSDOS window and execute iccsetup bat Assuming a DOS prompt set the current directory by typing cd path to iccll1 gt iccll1l tjpcode lt enter gt 46 MEKATRON Ix TJ PRO USERS MANUAL iene Gainesville Florida www mekatronix com Tech Questions tech mekatronix com Fill the path parameter path to 1 gt with the path to 11 If you placed the ICC11 files in the root then the default path is C The tjpcode directory is where we suggest you put your TJ PRO programs a
51. e reset button with an multi meter for switch closure short circuit when the button is pressed Replace the switch if it does not operate properly 4 5 If the switch works check continuity of the wiring to the reset button and repair if necessary My program downloads but when I press the reset button the robot just jerks and stutters 5 1 Check for weak batteries Weak batteries can cause the processor to reset every time the motors demand current Weak batteries can also corrupt your program Replace batteries with fresh ones or recharge batteries 5 2 Your program may be syntactically correct but possesses logic errors causing the robot to behave radically If you believe your code to be correct download and run avoidtjp s19 to verify or not all TJ PRO s hardware If the hardware checks out the problem is in your program Power LED Does Not Light when the On Off switch is flipped to On 6 1 Batteries are not charged Recharge or replace with fresh ones 6 2 Battery cable from the battery to the top plate is loose Reseat connector 6 3 Battery cable from the battery to the top plate is reversed Turn connector 180 degrees and reseat securely 6 4 Battery snap connector is loose Resnap 6 5 Batteries have vibrated loose and are not making good contact Reseat batteries 6 6 One or more of the wires to the battery connector have broken away from the connector pin Resolder the wire s to the connector and reseat conn
52. ector 6 7 One or more wires in the power circuit involving the LED have broken loose Resolder If none of the above work but you can download programs and run the robot then the power LED must be replaced My program downloads but when I press the reset button the robot backs up and turns repeatedly 7 1 The bumper has probably jammed a bumper switch closed Adjust the bumper so that all switches clear the bumper 7 2 If the bumper clears the switches and the behavior persists check your code for program logic errors If you believe your code to be correct download run avoidt jp s19 to verify or not all TJ PRO s hardware If the hardware checks out the problem is in your program My program runs but the robot always bumps into things Possible sources of trouble programming error IR emitter and detector connections IR LED wired in reverse biased Run sensetjp s19 to check operation of the sensors If IR does not respond to a white sheet of paper moved to and from the robot then 61 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 8 1 Verify that all IR connections are secure and properly oriented and no wires have broken 8 2 If you have a monitor driven by a black and white CCD camera without an IR filter you can verify that you have IR by pointing the emitters at the camera The IR will appear as visible light in the image You can easily
53. ermined from Figure 2 The red RESET button resets the MC68HC11E2 microcomputer The ON OFF switch provides power The visible red led adjacent to the ON OFF switch lights when the switch is moved to the ON position In DOWN LOAD mode the DOWN LOAD RUN mode switch permits the user to download programs using PCBUGII In RUN mode a press of the reset button will invoke the start up program the user has loaded into TJ PRO 3 6 Batteries TJ PRO requires a minimum of six AA Nickel Cadmium rechargeable batteries Only use nickel cadmium AA batteries Alkalines for example will produce too much voltage and may damage the electronics The battery pack is located in front of the rear caster on the underneath side of the robot TJ PRO can run autonomously on a smooth tile floor for about 1 5 to 2 hours on a fully charged battery pack This time depends critically upon how frequently the motors change speed and the running time of the motors NiCad batteries sustain useful power until just before they become fully discharged So if you see TJ PRO really slowing down it is time to recharge 3 7 Recharger The charging technique is known as a trickle charge This means that a small current is constantly applied to the batteries Because this is a low level current the robot can be left charging indefinitely While the robot is not moving around plug it into the charger This will keep the batteries charged Be sure to use only a Mekatro
54. erneath the lettering Mekatronix Figure 5 The header seen in this serial port slot is the J54 male header on the MSCC11 In Figure 5 corresponding pins of the 6 pin headers on the MB2325 and the TJ PRO plate match from left to right Figure 5 This Photograph shows the gray serial cable from a PC COM port mating with the D 25 connector on the communications board com board MB2325 the exposed circuit board sitting on the white 47 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com boxes The multicolored 6 wire serial cable attaches to the male header on the com board and into the serial slot on the TJ PRO plate Note the same color orientation of both ends of the 6 wire cable for the configuration pictured 3 The MB2325 s 25 pin female D connector can connect directly to your Personal Computer COM port or via a serial cable Make such a connection This setup establishes a link from TJ PRO to your PC Check to make sure diode D1 lights when you connect the MB2325 to your PC via the serial cable or directly into its serial port The advantage of using a serial cable between the MB2325 and COM port now becomes obvious you can easily see the LED status lights on the MB2325 Refer to Figure 2 for switch and connector locations 4 Switch DOWNLOAD RUN Switch to DOWNLOAD 5 Turnon TJ PRO power with the ON OFF switch flipped to ON 6 Press the red push b
55. es this problem with the special code file serial c to allow the TJ PRO to send data on the RS 232 bus to your PC Since IC also uses the serial port a program that uses the serial port will usually cause communication malfunction The solution is to exit IC while the robot runs a program that requires IO To enter program mode again you will have to restart IC as outlined previously When the power switch is turned off while TJ PRO is plugged into the charger power is still supplied to the SRAM to prevent loss of code and data in memory This feature has a decided advantage Programs in storage will be there at power on If the pcoder was loaded in your last programming session you can conveniently restore it by simply typing IC 13 10 Programming Suggestions Mekatronix provides an elementary program that allows TJ PRO to explore his environment and avoid bumping into things most of the time If TJ PRO does bump into something his bumpers tell him and he moves away You can develop your own applications limited only by your imagination 1 Make TJ PRO do a figure eight or any other shape while at the same time avoiding people and furniture 2 Program TJ PRO to be an artist who draws on cardboard with a pen attached to his body penholder not included Be sure TJ PRO stays on the cardboard 44 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 3
56. estions tech mekatronix com LIST of FIGURES Figure 1 Schematic side view of auus chee aah env a tessa atures 13 Figure 2 Sensor layout on top of the TJ PRO plate The lead symbols are B Bumper IRD Infrared Detector The following symbols mean B Back F Front SW Switch L Left M Middle R Right For example BSWB Bumper Switch Back and IRDFL IR Detector Front Left The IR emitters and the IR Detectors are typically mounted on opposite Sides OF the Lop Plater e udo d end 14 Figure 3 MB2325 Communications epar eere ees een eA 17 Figure 4 This diagram illustrates the serial connection between a personal computer the communications board MB2325 and a Talrik Junior Professional 17 Figure 5 This Photograph shows the gray serial cable from a PC COM port mating with the D 25 connector on the communications board com board MB2325 the exposed circuit board sitting on the white boxes The multicolored 6 wire serial cable attaches to the male header on the com board and into the serial slot on the TJ PRO plate Note the same color orientation of both ends of the 6 wire cable for the configuration pictured 47 LIST of TABLES Table 1 TJ PRO s Minimum Sensor n er rSn 14 Table 2 Primitive Behaviors
