HandyBot ™ - Robot Store (HK)
Contents
1. 24 3 2 What did you learn form the program dance c 20 4 0 How to interface the provided 31 31 6 0 Support and Contact Information 32 1 0 Introduction Thank you for choosing HandyBot universal mobile robot base platform dedicated to robotic experiments HandyBot is a complete mobile robot base using a well known MIT Handyboard system as its brain It has two high quality planetary gear head motors manufactured by COPAL in Japan and a caster for locomotion The MIT Handyboard is placed on top of large fabric 91mm x 140mm platform for easy mounting of various sensors This ensures the platform has the best performance to meet your specific requirements HandyBot Technical Specifications Platform size with Handyboard 91mm W x 140mm L x 120mm PCB system fabric for easy mounting of sensors Wheels diameter Front wheel free rolling caster Differential drive Handyboard power supply DC 10v 15v 8 pcs x AA size battery for long rper am ning time Ato orcas bay Motor power supply DC 9v 6 pcs x AA size battery for long running HandyBot Parts List Part Descriptions 4 1 2 IR transmitter LED 2 IR Receiver LED Screws and nuts Double side foam tape to mount sensors The HandyBot package in2. Open Handy Board 1 2 6 Set the Handyboard to the Bootstrap Mode You should follow the instructions given 20 by the Interactive C message box to see how to set the board to the bootstrap mode Both RED and GREEN LEDs nearby the STOP button should be OFF The instruction reads To put board into download mode hold down STOP button while turning on the board Continue holding STOP button until the green PWR LED goes Out The STOP button is located in Handyboard You can see the STOP label 7 Press OK on WINDOWS prompt the GREEN nearby the STOP button will turn on and blinking for a while Pcode is being downloaded 8 When it is done the IC will prompt you to turn off and on the power of Handyboard again and press OK on IC prompt to load Pcode You will hear a beep sound and a message on the LCD display will be shown v3 1 Handy Board 1 2 The Pcode is loaded Leave the HandyBot power on for the next section Insert the motor connectors back to Handyboard motor port locations MOTOR 0 and MOTOR 1 MOTOR O port is nearby RJ11 socket You can read the silk screen on Handyboard MOTOR 0 and MOTOR 1 will be used for the HandyBot example test code below There is no polarity on DC motor but the polarity will affect the motor rotate direction To have a smooth performance on the next section example code please follow the following connection Motor Connector on Handyboard RED MOTOR 0 777 BLACK BROWN
3. WARNING User s program is stored in Static RAM SRAM location The MIT Handyboard system has a battery protected SRAM even the HandyBot is powered off The program will remain in the memory unless unloading the program running out the battery power or removing the battery power You have to reload the Pcode and your program again when the power is lost You can now work your own way Before attempting your first program please read the Interactive C programming manual and Handyboard Technical Reference Manual located in disk 1 and 2 It gives you a great idea about robotic control programming technique and sensor interface 30 4 0 How to interface the provided sensor Good question It depends how your robot behaves and the course objectives Provided with the kit you can attach the sensor using double side foam tape also hard wiring sensors on HandyBot is possible because the body of the HandyBot can be drilled to attach other circuit sensor into it Here are some references about sensor interface design Handyboard Technical Reference Manual 2000 November 15 2 Handyboard official book Robotic Exploration by Dr Fred Martin ISBN 0 13 089568 7 It is available from Amazon com or RobotStoreHK com 3 Official Handyboard site for hardware and software resources http www handyboard com 4 Handyboard based robot design http www robotstorehk com robot html 5 0 FAQ 5 1 Can I use r
4. MOTOR 1 RED 2 MOTOR 3 21 Ld p 2 4 Expansion Board Software Installation optional By using Handyboard Expansion you will get more digital and analog inputs driving more servos dedicated LEGO motors interface and Polaroid sonar interface Unzip the HBEXP ZIP from the disk 2 Interactive C 3 x for WINOx NT to C IC LIBS Overwrite the existed files Follow the instructions below EXPANSION BOARD LIBRARIES README Please put all enclosed files in your Interactive C library folder This is typically C IC LIBS The IC application uses a hard coded path so all ibrary files must be put in this directory Please note that the enclosed lib hb c replaces the old one When you are not using the Expansion Board the hbsensor c file should be loaded instead of expsens c Modify your lib hb lis to include hbsensor c instead of expsens c 22 You may find Expansion board library function call reference in the document Expansion Board Software on the same disk 23 3 0 Your first program Robot let s have a dance At this point you are successfully installed the battery to HandyBot and Interactive C software into your PC and also you can boot up the Handyboard system Am I correct You can see the beating heart on HandyBot LCD screen It is now your turn to use your imagination to develop robotic co
