Robo robo program

Version

3.0

Version : v 0.50 – Monday, September 01, 2003. First created

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v 0.60 – Monday, September 08, 2003. add detail description

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v 1.00 – Monday, September 15, 2003. add chip description

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v 1.10 – Wednesday, September 17, 2003. fix some errata

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v 1.20 – Tuesday, September 30, 2003. Add voice chip

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v 2.00 – Tuesday, June 29, 2004. Add function, variable, calculate chip

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v 2.10 – Wednesday, Aprill 19, 2006.

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v 3.00 –

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Rogic Manual Version ersi on 3.0

1. Rogic program

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1.1 Rogic program Installation Installation

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1.2 232cable connection connection . . . . . . . . . . . . . . . . . . . . . . . . .

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1.3 screen overview overview . . . . . . . . . . . . . . . . . . . . . . . . . . 1.4 Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1.4.1 File . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1.4.2 Setting . . . . . . . . . . . . . . . . . . . . . . . . . .

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1.4.3 Mode . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1.4.4 Help . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.5 moving chip . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1.6 adding chip . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1.7 deleting chip . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1.8 inseting chip between between chips . . . . . . . . . . . . . . . . . . . . .

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1.9 picking chip out. . . . . . . . . . . . . . . . . . . . . . . . . . .

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1.10 copying chip. . . . . . . . . . . . . . . . . . . . . . . . .

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1.11 hiding chip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 1.12 downloading program . . . . . . . . . . . . . . . . . . .

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1.13 exit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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2. Chip explanation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 Functions. . . . . . . . . . . . . . . . . . . . . . . 2.1.1 New Function Chip. . . . . . . . . . 2.1.2 Using Fucntion

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2.1.3 Deleting Fucntion Fucntion

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2.2 Chips. . . . . . . . . . . . . . . . . . . . . . . . . . .

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2.2.1 Start Chip. . . . . . . . . . . . . . . . . . . . 2.2.2 DC Motor Chip. Chip. . . . . . . . . . . . . . . . . 2.2.3 Servo Chip. . . . . . . . . . . . . . . . . .

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2.2.4 Voice Chip. . . . . . . . . . . . . . . . . . . 2.2.5 Dot Matrix Chip. . . . . . . . . . . . .

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2.2.6 On Chip. . . . . . . . . . . . . . . . . . .

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2.2.7 Off Chip. . . . . . . . . . . . . . . . . . .

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2.2.8 Variable Chip. . . . . . . . . . . . . . . . . .

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2.2.9 Calculate Chip. . . . . . . . . . . . . . . . . .

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2.3 Delay. . . . . . . . . . . . . . . . . . . . . . . . . 46 2.3.1 Delay Chip. . . . . . . . . . . . . . . . . . . . 2.4 While. . . . . . . . . . . . . . . . . . . . . . . . .

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2.4.1 While Chip. . . . . . . . . . . . . . . . . . . 47 2.4.2 Break Chip. . . . . . . . . . . . . . . . . .

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2.4.3 Loop Chip. . . . . . . . . . . . . . . . . . . . 2.5 If Else. . . . . . . . . . . . . . . . . . . . . . . .

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2.5.1 If Chip. . . . . . . . . . . . . . . . . . . . . 2.5.2 Remote Control Chip. . . . . . . . . . . . . . 2.5.3 IR Sensor Chip. Chip. . . . . . . . . . . . . . .

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2.5.4 Contact S/W Chip. . . . . . . . . . . . . .

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2.5.5 Rand Chip. . . . . . . . . . . . . . . . . . . .

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3 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


Insert the Rogic CD in CD-Rom and install the Rogic program.

Prepare the RS232 and connect it carefully to the CPU board.

After that, connect another part of RS232 cable to the COM port(serial port) of PC. Generally PC has tow COM ports(serial port). You can use one of them.



You now finish the basic cable connection to program the robot. If PC has not the COM port but the USB port, you have to use USB to serial jender to connect it.

CPU Board

PC RS232C Cable



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: You can save and load the chip program and set options through the menu bar.

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: The section where you obtain the chips to active the robot. Click and drag the desired chip and put it under the start chip.

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: The waste basket is used to delete unused chips. To delete a chip, click the desired chip and drag it to the waste basekt.

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: X1 button is used to see the screen in normal size. : X2 button is used to see the screen in half screen. But in X2 mode you can not modify the program.

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(Ctrl + D) : Download button is used used to download download the created

program to

robot. Before download the program you must check the RS232 cable connection. 