57. f it has not detected a collision for some specified time or to adjust the threshold upward if it is colliding too frequently The difficulty of course is determining exactly what the specified time between collision should be or what colliding too frequently means The easy but difficult to implement answer is to let the robot learn these parameters based upon some performance criteria Robot behaviors and sensors therefore should adjust to ambient conditions Biological organisms perform this function fantastically well The human eye adjusts to bright sunlight or a darkened cathedral with dimly lit candles This procedure is easier to state then execute but serves as a general principle 16 4 5 Create simple behaviors The beginning robot practitioner usually formulates behaviors too complicated to implement directly With experience the virtue of simple direct behaviors becomes apparent Complex behaviors should be broken down into sequences of simple primitive behaviors If this can be done the chances of successful implementation are high If not there is little value in trying to implement such behaviors directly 16 4 6 Build on simple behaviors As the user accumulates a repertoire of primitive behaviors complex behaviors open up Perhaps the easiest way to generate complex behaviors is simply to sequence a collection of primitive behaviors For example wall following might be decomposed as follows 1 detect a
58. gram in Motorola s19 file format into the robot using PCBUG11 PCBUG11 has a number of severe limitations For trouble free operation ease of use convenience and more than 10 times faster downloading we recommend you purchas th inexpensiv Mekatronix HSSDL11 Our programmers use nothing else 3 Do both a compile and load of TJ PRO program into the robot respectively To use loadtjp bat your program s s19 file must reside in the directory tjps19 which must be in the root icctjp at the same level as the pcbugll directory Include directory Incltjp This directory contains all the header files file h required by TJ PRO applications written in C As you add new applications you will add new header files to this directory For example you can purchase and add the SERVO software kit which permits calibrating and controlling up to three servos on the TJ PRO Library directory Libtjp This library directory contains the basic TJ PRO library file libtjp a Library Source directory Libsrtjp TJ PRO library object files 3l NIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com PCBUG11 directory This is Motorola s monitor program for the 11 Mrcll bat is used loadtjp bat Also included is the batch file 5 11 which will automatically load a program into M68HC11E2 chip HIGHLY RECOMMENDED Bu
59. h switch closure separately identifiable One Back Bumper Momentary Tactile Switch User expandable sensors see Section 18 5 for IO expansion capabilities Table 4 TJ PRO s Sensor Suite TJ PRO Name Function Label IRDLF Infrared Detector Left Front IRDRF Infrared Detector Right Front FBLSW Front Bumper Left Switch FBCSW Front Bumper Center Switch FBRSW Front Bumper Right Switch RBSW Rear Bumper Switch 18 9 Switches 1 2 3 Reset push button Toggle switch Download Program and Run Program Toggle switch Off On 18 10 System Support Software TJ PRO programs can be written in MC68HC11 Assembly Language C or BASIC 1 Sensor and motor routines provided in assembly language 2 A freeware version of the Interactive C IC an extremely useful C interpreter by 2 Randy Sargent Ask your Mekatronix distributors about the up to date commercial version of IC PCBUGI1 freeware for downloading Motorola 519 files Freeware version of Basic for programming TJ PRO Freeware MC68HC11 Assembly Language 65 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com Separate purchase of a commercial C compiler is also available Contact us for more information 18 11 Serial Communication To develop your applications requires communications between a Personal Computer and TJ The additional purchase of an MB2325 communications b
60. ill be construed as agreeing to these terms MEKATRONIX TJ PRO USERS MANUAL Gainesville Florida www mekatronix com Tech Questions tech mekatronix com MANIFESTO Mekatronix espouses the view that personal autonomous physical agents will usher in a whole new industry much like the personal computer industry before it if modeled on the same beginning principles e Low cost e Wide availability e Open architecture e An open enthusiastic dynamic community of users sharing information Our corporate goal is to help create this new exciting industry WEB SITE http www mekatronix com Address technical questions to tech mekatronix com Address purchases and ordering information to an authorized Mekatronix Distributor http www mekatronix com distributors Disclaimer While Mekatronix has placed considerable effort into making these instructions accurate Mekatronix does not warrant the results and the user assumes the risks to equipment and person that are involved MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com TABLE of CONTENTS 1 SAFETY AND HANDLING OF TALRIK JUNIOR PROFESSIONAL TJ PRO 8 11 TJ PROTW s Static Sensitive Parts 8 1 2 Caution for Biological Organisms 2000 0 eee eee 8 1 3 Holding Carrying and Transporting 2
61. iptions of TJ PRO programs in directory tjpcode The 819 files for the programs described below can be loaded directly into your robot and ec 22 executed You can find further descriptions of the files in the versions To really understand the details of each program however read the c code itself avoidtjp c 1 Back bumper must be pressed to start robot 2 Performs obstacle avoidance 3 If forward bumpers are pressed during obstacle avoidance mode Talrik backs up turns a random amount of time and then goes forward again tjprotst c 35 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com This program allows you to test all of TJ PRO s basic features IR Detectors Motors Select the appropriate test from the startup menu When finished press reset on the TJ PRO and select the next test sensetjp c This module reads all the sensors and updates the appropriate variables and displays them on the screen in a pattern similar to their geometric position on the TJ PRO plate 12 10 TJ PRO Library Code in directory Libsrtjp Before using any of the TJ PRO library functions the appropriate initialization programs must be executed The init program for the files below are init analog init clocktjp init motortjp No init routine in muxsentjp c init serial init servos No init routine in Vec
62. ir ic Change to the IC directory type cd ic Download IC DOS from Mekatronix web site into c ic directory Download the TJ PRO Distribution Software from the Distributor s web site as instructed by the Distributor Copy the distribution files into the ict jp or ic directory respectively for WINO95 or DOS versions After completing steps four and five you are ready to start talking to your robot 13 2 Serial Communications with the TJ PRO To serially communicate with your TJ PRO follow the following steps l Place your TJ PRO next to your computer and support it so the wheels don t touch the table a roll of electrical tape works great for this Jacking up the wheels prevents the robot from driving off the table when the motors turn on Connect the MB2325 to your serial cable the light labeled D1 should light If this works proceed to step 3 Connect the C2325 cable to the MB2325 on the connector labeled J2 with the blue wire toward the J2 label Now connect the other end of this cable to your robot through the hole under the word Mekatronix with the blue wire to the right Be careful not to offset the cable all six pins should connect to the six wires of the cable 39 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 13 3 Loading Pcoder with IC WINDOWS IC was designed originally to execute on the MIT Handy Board which has a rather obscure ha
63. it retains its state and lets you quickly download a program you repeatedly compile and change in DOS Just switch back and forth between the DOS window and the HSSDLI11 window for convenience keep both open and side by side 12 4 Editing TJ PRO Programs Use your favorite program editor but be sure to save the program as a text file with the c suffix After editing you save the program go to a DOS window if your computer supports WINDOWS or a DOS prompt and compile the program Download your program into the robot and execute Repeat The steps to carry out this process are described in the following sections Suggestion In a WINDOWS environment open your favorite editor with your program the HSSDL 11 Hyper Terminal and a DOS window simultaneously this makes a very convenient working environment similar to IDE but not quite as convenient 12 5 Compile with ICC11 DOS If you purchased the ICC11 C DOS compiler you can write TJ PRO programs in C and compile 1 Open a DOS window in a WINDOWS environment or boot up in DOS 2 At the DOS prompt change the directory to icct jp 3 Execute t jpsetup 4 Type comptjp filename lt enter gt 33 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com where ilename is C program in the directory jpcode default Do not put the c extension on the name The batch file will do that for you You can