5. motor 1 100 turn on port 1 motor with full sleep timeSec move forward for seconds void moveBackward float timeSec beep motor 0 100 reverse port 0 motor with full motor 1 100 reverse port 1 motor with full Sleep timeSec move backward for seconds void moveClockwise float timeSec beep motor 0 100 turn on port 0 motor with full speed motor 1 100 turn on port 1 motor with full speed sleep timeSec rotate one direction for seconds 26 void moveAntiClockwise float timeSec beep motor 0 100 turn on port 0 motor with full speed motor 1 100 turn on port 1 motor with full speed sleep timeSec rotate another direction for seconds void pp play pp song void play char song int i duration accidental delta note int notes 0 2 3 5 7 8 10 int old_note 30 play reset 0 while song il 1 while 1 while song i i if song i X 1 music next command song i 1 else break if song i break while song i D old note 12 i while song i U old_note 12 tti if 0 lt song i amp amp song i lt 9 duration 0 while 0 lt song i amp amp song i lt 9 duration duration 10 song i 0 i if song i accidental 1 i else i
6. HandyBot Universal Mobile Robot platform Operation Manual V2 0 IMPORTANT It is highly recommended to read this manual before working on HandyBot kit This document is Copyright 2000 2001 by Robot Store HK It may be distributed freely in verbatim form provided that no fee is collected for its distribution and this copyright notice is included An electronic version of this document is available from the Robot Store HK homepage at http www robotstorehk com Revision History Descriptions Date Modified Initial Release Feb 15 2001 Insert motor specifications Mar 20 2001 Minor Typo error correction 30 2001 Example source code added Sept 20 2001 Minor changes HandyBot partlist Dec 12 2001 Table of Contents Table OE Sosa atta dt tra stunden Qo uus 3 1 0 Introduction sssrin 4 2 0 HandyBot Quick Start up Guide 6 2 1 Battery Installation 155 6 2 2 Interactive C 3 x Software Installation ueesssss 18 2 3 Downloading Interactive C Pseudo Code Pcode into Hands Bote oo doa ad D ned ee 19 2 4 Expansion Board Software Installation optional 22 3 0 Your first program Robot let s have a dance 24 3 1 Loading the program 22 400 000
7. HandyBot Two screws attached on the caster will be under 6xAA battery holder 16 17 Place the 8xAA battery holder close to the center of platform It is done Reverse the above procedures if removing battery from the battery holders dem xis Ux E 2 2 Interactive C 3 x Software Installation The HandyBot comes with an Interactive C 3 x under WINDOWS 9x NT platform You should find a disk labeled Interactive C 3 x for WINDOWS 9x NT Interactive C is an ANSI C like programming language and is dedicated for robotic programming It comes with useful robotic control libraries such as DC motor control servos control LCD printing functions music player digital and analog sensor drivers To fully utilize the programming features of Interactive C please refer to the user manual called icmanual pdf located on the same disk 18 Run the setup program 2 on the disk and install it into your local hard disk The installation default directory is and the Interactive C libraries are located in C VIC LIBS Go to Windows Start gt Programs gt Interactive C gt Interactive C to execute Interactive C It is required to enter Registration Key when the Interactive C is first being activated Browse the file called key txt from the same disk Paste the Licensee and Registration Key on the Interactive C registration key request screen If the key is correct the IC will try t
8. Now change the main function name to mainTest in the dance c and save it Turn off the HandyBot power and reconnect the RJ11 back to it Turn on the power again Unloading this program by typing in unload dance c on IC prompt to remove the program from the HandyBot M WARNING Always unloads unused program from the HandyBot save memory space and function call confusion Load the modified dance c program back to HandyBot by typing in load dance c Turn off the power and disconnect the RJ11 cable from the Serial interface board Turn on the HandyBot power again and wait a few seconds HandyBot is not responding Why This is why we called Interactive C Since the default start up function call is named as main the modified program dance c does not have this function and the HandyBot will not start during power up 29 Turn off the HandyBot power and re connect RJ11 cable back to HandyBot Tun on the HandyBot again Type in testMain to invoke the modified program Wait a few seconds Does the LCD display show the similar display like the original program This Interactive feature is very useful to test individual function before combining all functions together By using START and STOP buttons you can create a program not using main function name call To invoke the program just simply press START button and pressing STOP button to end the program