: Run button is used to operate the robot when RS232 cable is connected.

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: Stop button is used to stop the robot when RS232 cable is connected. 6 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


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: WWW button is used to open the ‚RoboRobo‛hompage. This homepage offers the latest version of Rogic program and robot program.

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: Exit button is used to close the Rogic program. : X scroll bar is used to move in the x-axis when the chip program is too large so you can not see the whole program.

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: Y scroll bar is used when chip program is too large so you can not see whole program, scroll to see program.

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: This icon shows the connection between the PC and robot. When the PC and robot are connected robot are disconnected

(

(

)is displayed and when the PC and

)is displayed

File menu is used to save or load the program or to exit the Rogic program.

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: This is used to make a new program. The new program has only the start chip. If you are working on another program, save your current program before you 7 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


click new button. If you don’t the save chip program before you click new button, the program asks you whether it saves the working program or not.

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(Ctrl + O) : This is used to load flies in *.rpj form.

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(Ctrl + S) : ‚Save‛ is used to save program files in rpj form.

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: ‚Save As‛ is used to save chip program

with other names.



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: ‚Exit is used to turn off the rogic program. If the program was modified, Rogic program would ask you whether it saves program or not.



Setting menu is used to get rs232 function. 

: RS232 Setting is used to set the robot and computer. Generally the PC has two serial ports,where usually the left serial port is ‚Com1‛ and the right serial port is ‚Com2‛. Connect the download cable to the PC ’s left serial port(Com1) then click the RS232 Setting menu and select com1 in the rogic program .

If you cannot find the exact port, then check the ‚Auto‛ option. This option automatically find port. You can confirm the connection between the Robot and comp comput ute er by chec hecking king RS232 S232 conn onnect ection ion icon icon. .

(

). 10

RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


[!] Notice. Do not take out the RS232 cable when the program is searching the serial port. If you pull out the RS232 cable, the searching process is interrupted

and the tool box is is poped. poped.

After sacn process is completed, box that is shown below is appears.

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: Connect the cable with the computer and robot. 11 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


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: Disconnect the cable with the computer and robot

The mode menu is used to update the rogic program and the robot ’s botOS.

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: This menu does not work. To be maked. : The robot upgrade menu is used to download the latest version of BotOs to robot.

Before starting robot upgrade, you must turn off the power. Press the robot ’s power button and click ‚next‛ button. [ ] Notice 12 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


If you click ‚next‛ button without turning off the power, adove tool box will appear. You must go next step after turning off the power.

In step 2 turn on the robot’s power and robot upgrade process will automatically start.

Stay awhile until robot upgrade process ends.

[ ] Notice Do not pull out the RS232 cable in upgrade process. If the RS232 cable is not connected in upgrade process, upgrade process will be stoped and below screen will appear.



If upgrade process is completed correctly, adove screen will appear. Press ‚OK‛ button and Robot upgrade process will be completed.



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(F1) : The ‘Help menu’ shows you the Rogic program explanations. : This menu does not work. To be made. : ‘About Rogic’ menu shows the Rogic program version and Robot’s version. The rogic program and Robot version must be updated to latest version. Below screen shows Program version is 2.0. If the Robot’s power is off or connection with PC and Robot are not connected, Robot version is displied

‚Unknown‛.



All chips are moved by click-drag-click. Click chip which you need and drag and click

where you want to put. Then chip will will be put where you want.

You can make the program which makes the Robot work by adding chips. You must connect all chips you put and if you do not connect all chips, ‚block Error‛ will be appe appear ar. . Whe When n chi chip p is is cor corre rect ctly ly conn connec ecte ted d ( you connected. If

) will will be appe appear ar betw betwee een n chi chips ps

‘Block Error’ appears, identify

wheter

is present

between chips.



Drag Delay Chip to the DC Moter chip and click the DC Motor chip. Then the Delay chip will be added to the DC motor chip.

You can throw away the chip which you will not use by drag the chip to trash can. Then tool box will appear whether you want to throw away chip. Click ‚ok‛ button and then the chip will be deleted.



Drag the chip which you want to add and click where you want to put. Then Chip will added to between chips. Below pictures show example of how add the chip between chips.

First drag the DC Motor chip to where you want to add.

Click where you want to add.