64. l sensing and control need for sophisticated robot behaviors The following paragraphs provide a brief description of the TJ PRO technical characteristics 18 1 Mechanical Structure 1 All of TJ PRO s body parts are made from either beautiful strong durable 1 8 inch thick 5 ply model airplane plywood or from matte black ABS plastic 2 TJ PRO fits into a right circular cylinder 7 inches in diameter by 3 25 inches high Volume approximately 125 cubic inches or 0 072 cubic feet 62 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 18 2 Power Requirements 1 Six AA rechargeable Nickel Cadmium batteries with at least 600 ma hr capacity 5 4 7 2 volts Sold separately Premium batteries at 700 ma hr capacity provide more run time for your robot WARNING USE ONLY NiCd BATTERIES FOR TJ PRO DO NOT USE ALKALINE OR OTHER BATTERY TYPES WHICH WILL DESTROY THE ROBOT ELECTRONICS 2 Recharger 12 volts D C rated at 500ma must be at least 200ma Sold separately 18 3 Actuation TJ PRO can control up to four servos either hacked as gearhead D C motors or as servos Two motor control ports are reserved for the wheel motors and two will be used for a pan tilt head on the ARGOS enhancement kit optional No servo should be attached to OC4 because IC will burn it out Gearhead DC motor drive for each wheel 1 5 4 7 2 Volts 2 100 120 ma under load 80
65. lease or excite Why not make TJ PRO dance A ballet on wheels From the scientific perspective you can inquire about the scope of machine intelligence and test your theories on a real robot Out of intellectual curiosity and the creation urge you might want to develop physically embodied animats artificial animals Develop your own ecology with predator robots that drain the prey robots batteries and prey robots that hide and avoid predator robots and seek battery recharging stations as food sources Or you can tailor a robot to enter many of the robot contests around the world Many of these contests require manipulation and sensors not supplied with TJ PRO But with one or more MSCCII single chip computers controlling the additional sensors and servo driven manipulation devices a TJ PRO can often be expanded to meet contest requirements 16 3 Some Possible Behaviors TJ PRO programs provide the basic hardware interrupt and device driver routines for the robot These allow the user to access the sensor readings and drive the motors and servos With these routines the user can program an unlimited number of behaviors A representative set but by no means an exhaustive set of primitive set of behaviors from which more complex ones can be developed are listed in Table 2 Table 2 Primitive Behaviors TJ PRO TJ PRO TJ PRO ARGOS TJ PRO ARGOS Collision Avoidance Collision Detection Line following Light follo
66. ler 1 assembler 29 NIX TJ PRO USERS MANUAL Gainesville Florida www mekatronix com Tech Questions tech mekatronix com goto end noargument copy tjpsetup bat c icctjp copy tjpReadme txt c icctjp copy tjpProg txt c icctjp copy tjp Install Readme txt c icctjp copy IDEsetup txt c icct jp bintjp c icctjp bin copy incltjp c icctjp include libtjp c icctjp lib if not exist c icctjp libsrtjp md c icctjp libsrtjp libsrtjp c icctjp libsrtjp if no copy exist c icctjp tjps19 md c icctjp tjpsl9 jJps19N c NicctjpNtjps19N CT CT if not exist c icctjp copy tjpcodeN jecode md c icctjp tjpcode jp t jpcode c icctjp pcbugl1 pcbugllN c icctjp pcbugl1 md c icctjp assembler copy assembler c icctjp assembler end 12 2 File Name tjpReadme txt This file summarizes the contents of the distribution software package CKCkCk kCk ck kCk ck kCk ck kCk ck kk ck ck ck ck kk k ckck ck ck ck ck ckck kk ck kCk ck kCck ck kCk ck kk ck kk ck ck ck ck k ck ck ck ck ck k ck kk k k k k kkk k BE SURE TO REFER TO THE TJ PRO USERS MANUAL FOR DETAILED INSTRUCTIONS KKK KR RK KK ck ck ok ckck ck ck ck ck ck ck ck ck ck ck ck ck ck ck ck ck ckck ck ck ckck ck ck ckck ck ck ok CONTENTS OF THIS DISK TALKRIK JUNIOR PROFES
67. ll assume that COMI is used See the next section about COM port problems to avoid 3 1 44 Meg floppy 2 3 2 A newer system Windows95 The following high end hardware offers a more sophisticated and easier to use working environment A high speed 100 or better computer running Windows 95 NO modem see the section titled COM port problems to avoid page 10 A mouse on COM2 A printer Access to the Internet especially the World Wide Web Windows terminal terminal exe DLE 2 4 COM port problems to avoid Randy Sargent s Interactive IC and Motorola s Pcbug11 both freeware use the serial port in a manner that does not permit sharing the serial interrupt Therefore the port that communicates with the robot should not share the same interrupt with any other system resource For example COMI and COM3 share the same interrupt in DOS as do and So if the robot is connected to COMI nothing else should be connected to COMI or COMG or use their interrupts We have seen some extreme instances when the internal modem of a computer had to be removed to get JC DOS version or Pcbug11 running because the modem used the same interrupt as the robot COM port and disrupted the robot serial communication 2 5 Serial Communication between Host Computer and TJ PRO This section assumes TJ PRO has fully charged batteries and the processor functions Without either of these prerequisites the user cannot
68. ll certainly bear female names We will resist his for now but the anthropomorphic tendency to use personal pronouns in referring to TJ PRO is hard to resist and we cannot guarantee that personal pronouns usage will not appear An accessory TJ PRO carrying case will be offered soon MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 1 4 Storage Place TJ PRO in a labeled don t forget where he is enclosed sealed padded box in an office or home environment when storing for extended periods of time 2 TJ PRO SET UP You may find that the TJ PRO Assembly Manual provides useful nomenclature and diagrams depicting the various components and structures and you may need to refer to it from time to time 2 1 Getting TJ PRO Ready This section tells you how to unpack and prepare TJ PRO for operation If you bought a TJ PRO kit you will have already read the TJ PRO Assembly Manual and put it together and you can skip the next section 2 2 Unpacking an Assembled TJ PRO 1 Carefully unwrap TJ PRO from the bubble wrap being careful not to catch wires or drop the robot 2 Visually inspect the robot for any obvious damage 3 Make sure that no cables have become disconnected from the robot during shipment If cables have disconnected it is usually obvious how to reconnect them as they were 4 In the case of the IR detectors the black
69. load Run switch to the Download position and turn the robot on with the power switch The red light should come on Press the reset switch When you press the reset switch the light D2 on the MB2325 should come on When you release the switch it should go off If this happens continue otherwise check connections power and cable orientation 3 After a few seconds you will see default lis and other files loading Next you will see a C gt prompt indicating that your robot is now running IC On the other hand if you see synchronizing with board messages then press Ctrl C on the keyboard and repeat Step 2 or you may have to start all over 13 5 Loading and Unloading Programs in IC Once the pcoder has been loaded you can reboot your system and work from a DOS window when running IC This allows you to open an edit window without exiting IC as you would in DOS only mode Of course if DOS is all you have that s what you will do 1 Now that you have loaded IC you can load a test program At the IC prompt this is the interactive Command Line of IC 41 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com type load tjprol c 2 When you get the C gt prompt back you can run the robot on a test stand you have devised Or you can disconnect the serial cable and the power jack and place your TJ PRO on the floor To run the program press the reset button and watch TJ PRO