9. battery holder out of the platform You are ready to place the batteries on HandyBot 3 WARNING Due to the unknown state when HandyBot starting up please remove any motor connectors from the HandyBot before inserting the batteries Otherwise the motors may turn on suddenly Remove two motor connectors from the Handyboard Now you are ready to insert alkaline batteries to the battery holders Besides alkaline type batteries you can use any rechargeable batteries to power up HandyBot WARNING Alkaline or rechargeable batteries can be used on HandyBot Place 8 pieces alkaline batteries provided with the kit into the 8xAA battery holder and 6 pieces alkaline batteries provided with the kit into the 6xAA battery holder Note The Handyboard main power supply 8xAA size is connected to the Handyboard main board while motor power supply 6xAA size is connected to J6 of Handyboard Expansion board T 21 2 gt EI 4 uy 11 Insert back the 8xAA battery holder to the HandyBot e om qa 11114414444 LM A ae 12 Push back the 8xAA battery holder a little bit Now it is ready to insert back the 6xAA battery holder Almost done d TEES Puppy 421173 T AA d 7 E gt gt xL Push the 6xAA battery holder a little bit front of the
10. cludes various sensors The designs of sensor interface circuits are left to the user For a reference design please consult Handyboard Technical Reference Manual document provided with the kit Also a good Handyboard bible Robotic Explorations written by Dr Fred Martin has full of Interactive C IC source code and hardware interface examples Note Dr Fred Martin s book used MIT Handyboard system and LEGO parts to build the robots However the building concepts are the same and both hardware and software can be applied on HandyBot M without making any major changes It is highly recommended to read section 2 0 HandyBot Quick Start up Guide before proceeding WARNING Turn off power before adding any sensor or hardware to the HandyBot Otherwise the board will be damaged 2 0 HandyBot Quick Start up Guide This section will show you how to power up the HandyBot and write a simple program to play with it Underneath the MIT Handyboard you will find two empty battery holders One is 8 x AA battery holder for Handyboard main power supply Another is 6 x AA battery holder for motors power supply 2 1 Battery Installation There is a trick to remove and insert the battery holders to HandyBot Please follow the instructions below Push back 8xAA battery holder a little bit to left some space Taking out 6xAA battery holder from the space left Then you can take the 8 x AA
11. e want to hear your comments and feedback Technical Support support robotstorehk com 32
12. echargeable battery on HandyBot system Answer Yes You can use alkaline or rechargeable batteries to power up HandyBot 5 2 Why my program disappears when I replace new batteries Answer The Pcode and user program resides in SRAM You need to reload the Pcode into HandyBot again 5 3 Will my program lost if I turn off the power of HandyBot Answer No The SRAM on HandyBot is battery packed The Pcode and user program will not be erased unless unloading the program running out the battery power or removing the battery power 5 4 Everything I issue an IC motor function call motor 0 100 the motor supposed to move forward But now it rotates in reverse direction Why Answer You must connect the motor in reverse direction DC motor does not have polarity You just need to reverse the motor connection connected to HandyBot 5 5 After carrying lots of robotic experiments I am running out the programming space How can I reduce the memory space Answer Good programming technique may solve the problem Also unloading unused program from the HandyBot will be helpful Just simply type in unload filename c to erase the file from the HandyBot memory 31 6 0 Support and Contact Information Softcopy of this document is available in http www robotstorehk com handybotV20 pdf If you have technical difficulty or questions or comments or unclear regarding HandyBot or documents please send us an email W