The DC motor chip is added between Delay chips. 18 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


Deleting chip in chip program is more complicate. When you click chip, all chips that below chip you clicked are all selected. So, You must go through several step. Firsh the click chip you want to pick out. Then put the chips on empty space. And click the chips below chip you want to pick out and put chips on original place. Below pictures show example of how you pick out the delay chip between DC Motor chips.

Above picture shows the original chip program.

First click and drag the chip you want to pick out. Then chips that below chip you clicked will follow. Then put on the chips empty space.



After that click chips that you don ’t want to delete and put on the chips on original place.

The chip that you want to pick out is alone. So you can delete that chip.

You can copy the chip that you maked. Below pictures show example of how copy the chip.



Like above chip program, example will show how to Copy the DC Motor(FF) chip. First put the cursor on the DC Motor and press ctrl+C.(Do not click the chip.)

Move the cursor to place where you want to add and press Ctrl+V. Then chip will be copied at below cursor.



Like above picture While, if else, function chip have little triangle button on chip. If you click the triangle button then the chip will hide all chips that have included. By you click button again you can identify the chips that have hided.

Before downloading the chip program that you have made, you have to connect the RS232 cable between the robot and computer and turn on the robot’s power. Then click

‚Download‛ button. Then the chip program will be downloaded from the PC to the Robot by cable. If download process is successfully ended, ‚Download Successfully Finished‛message will appear. 22 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


[ ] error messages and solution

‚Block error" appears when you don ’t connect all chips. You must connect all chips or delete the chip not used.

‚RS232 connection Error ‛ appears when the RS232 cable is not connected correctly between the robot and the computer or when the robot’s power is turned off. Before you click download button you must identify RS232 cable connection and the robot’s power.

‚Download fail‛message appears when in download process the RS232 cable is disconnected.



If the chip program is too large or too many function in chip program, the robot can not afford that program. In this case ‚EEPROM OverFlow‛ message appears. When this message appears, you must delete all fuction that you don’t use and you must not make the chip program too large.

If you want to turn off the Rogic Program then click exit button. If the program is modified or not saved, the Rogic program will ask you whether save chip program.

The chip is the information block needed to control the robot. Each chip has meaning and by connecting chips, you can make program. By you click small retangular button you can specify chip’s detail option. Option button



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The function chip is chip that make robot to specific work by combinig some chips.

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: Makes new Function.

: when you click the ‘new function chip’, dialog box appear and you can enter the function name that you want to make.

Enter the name that you want.

Enter a function name and click the ‘OK’ button.



If you entered proper name, the new empty fuction would be succefully created.

To move the robot zigzag, the DC motor chip and Delay chip must be inserted appropriately

: The new name must be English or numerals that between four and six characters. The following examples are wrong cases.

The function name at least four characters and less than six characters, so 'ZIG' can not be the name of the function.



Because the name can be wrriten in only English or numerals, so you cannot use like !, @, #, $,%, Such as special characters.

The function is created below the new function chip. To use this, click the chip that you want to use and drag and paste at the bottom.



생성된 function 칩을 휴지통에 버리게 되면 위와 같이 function을 지울 것인지에 대해 물어보게 됩니다. If you click the 'yes', the chip disappear and if you want to reuse that function, you must be created to function again. Otherwise the chip remain in the list of function can be used again later.

: Start of the program

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: There is no option and by default start chip is fixed

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on the screen. Programming is started by connection chips below the ‘start’ chip.

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: You can not move the start chip .



: ‘DC motor chip’ is used to determine the speed and direction of

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the DC motors.

: If you click the option button, the DC motor setting

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dialog appears.

Motor Section

Foward

Direct Section

Backwar

Speed Section

The robot's output ports are eight and two output port to DC motors, so the robot can control up to four DC motors. First, check the motor section to select associated motor and decide forward or reverse direction at direct section. Finally, select the operating speed of the DC motor at speed section. Speed has a value of 0-15, representing the suspension, the maximum speed of 15 to 0 to have started. Speed has a value of 0-15, starting with 0 that means cease and will have maximum speed of 15. Until the next DC motor chip appears, DC motor chip sets the robot to move to the DC motor that was setted up. So you need delay chip to move robot specific time.

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: The DC motors has output port and it must be paired. (Port1 & Port2, Port3 & Port4, Port5 & Port6, Port7 & Port8) 29 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


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: In order to move the dc motor, you have to put the delay chip below motor chip. After a delay, the motor does not stop but will continue to maintain such status. Therefore, in order to stop the motor you have to connect dc motor chip that speed is 0.