70. lockt motort jp hHeader file for the motor functions motort jp c serialtp hHeader file for the serial functions serialtp c servot jp h Option Header file for the servo motor control function servot jp c vectors h Header file for interrupt vector specification vectors c The header file t 3pbase n includes the last six header files in this list as a convenient way to include them with one include file The header file isrdecl h conditionally produces null functions for all unnamed interrupts The define at the beginning of that file lists the names defined interrupts TJ PRO Library Files analog c Routines for initializing and reading the analog ports clocktjp cTiming functions milliseconds seconds minutes hours days and a free running millisecond timer denoted by varialbe timert jp motortjp cDrivers for PWM control of the wheel motors serialtp cSerial routines for the robot to communicate to a terminal program on your PC servot jp c Option Drivers and routines for controlling TJ PRO s servo motors 50 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com vectors c Memory mapping of interrupt vectors 15 2 Macro Symbol Definitions The files hc11 h and mil h contain symbol and macro definitions that facilitate accessing and manipulating the HC11 s memory mapped registers All register names are consistent with
71. ms work and your problem must be software If TJ PRO does not avoid obstacles and does not respond to bump contact use the following trouble guide Is the Problem Hardware or is the Problem Software Engineers point their finger at the software and the programmers fault the hardware The reality unfortunately is that determining the causes of an error or malfunction can be frustratingly difficult Problems can arise from either or both sources When you encounter an intractable debugging problem the fault almost invariably stems from a false assumption about the working state of your robot and your program Systematic testing of both hardware and software on an incremental basis can greatly reduce errors and help you to isolate causes of errors when they do occur and they will occur that is a promise Note In the troubleshooting guide below you should always keep in mind that problems may have multiple causes and only some highly probable ones are mentioned Check Battery Voltage Many hardware and apparent software problems with your TJ PRO robot result from uncharged or low batteries Under low battery conditions loaded programs often become corrupt or the robot processor resets every time the motors pull large amounts of current from the batteries for example when the motors make substantial changes in speed or direction as in starting and stopping Symptoms of Low Battery Voltage As the batteries become low the red power
72. nd libraries 2 Type comptjp lt path filename c gt enter to compile a C source file NOTE DO NOT PUT THE c EXTENSION ON THE FILE NAME The path to lt filename c gt must be the current directory or be explicitly specified or established previously by PATH 14 4 Example Compilation of a TJ PRO JUNIOR PROFESSIONAL C Program Assume the current directory is t jpcode and that iccsetup bat was executed once when the DOS window was opened Type compTJPRO Avoidtjp c enter to compile the sample program TJPROavoid c in directory 14 5 Download a Compiled Assembled Program into TJ PRO There are two methods for downloading 519 files into the TJ PROTM You can use Mekatronix s High Speed Serial Downloader 11 HSSDL11 or PCBUGII The super fast HSSDL11 downloads programs at 115 2Kbaud and is the preferred method of downloading The HSSDL11 may be purchased from an authorized Mekatronix distributor Before downloading connect the serial communications cable between your robot and personal computer as explained next 14 5 1 Serial Connection between TJ PRO and you Personal Computer Connect one end of a C2325 a 6 wire serial communications cable to the Mekatronix MB2325 serial communications board There is only one 6 pin male header on the MB2325 just below the two LEDs Connect the other end of this cable to the serial port on the MSCCII through the oblong slot on the TJ PRO plate und
73. nd office and can stall the robot when it strikes them A stalled robot is not a pleasant thing to watch and hear The wheels struggle to turn and the motors might eventually overheat and burn out if the surface has high friction Our recommendation is either to 1 TJ PRO proof such obstacles or 2 Hang around and get him out of trouble or 3 Write a program that detects motion perhaps using the underneath photoresistors of the ARGOS extension as vision flow detector We recommend 3 The idea 16 NIX TJ PRO USERS MANUAL Mem Gainesville Florida www mekatronix com Tech Questions tech 2 mekatronix com behind 3 is that if TJ PRO does not detect any forward motion he assumes he is stuck and backs up turns around and leaves the area Behind the bumper four push button switches surround TJ PROTM s waist PRO is configured only to distinguishes between front and back collisions Experts can make hardware and software changes to enable TJ PRO to distinguish any subset of button closures activated by the bumper Caution DO NOT LIFT or CARRY TJ PRO by the bumper 3 11 Serial Communication The MB2325 serial communications board Figure 3 permits the user to download and upload code and data to TJ PRO via a 6 wire serial communications link The 6 wire communications line connects into the MB2325 bidirectional serial communications board at one end lower right corner in Figure 3 and to TJ PRO s
74. ndows ALT T 3 Select Compile in menu bar and then select Compile to Executable The compiler compiles the program in the currently active edit window If no edit window is open no compilation is possible 4 Watch the Status window A successful compile ends with the word SUCCEEDED Otherwise note errors correct your program in the edit window and repeat Steps 3 and 4 9 DOWNLOADING WITH THE HSSDL11 The Mekatronix product the extremely low cost High Speed Serial Downloader 11 HSSDL 11 provides an ultra fast 115 2Kbaud serial download rate from your PC to the robot This greatly reduces your development time and improves your productivity Contact a Mekatronix distributor for purchasing Mekatronix encourages the use of the HSSDL11 software for downloading code onto the TJ HSSDL11 operates in WIN95 and can be opened simultaneously with the IDE 25 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com window You can conveniently compile and edit in IDE After downloading using the HSSDL11 you can open up Terminal in IDE to receive data from the robot if the program produces serial output NOTE Terminal in IDE and HSSDL11 both use the same COM port default COMI The HSSDL 11 releases the COM port after a download even with the application window still open Hence HSSDLI1 can remain open when Terminal in IDE is opened However you cannot
75. nix approved AC adapter TJ PRO s charger must be at 12 volts and be able to supply 200 500 milliamps Lower voltages will not charge the batteries and higher voltages my damage the electronics The charger plugs into the receptacle mounted on the left bridge support Recommendation During program development and high usage times keep TJ PRO connected to the charger whenever possible This will insure fresh batteries during experimentation Caution If the output DC voltage of the AC adapter exceeds 12 volts the charging resistors will act like a fuse and burn out The smoke and smell are unpleasant so be careful 15 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 3 8 Installing TJ PRO s batteries IMPORTANT NiCads only 1 Turn On Off switch to Off 2 Insert six NiCad AA batteries into the pack oriented with proper voltage polarity as labeled on the pack Failure to do so may destroy all the electronics 3 Turn and slide the plate key out of the rear supports and rotate TJ PRO s plate forward exposing the rear battery compartment 4 Carefully place the battery pack into the battery compartment Practically any orientation of the pack will work except with the battery snap terminals facing down 5 Snap the 9v snap connector to the battery pack and the female connector on the other end into the male power header on the underneath side of the
76. oard and a 6 wire RS 232C communications cable will provide the hardware for that capability Only one MB2325 board and cable is necessary to enable you to sequentially load and download any number of Mekatronix robots since the MB2325 board can remain attached to the PC and not the robot ENJOY YOUR TJ PRO ROBOT and tell us about your TJ PRO robot rexperiences 66