13. f song i accidental 1 i else accidental 0 27 else if song i lt song i gt g printf nBad note c n song i beep beep beep sleep 5 0 return note notes song i a accidental rest 0 itt if rest 1 play note 0 duration else delta note old note 12 old note delta if delta 5 old note 12 if delta 5 old note 12 play note old note duration play note 0 1 music command o void music_command int c music_current_command void charge play charge song void play reset time mseconds newtime time 100L void play_note int note int duration play note 2 note duration 7 play note 2 0 duration void play note 2 int note int duration float freq int period if note Preg 550 2 eke 7 1122292 while mseconds newtime 28 if note set beeper pitch freq beeper on else beeper off if music next command amp amp music current command music next command music command music next command music next command 0 newtime long duration tempo 3 2 What did you learn form the program dance c The program s function name called main and this is a start up function call when the HandyBot is firstly being powered up
14. ncing Singing The whole performance will take place for a minute Example code 1 dance c char pp song l d 4e3rl f4g3rl d 3el f3glc3bDle3glb 8 amp b2b2a2g2e2d10e Trl d 4e3rl f4g3rl d 3el f3gqlc3blg3ble 28 amp e D3rl d 4 3 1 4 3 1 3el f3glc3bDle3glb 8 amp b2b2a2g2e2d10e 12r U3eld3bla3gl f 1 amp b3al amp b3al amp b3al amp b3a 2g2e2d20e char song 1c2f1f2f1g2ala2alf2glg2gle4flr 1f2ala2al amp b2cl1c2c1c2d1c2 amp bla4glr 1gU2d1d2d1c2d1e2f1d2c1d2c1 amp b4alr D1c2flf2flg2ala2alf2glg2fle5f 25 char classics song 4g2c2d4c4g4a2g2 2e2c2d2e2f 29g2a2b10c2r 4c4b4c2d2b2c2d2e2 f4g2 f2e4d2g2 f4g4d4e2d2c2b2g2a2b2c2b2c2d2e2d2Ze2 f12g char charge_song l1clelg2clrlg4c charlooney_tune_song U3eld2c2d2e2d2e2c2d2d2d6d2r3d1lc2b2 c2d24c2d2b2c2c2c6c int tempo 12 long time newtime int music current command int music next command 0 void main void nk i printf Robot dance Press START n start press waiting user to press start button sleep 2 0 wait for 2 seconds to start charge for i20 lt 5 i five rounds moveClockwise 2 0 dance patterns moveAntiClockwise 2 0 you are free to change it moveForward 1 0 moveClockwise 2 0 moveAntiClockwise 2 0 moveBackward 1 0 alloff printf Bye Bye void moveForward float timeSec beep motor 0 100 turn on port 0 motor with full
15. ntrol algorithm programs Before you start programming your own here is an example illustrates few concepts you may ask latter in the development You will find all example source code in the disk 3 labeled as HandyBot M Example Source Code To perform the experiments please copy all the HandyBot M example source code files to C IC LIBS Please make sure you have 1 5m x 1 5m free space to play HandyBot M with the following program is your first program dance c illustrated below 3 1 Loading the program dance c If you are reading this manual in order your HandyBot M is now connected to your PC and the Pcode is loaded into Handyboard already Your PC should have Interactive C prompt and the LCD on Handyboard shows v3 1 Handy Board 1 2 If this is the case you are ready to load the program into Handyboard From the PC Interactive C prompt type in load dance c The Interactive C will start loading dance c from your default working directory C IC LIBS to the HandyBot 24 If the download is successful turn off HandyBot power and disconnecting the RJ11 cable between HandyBot and Serial interface board See below HandyBot is ready to dance and sing Place the HandyBot in a safe place with 1m 1 5m space diameter Turn on the power you will see Robot Dance Press START on HandyBot M LCD screen Press START button on Handyboard and wait a few seconds What do you see da
16. o communicate with HandyBot You will see Board not responding Config board settings press NO and exit IC since we will run it all over again once HandyBot connected 2 3 Downloading Interactive C Pseudo Code Pcode into HandyBot To run the Interactive C on HandyBot M the Pseudo Code Pcode must be loaded before downloading any program The Pcode is a C interpreter which is loaded into HandyBot Your program will be interpreted during run time That s why you can load unload and execute your program right away WARNING Due to the unknown state when HandyBot starting up please remove any motor connectors from the HandyBot before inserting the batteries Otherwise the motors may turn on suddenly 19 are procedures to load the Pcode into HandyBot 1 Your HandyBot is connected to Serial interface board via RJ11 and the Serial interface board is then connected to PC serial port DB9 Turn on the power of the HandyBot M Power switch is located on Handyboard main board and nearby RJ11 socket Again make sure the motors are not connected to Handyboard The DB9 of the serial cable should connect to DB9 serial port of PC not shown 2 Run the IC3 x on your PC 3 You will see Board not responding Config board settings press YES 4 Select appropriate COM port and press DOWNLOAD PCODE If you are not sure which COM you can try it one by one for the whole bootstrap steps 5
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