77. ocessor drops out For 18 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com example if your program changes both wheel motors simultaneously from full speed forward to full speed backward there might be a chance of reset when the batteries are low These reset type conditions can be avoided by more careful motor control Change motor speeds hence currents gradually What is gradual to the motor however will hardly be observable to you if done in tens of milliseconds When you program smooth motor control the robot motion becomes smooth and looks more organic 3 14 Halting a Moving TJ PRO Chasing down a moving TJ PRO takes more skill than transporting it A recommended procedure is to chase it from behind and reach down to turn the ON OFF switch OFF You also program the robot to stop on certain conditions that can be artificially generated For example you can program the robot so that a touch of the rear bumper while the robot is going forward will stop it With the IR remote control unit accessory unit TJ PRO M can be stopped by the IR remote 4 IF YOU DO NOT HAVE A C COMPILER If you did not purchase ICC11 or the commercial version of IC and you do not have your own compiler for the MC68HC11 family of computers you have several options 1 You can program in the non commercial freeware version of IC IC DOS or 2 You can program in MC6
78. oftware or create derivative works for rent lease loan sell or distribution without a contractual agreement with Mekatronix M Limited Warranty Mekatronix strives to make high quality products that function as described However Mekatronix does not warrant explicitly or implied nor assume liability for any use or applications of its products In particular Mekatronix products are not qualified to assume critical roles where human or animal life may be involved For unassembled kits the user accepts all responsibility for the proper functioning of the kit Mekatronix is not liable for or anything resulting from improper assembly of its products acts of God abuse misuses improper or abnormal usage faulty installation improper maintenance lightning or other incidence of excess voltage or exposure to the elements Mekatronix is not responsible or liable for indirect special or consequential damages arising out of or in connection with the use or performances of its product or other damages with respect to loss of property loss of revenues or profit or costs of removal installation or re installations You agree and certify that you accept all liability and responsibility that the products both hardware and software and any other technical information you obtain has been obtained legally according to the laws of Florida the United States and your country Your acceptance of the products purchased from Mekatronix w
79. ommunication between Host Computer and 21 5 2 1 Plugging MB2325 into the host computer 21 5 2 2 Connecting the Host computer to 21 5 2 3 Verify proper 22 5 3 Software Language Support none e oett D HERR EKOE tergo IRR eges 22 6 INSTALLATION OF ICCI1 AND SOFTWARE eene 23 7 INSTALLATION OF ICC11 FOR 5 23 7 1 Compiler and Linker Setup for 24 NIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 7 2 IDE Setup for Downloading into Robot sese nennen 24 7 3 Integrating TJ PRO Software with ICC11 for Windows 25 85 COMPILE AND EDIFON IDE 25 9 DOWNLOADING WITH THE 55 1 25 91 Installation uento pee Paneg Dn De RO DURER RIDERE 26 9 2 HSSDEL I 4e rented decori e ode dp recie d eee 26 9 3 HSSDLII Download Procedure ecseri iri eoero e sE enne ener nennen nennen rennes 26 9 4 HSSDLIT Operation rettet ehe ee e Ert ERR pedet DER eene EE idees 27 10 DOWNLOADING USING ne ete cote 27 11 EXECUTION ROBOT CODE ON IDE irit 28 12 TJ PRO
80. onnected to the charger so that the robot batteries will always have a full charge during experimental runs 18 6 Input Output Expansion Capability The MTJPROI 1 circuit board provides TJ PRO with exceptional IO power for a robot its size Mekatronix will offer future enhancement kits based on these capabilities Check the web site for further details http www mekatronix com 1 Eight digital outputs 2 Three digital input ports with program optional automatic digital waveform capture 3 Hardware generation of a 40KHz signal to modulate IR and sonar 4 The processor data bus and an 8 bit address decoder port enable expansion up to four external 8 bit Digital Input and four external 8 bit Digital Output ports 5 Five eight bit analog input channels available Combined with external analog multiplexers and Digital Input address decoding each analog channel could be multiplexed to as many channels as the external multiplexer allows 18 7 Memory and IO Mapping for the MTJPRO T 17 The 32Kbyte SRAM occupies the upper 32Kbytes of the MC68HC11 address space namely from hexadecimal 0x8000 to Oxffff The MTJPRO11 provides four active low Input Enables 1 Y5 and Y7 and four active low Output Enables YO Y2 Y4 Y6 These enables map into memory address space as listed in Table 3 A read of the appropriate input memory address enables that input Similarly a write to the appropriate output memory address enables that output For e
81. onomous lawnmowers autonomous construction vehicles autonomous butlers or maids intelligent kinesthetic art tile laying robots security robots maintenance robots space station robots planetoid explorers undersea mining rescue vehicles war robots and so on As the community of autonomous robot developers increases the applications coming forth will be legion many of which will be totally surprising The modest beginning represented by TJ PROTM and other Mekatronix robots to follow will lay the groundwork and develop the technical infrastructure for a new mechanical species to serve mankind The arrival of this new species will tremendously affect social political religious philosophical scientific engineering and mathematical interests To our children s children these days will seem primitive indeed 12 NIX TJ PRO USERS MANUAL 252 Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 3 2 Operating Environment for TJ PRO TJ PRO is designed to operate in an office or home environment with smooth tiled floors Although TJ PRO can handle short pile rugs he spends more energy overcoming rug friction than tile friction and his operational lifetime on a battery charge reduces considerably Shag rugs and extremely rough surfaces are inimical to TJ PRO and should be avoided In general operating environments comfortable to lightly clothed humans will probably be suitable for TJ
82. ons tech mekatronix com Table 1 TJ PRO s Minimum Sensor Suite IRDLF Infrared Detector Left Front IRDRF Infrared Detector Right Front Front contact Sense Rear contact Sense Front of Robot Front Bumper Front Eyelet Slots Switch Slots Eylets mount on top FBSWC FBSWL FBSWR Wire Pass IR Detector Mount Holes IR Detector Front Hinge Slots 4 Mounting Holes for the MSCCIIE2 Computer 6 Wire Serial Communication IRDLFE 4 IRDRF Cable Port E M Bumper Clip Wire Pass Mounting Hole Bumper Clip Wire Pass Mounting Hole Expansion Power Mounting Hole Reset Download Recharge OnLED On C Run Off Keyhole Mounting Slots Rear Bumper Switch Slot Rear Eylet Slot Eylet mounts underneath Figure 2 Sensor layout on top of the TJ PRO plate The lead symbols are B Bumper IRD Infrared Detector The following symbols mean B Back F Front SW Switch L Left M Middle R Right For example BSWB Bumper Switch Back and IRDFL IR Detector Front Left The IR emitters and the IR Detectors are typically mounted on opposite sides of the top plate 14 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 3 5 Switches TJ PRO control switches on the top plate near the back provide easy access The layout of the switches can be det
83. ot and you are ready to go As long as you keep power to the TJ PRO memory the p coder will not have to be reloaded and you can turn the power switch on and off at will If the batteries drain or you otherwise overwrite memory you will have to repeat the pcoder load procedure described above 40 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 13 4 Loading Pcoder with IC DOS and other Methods You can load the IC virtual machine pcoder software Pcode_rw s19 using any of the three downloading methods discussed earlier 1 HSSDL11 Section 9 Recommended 2 ICCII IDE Section 10 3 PCBUGII Section 12 6 Or you can use the init t j method described here If you use any of the above three methods be sure load the files twoservo icb twoservo c motorp c before you load any program 1 To load the IC DOS pcoder into the robot with init tj method you must boot in DOS change the directory to c ic and then If you are using COMI type init os If you are using COM2 type init tj 2 This action will download the brains of IC the pcode interpeter known as the pcoder During the transfer you should see the D1 and D2 lights on the MB2325 board blink rapidly After 30 seconds the screen should prompt you to press any key to continue at this point switch the Download Run switch to Run and press reset Then press any key on the keyboard 2 Place the Down
84. ote In typed commands to your computer angle brackets indicate parameters for which you must substituted the appropriate information Do not actually type the angle brackets For example enter means Press the Enter key on the keyboard filename means Type the filename alphanumeric key sequence on the keyboard and the path to it if necessary 1 Insert ICC11 diskette into your floppy drive execute the startup and follow directions as outlined in the ICC11 manual Install ICC11 in your root directory as suggested This eliminates some subtle directory addressing problems with PCBUGI1 When you finish you should observe the following file directory structure ccc DOCTI e Bin e Examples e Extra Include Lib e Libmtask 45 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com e Libsrc 14 2 Integrate TJ PRO Software with ICC11 1 Insert the TJ PRO M Distribution Software Diskette for ICC11 into your floppy drive and in DOS or Windows95 execute install bat path to 1 file gt lt enter gt If no parameter is entered for path to 1 file the default is C NICCII This batch file integrates the TJ PROTM software with the ICC11 software After installation of the TJ PRO software you will see three new directories under ICC11 e Assembler e pcbugil e tjpcode The include and lib directories will also contain th
85. port 2 8 Software Language Support TJ PRO programs can be developed for the MC68HC11 with Interactive C IC a interpreter Image Craft C ICC11 the compiled version of C or with Motorola MC68HC11 Assembly Language Both ICC11 and IC come in a DOS version and a WINDOWS version Mekatronix sells both versions of ICC11 and only the WINDOWS version of IC The DOS version of IC and the Motorola MC68HC11 Assembly Language are freeware and can be downloaded free from the Mekatronix web site IMPORTANT IC for WIN95 and ICCII require special library files for the TJ PRO supplied only by Mekatronix and not by any other vendor To purchase IC for WIN95 or ICCII contact one of Mekatronix authorized distributors listed at http www mekatronix com distributor to insure you get the necessary library files with your purchase IC and 1 11 permit extensive program development on TJ PRO using the Standard C language IC allows you to write compact code that takes a bit longer to execute often not a 11 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com problem with robots while ICC11 provides a developers environment and faster execution of code 2 9 PROGO Language Mekatronix developed the robot language PROGO to simplify the writing of programs for its robot product line The language can be learned in several hours and used immediately PROGO was designed
86. puter and the robot will not be able to communicate with it 2 7 Connecting the Host computer to TJ PRO After the MB2325 is connected to the computer take the 6 pin rainbow colored cable and insert either end onto the only 6 pin male header J2 on the MB2325 On the back of the robot is a 6 pin rainbow cable with a male connector Connect this male header to the female connector on the other end of the cable coming from the computer This end is also a keyed connector Now place the DOWN LOAD RUN switch to the DOWN LOAD position Turn the ON OFF switch to ON At this point the red LED on the robot s top board should light Press and momentarily hold RESET the red button on the robot With RESET pressed D2 on the MB2325 should light If D2 does not come on reverse the 6 wire connector at one end only and try again D2 should now light with RESET pressed When RESET is released D2 on the MB2325 turns off 2 7 1 Verify proper operation The lights on the MB2325 let you know that the basic connections are working If the POWER ON light does not light when the power switch is turned to ON the robot may not be charged If the batteries are charged check battery and power connections to the circuit boards Particularly check underneath the robot to verify the battery cable has not come undone from the power connector If the lights on the MB2325 board do not function as specified check that no other programs or devices are using the serial
87. ram does not produce serial input or read serial input steps 2 to 8a can be repeated unchanged after each compile However if your program does use serial IO then you must terminate the DOS window before enabling Hyper Terminal and executing the robot program When finished with your experiment you must repeat the four step sequence 34 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com COMPILE WITH ICC11 described in the previous paragraph in order to be able to compile again You cannot simply execute step 4 in that sequence This is a real inconvenience so 12 7 Execute a TJ PRO Program This procedure assumes you have downloaded an s19 file Do not do this procedure on a Table unless TJ PRO s wheels are suspended and not touching any surface Otherwise TJ PRO may start up and roll off 1 Turn TJ PRO power on 2 Flip DOWNLOAD RUN switch to RUN 3 Press RESET 4 Watch TJ PRO GO Some programs require pressing the back bumper as a standard precaution NOTE If your program uses serial IO and you downloaded with pcbugl1l you must close the DOS window before Hyper Terminal can grab COMI to communicate with the robot 12 8 Stopping TJ PRO To stop TJ PRO run him down and flip the POWER ON switch off If your program requires the back bumper to be pressed before it executes you can also press the red reset button to stop the robot 12 9 Brief Descr
88. ronix chose to make a single external interface for the host computer This approach has a twofold advantage 1 removal of this circuitry from the robot platform saves battery energy and reduces printed circuit board cost 2 only one MB2325 board is required per computer instead of one per robot In multiple robot systems or swarm systems this approach yields an increasing cost advantage 5 2 1 Plugging MB2325 into the host computer The MB2325 serial communications board Figure 3 has a 25 pin female type D connector On most computers COMI is a 25pin male D connector If your computer has 9 pin connector you will need a 9 to 25 pin converter available at most computer and electronics stores When the MB2325 is plugged into the COMI port of the host computer D1 will light This light lets you know that the serial port on the host computer is working If D1 does not light something is wrong with the serial port of the host computer and the robot will not be able to communicate with it 5 2 2 Connecting the Host computer to TJ PRO After the MB2325 is connected to the computer take the 6 pin rainbow colored cable and insert either end onto J2 of the MB2325 On the back of the robot is a 6 pin rainbow cable with a male connector Connect this male header to the female connector on the other end of the cable coming from the MB2325 Now place the DOWN LOAD RUN switch to the DOWN LOAD position Place the POWER SAVE ON switch to
89. ronix com 15 TALRIK JUNIOR PROFESSIONAL SOFTWARE REFERENCE This section is designed as a quick reference to your TJ PRO robot distribution software that integrates with ICC11 This section assumes that you have a working knowledge of ANSI C and will guide you through the drivers and subroutines provided by Mekatronix which allow you to write TJ PRO software ranging from the simplest of programs to advanced algorithms This document contains the information you need to know to program a standard TJ PRO robot Other TJ PRO modules such as the TJ PRO and the TJ PRO ARGOS M utilize extra libraries and modules In order to program these robots refer to the appropriate documents 15 1 Overview of the TJ PRO Software Library The TJ PRO software library is made up of a number of C source files include files and macro and symbol definitions Almost any TJ PRO program you write will require the following include files and C files TJ PRO Include Files hell h Symbol definitions specific to the HC11 I O ports registers etc mil h Macro definitions for simplified register manipulation tjpbase h Header file for all required TJ PRO header files Must be in all TJ PRO C programs isrdecl h Header file for conditional declaration of all unused interrupts Must be in all TJ PRO C programs analog h Header file for the analog function analog c clockt jp h Header file for the timing functions in c
90. s repeated here for your convenience Being familiar with the contents of this package will help you find the information you need to install and use it with your TJ PROTM 12 1 Installation Instructions for TJ PRO Distribution Software This installation assumes that your C Compiler has already been installed into the directory icctjp and that the batch file installtjp bat will executes from the directory holding the TJ PRO Distribution Software Execute the installation batch file with an argument specifying the root directory where the TJ PRO files will be loaded If no directory is specified c icctjp is assumed The latter is recommended as all Mekatronix batch files assume the root is c icctjp 12 1 1 File Name installtjp bat This batch file integrates the TJ PRO libraries and code with the compiler installation See below for a listing of this file installtjp bat echo off if 1 goto noargument copy tjpsetup bat 1 tjpReadme txt 1 copy tjpProg txt 1 copy tjp Install Readme txt 1 copy IDEsetup txt 1 copy bintjp 1 bin incltjp 1 include copy libtjp 1 lib if not exist 1 libsrtjp md 1 libsrtjp libsrtjp 1 libsrtjp if not exist 1 tjps19 md 1Ntjps19 copy tjps19N 1Ntjps19N if not exist 1 tjpcode md 1 tjpcode copy tjpcodeN 1NtjpcodeN md 1Npcbugll copy pcbugllN 1 pcbug11 md 1Nassembler copy assemb
91. te You will see an executable file such as v5lwin exe Execute it and follow directions Specify c icct jp as your root directory Let the installation update your DOS CONFIG file Reboot Put the ICC11 icon shortcut on your desktop After ICC11 installation you should observe the following directory structure e iectjp Bin Examples Include Lib 23 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com e Libsre 7 1 IDE Compiler and Linker Setup for TJ PRO Once you setup the IDE environment you will not have to change it from invocation to invocation since it remembers its most recent state 1 Double click on ICC11 icon to enter the Integrated Development Environment IDE 2 Under Options in the menu bar select Compile 3 In Compiler window select the Linker tab 4 In the Linker setup window enter the following a Text section 0 8000 b Stack Oxffbf c Data Section d Additional Libraries libtyp You may wish to use the Setup Wizard to save this configuration under the name TJ PRO If you specified c icct jp as your root during installation then e Library Path c icctjp Lib will be the default 5 Select Preprocessor under Compiler If you specified c icct jp as your root during installation then Include Paths e icctjp include will be the default 6 Close Compiler window Continue immediately to the next section 7 2 IDE
92. te www mekatronix com IC for WIN95 can be purchased from a Mekatronix distributor IC for WIN95 allows you to use IC in a windows environment and is much more convenient and easier to use than the IC DOS version Either version of IC lacks some application flexibility on the TJ PRO as compared to ICC11 For example in IC you cannot write you own interrupt drivers for add on motors servos and sensors ICC11 windows version is the preferred programming language for extensive program development on TJ PRO as it gives you complete control over all the existing hardware resources and even ones that you add yourself IC is useful and easy to use for simple applications In many cases the user may prefer to develop robot behaviors on IC We have attempted to make TJ PRO compatible with IC for this reason We were not wholly successful IC uses the MC68HC11 output compare four pin to control its multi tasking timing Mekatronix assigns OC4 to control a servo The rapid changes of will actually burn out any servo attached to header on TJ PROTM s MTJPROI1 microcontroller board 22 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com WARNING IC code thrashes any servo attached to PA4 and will easily destroy the servo in a short amount of time Disconnected any servo from PA4 before TJ PRO runs IC code 6 INSTALLATION OF ICC11 AND SOFTWARE
93. th errors Here you must use your program debugging skills Program debugging is beyond the scope of this manual 3 My program compiles but does not download Refer to Section 14 5 3 1 Be sure the Download Run switch is in the Download position 3 2 Verify that the robot connected to the right COM port 3 3 Check and verify all the physical connections between your PC the Communications Board MB2325 and the TJ PRO M Diode D1 should be on when the Com board is connected with your PC LED D2 should light when the reset button on TJ PRO is held down 17 3 General Trouble Shooting 4 My program downloads but nothing happens when I press the reset button 4 1 Check to make sure you have switched the Download Run switch to Run and that the power switch is On 4 2 Press the reset button several times Sometimes the switch does not make proper connection 4 3 Your program may actually be running but program logic errors prevent any observable robot behavior This is a tough one Download and run a working program such as avoidtjp s19 to verify all TJ PROTM s hardware functions Also download senset 51910 test all the sensors If you are successful then the problem must be in your program 60 NIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 4 4 If you cannot successfully run avoidtjp s19 or sensetjp s19 then unplug the battery pack and check th
94. the names given in Motorola s 68 11 Reference Manual M68HC11RM AD For instance to write to PORTB you do not need to specify its memory address instead you use the reference symbol PORTB These two files assume that your chip s register base is at Ox1000 If you are not sure what this means don t worry about it if you ve changed your register base for some reason you ll need to modify the constant IO BASE in hc11 h Three macros that perform MC68HC11 register operations in ICC11 are defined in mi1 n CLEAR BIT REG NAME MASK Will set to zero all the bits in REG NAME which correspond to ones in MASK Mathematically equivalent to REG NAME AND NOT MASK SET BIT REG NAME MASK Will set to one all the bits in NAME which correspond to ones in MAKS Equivalent to REG NAME OR MASK CLEAR FLAG REG NAME MASK Will write a one to the bits in NAME which correspond to ones in MASK Generally this is only used when clearing interrupt flags 15 3 TJ PRO Defined Program Constants Program defined constants permit you to refer to motors and sensors symbolically instead of trying to remember numbers associated with the different robot resources The constants listed below be found in the include file lt t jbase h gt You should use these symbols exclusively to be compatible with Mekatronix software Note that all defined constants consist of all capital letters This is standard convention Remember the
95. tors c The TJ PRO library functions contain these programs A brief description of the TJ PROTM library functions appears below analog c Defines init analog and analog functions analog reads the analog to digital converter output on ADRI clocktjp c Generates msec seconds minutes hours days Also variable timertjp is a msec free running counter which can be used The function wait permits your programs to execute time waits motortjp c Drivers for TJ PRO motors serialtjp c Defines the Mekatronix serial functions Use lt stdio h gt whenever possible but the function read int here is quite useful Also executing init serial Will 36 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com initialize appropriately for lt stdio h gt as well servotjp c Option Not included TJ PRO Distribution Software Driver for servos attached to PA4 PA5 and PA6 on the TJ PRO MTJPRO11 microcontroller circuit board Warning Do not attach anything to PA4 when running Interactive C Vectors c Defines all the MC68HC11 interrupt vectors generically User and future Mekatronix interrupt service routine names must equate to the predefined generic names 12 11 tjpsetup bat file and the TJ PRO Library Libtjp a The tjpsetup bat file defines the paths to the Include and Lib directories as well as establish the necessary linker options O
96. type load sensetjp c 5 In a WINDOWS environment you will not have to exit IC simply switch back and forth between the DOS window executing IC and your editor window 13 6 Loading and Unloading Programs in IC WINDOWS The procedure for loading and unloading code in IC WINDOWS is essentially the same as for IC DOS with several major differences In IC WIN95 you never leave the windows environment You do not have to boot up in DOS to load the pcoder and then back to WINDOWS to open both a DOS window an edit window The browser on IC 1395 also gives you complete freedom to load lt file gt c located in any directory IC WIN95 implements more C programming functionality and is supported by Mekatronix 13 7 Interactive C Now that you have learned to run IC on your robot and load programs to the robot let us develop a greater understanding of the robot and how to write software for it Interactive C 15 just that 42 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com interactive At the C gt prompt you can type any IC command in standard ANSI C format Each line will return a value For example type the command gt 1 2 IC returns lt int gt 3 This value was calculated on the robot s own computer not on your PC 13 8 Robot Commands There are several commands in IC that are not present in ANSI C These commands have important uses in robots Here we
97. unning DOS but not vice versa In either case you will find the Mekatronix High Speed Serial Downloader HSSDL11 a useful tool The HSSDL11 downloads programs into the robot microcontroller at a blistering 115 2KBaud 5 1 1 Primitive System DOS ALERT MICROSOFT has announced that DOS will be phased out within a few years This may affect your choice of WINDOWS or DOS software In particular when you upgrade your computer system in the future you may have compatibility problems if you run your robots from DOS Mekatronix recommends the WINDOWS system for longer term utility The following computer system will meet all the basic hardware support for developing TJ PRO programs and applications 1 286 or later processor running under DOS with several Megs of available hard disk space and 1 Meg of RAM 2 An available serial port We will assume that COMI is used See the next section about COM port problems to avoid 3 1 44 Meg floppy 4 Optional but very useful a terminal program such as Kermit for DOS 5 1 2 Operating from a WINDOWS System Recommended The following high end hardware offers a more sophisticated easier to use more productive working environment 1 A high speed LOOMHz or better computer running Windows 95 7 NO modem see the section titled COM port problems to avoid page 10 8 A mouse on COM2 9 A printer 10 Access to the nternet especially the World Wide Web 11 Windows terminal
98. utton RESET switch D2 lights when you hold RESET down If it does not light reverse the C2325 6 pin connector to the MB2325 With the serial connection made you can proceed with downloading programs into the robot 14 5 2 Downloading with the HSSDL11 1 Ina WINDOWS environment activate the HSSDL11 by double clicking the icon You may want to put a shortcut on your desktop 2 In the HSSDLI11 press or select PROGRAM browse until you find t jpcode or whatever directory contains s19 file of interest Open the s19 file of the program you wish to download say the one you just compiled There are no name length restrictions for the HSSDL11 but there is for PCBUGI1 3 Press the d key or select DOWNLOAD button and the green lights flash and the bootloader is loaded at 2100baud and then the program downloads at a blistering 115 2KBAUD 14 5 8 Downloading with PCBUG11 NOTE PCBUGII usually locks up the COM port on your computer so you will have to close the MSDOS window before regaining control of the port In some instances you may have to restart you PC to unlock the COM port 1 In WIN95 open an MSDOS window If you are using ICC11 then execute iccsetup bat Assuming a DOS prompt set the current directory by typing 48 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com cd path to pcbugl1 gt pcbugll lt enter gt Instead of typing path to pcbug
99. wing 56 MEKATRONIX TJ PRO USERS MANUAL wee Gainesville Florida www mekatronix com Tech Questions tech mekatronix com IR Light avoidance Collision detection Shy behavior Aggressive behavior Exploring behavior Wall following 16 4 Advice on Developing Behaviors The following advice is based on several years experience teaching engineering students to program autonomous robot behaviors 16 4 1 Vulcan Mind Meld To effectively program a behavior for TJ PRO or quite possibly any autonomous robot and to gain insight into the problems encountered by your robot you should play Vulcan to the robot and imagine performing a Vulcan mind meld with it All you Trekkie fans know what this means But to be specific try to perceive the universe as the robot does with its limited capabilities As you imagine yourself one with the robot play out different sensations and responses Help yourself by actually recording robot sense data and examine typical responses or responses to special environmental conditions of interest in the behavior you are developing The mind meld will help prevent the common error of asking the robot to respond to environmental conditions it cannot detect with its sensors While this statement is so totally obvious it is also a difficult self discipline to psychologically enforce Why Humans typically interact with each other or intelligent animals expecting and perceiving sophisticated behavior and sensory
100. xample a read of memory location 0x5000 actually enables Y3 and reads the data bus Suppose an 8 bit register attached to the data bus outputs its contents onto the computer data bus when enabled by Y3 Effectively a read of 0x5000 will read the contents of that register Such a register is an 8 bit input port A write to the same address enables the output port selected by Y2 Suppose Y2 enables the inputs of an 8 bit register attached to the computer data bus The write operation will store the contents of the computer data bus into that register The Y2 output port does not have to be the same register as the Y3 input port The choice is up to you Table 3 Memory Map of MTJPRO11 IO Enables 64 TJ PRO USERS MANUAL Gainesville Florida www mekatronix com Tech Questions tech mekatronix com 18 8 TJ PRO s Starter Sensor Suite Every TJ PRO comes with the minimum sensor suite listed in Table 1 These sensors are wired directly to headers on MTJPRO11 microcomputer circuit board These sensors have the following characteristics 1 3 Two Forward Looking IR Emitters wavelength equals 940nm One Backward Looking IR Emitter wavelength equals 940nm Two Forward Looking analog IR Detectors for 40KHz modulated 940nm IR These sensors produce analog channel readings from about 88 to 128 out of a possible 256 The number 256 corresponds to five volts Three Front bumper Momentary Tactile Switches eac
101. y the HSSDL11 well worth the price and do not use PCBUG11 It hangs up the COM port and you have to kill the DOS window using PCBUG11 in order to use any other serial device on your computer and vice versa TJ PRO Code directory tjpcode This MEKATRONIX TM directory contains a very simple collision avoidance program avoidtjp c and the important sensetjp c program sensetjp c outputs the sensor readings to your PC each time you type a character It is an excellent program for you to familiarize yourself with the robot sensory capability and to verify sensory operation Source code is provided in C The 519 files avoidtjp s19 and sensetjp s19 can be downloaded and executed directly even if you do not have a C compiler tjps19 PCBUG11 downloads s19 files from this directory when you invoke the batch file loadtjp bat Path and name length restrictions make it almost impossible to use 11 in complex directory structures The directory name tjpcode is too long and cannot be used Be sure your s19 file names are no more than eight characters long not counting the extension s19 and that this file is in tjps19 directory at the same level as the pcbugll directory in the icctjp directory Correct installation will guarantee this However creative programmers who prefer a different directory structure are advised of this severe path length limitation aspect of pcbugll
102. y turn Objective Move the robot in reverse and determine if it goes straight Specification Turn on both motors in the reverse direction at the same percentage Questions Does the robot go straight backwards Which way does it prefer to turn to the left or to the right Which motor left or right appears to be turning faster for the 100 reverse command Are your results consistent with Experiment 2 Motivation Quantification of the deviation from straight line motion may lead to compensation techniques to improve that motion Objective Measure the robot s deviation from straight line motion when it is supposed to be going straight Specification Turn on both motors at 100 forward for 10 seconds and stop the robot Procedure This experiment can be performed easily on a tile floor Just line up the left wheel on a tile line and determine how far the wheel has deviated from the axis of that tile line after the robot stops Extend the wheel axis at the start and stop positions with a string Assuming the robot is turning in a big circle the intersection of the two strings determines the radius of the circle Why Questions After 10 seconds how many inches has the robot moved forward along its initial direction How many inches has the robot veered from the line of its initial direction Motivation A robot often spins as a preliminary maneuver to escaping a difficult situation Objective 55 MEKATRONIX TJ PRO USERS MANUA

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