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Below example is chip program that move robot forward for 1 second and backward 1 second and turn for 1 second.

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: Servo chip determines the angle of servo motor. 30 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


Servo motors are given to move the angle of 220 ° movements to a minimum of up to 214 numbers from 1 to split with the detailed settings can do.

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: By checking port, you can select servo motor that you want to move. If each servo motor is checked, It ’s move scale can be determined. Grid shows the movement range of servomotor and you can select degree by click the grid or entering value.



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Method 1) Put a any part into the axis of servo motor and turn right to the en d. Method 2) In rogic program set servomotor degree in 1 step and download to Robot. And Run chip program. You can see servo motor rotate to right end degree.

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: ( 패인 곳) of servo motor ’s axis indicate servomotor ’s reference. Because servo motor can be rotate for 220 degree, 107 Step means 90 degree like below picture.



Servo motor needs enough time to move set degree(about 1 second). If you don’t use delay chip, so servo motor chip doesn’t have enough time, servo motor will not move.

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: Voice chip operates voice board.

: Voice chip sends a signal to the output port and sets

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up as the Voice Board to act. If you press the option button, voice setting dialog will appear.

Voice-Board must be connected to one of the robot’s output ports. You can choose the output port in voice setting dialog box. The voice chip sends a signal that make sound that saved out to voice board through output port. 33 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


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: Dot Matrix chip operates dot matrix board.

: Dot matrix chip is used to display numerals, symbols

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and images on the dot matrix board. The output of the dot matrix board divided into character mode and image mode. In character mode, you can output the characters, numbers and symbols. And in image mode, more exceeding, drawing freely on the image output. If you click the option button that located in the upper right corner of the dot-matrix chip dot-matrix setting dialog will appear.

Dot-matrix board setring dialog is visible above the bar, consists of table that contain such as letters, numbers, colors and symbols, a rotation button (clockwise direction, counter clockwise direction), display screen and the output port settings.



Seclect the green color and press the ‘A’ of the table, A is displayed on the screen.



And set port that dot matrix board is connected. Then program that display green ‘A’ on assigned port is finished

Display screen can be rotated by 90 degree. The above figure is a result that 90 degrees clockwise, rotate.



Some letters, numbers, symbols is stored in table. you can select the contents of the table conveniently. The above figure is the example that selected heart orange '♥' symbol.

Unlike character mode that enters a fixed character, in image mode, you can display combination of the appearance of a random drawing. Using the above example is yellow, red and green colors appearance of the house.

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: When the dot-matrix chip to set up, it is necessary to link output port correctly. And if you want a dot matrix board changes the output continually, you need to at least 0.6 seconds to delay the action accurately. 37 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


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: On chip lights on the led or turns on the buzzer chip.

: On chips used when turning on the LED by or buzzer

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chip connected to the CPU board. If you click on the Options button Port ON Dialog box will appear.

Dialog box has 8 check buttons that representing the robot ’s output port. If the four LED connected to the output port, 1-4, check the port 1, port 2 and port 3, 4 in order to LED let light on.

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: You must use on-chip and off-chip together. If you use on-chip then you must use off-chip to each port work correctly.



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: OFF chip lights off the led or turns off the buzzer chip.

: Off chip used when turning off the LED by program or buzzer chip connected to the CPU board. If you click on the options button at off chip, port off dialog box appears.

Dialog box has 8 check buttons that representing the robot ’s output port. If the four LED connected to the output port, 1-4, and if LED is already lighted on, check the port 1, port 2 and port 3, 4 in order to LED let light off.

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: You must always be used with off-chip and on-chip. If you use on-chip then you must use off-chip to each port work correctly.

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: The figure below shows an example of using the on-chip and off-chip.

If you use on chip and do not use off chip after on chip, then LED will not go out. So, in left picture chip program LED which is connected to port 1 and 2 will light on and go out after 1 second. And then LED connected to port 3 and 4 will light on and go out after 1second. But in right picture chip program LED connected to port 1 and 2 will not go out during LED connect to port 3 and 4 working.

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: Variable chip creates new variable and initialize, or sets up new value in existing variables.

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: Variable is number that changes its value by program. In Rogic, you can use maximum 16 variables. Using variable chip user can make more complicate program. User can make or initialize or modify value by Variable chip or calculate chip, 40 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


and compare variables by using If chip or While chip. So if you want use variable, you must use variable chip, calculate chip, If chip and while chip

Below pictures shows example that initialize and make variable by using variable chip. Put on variable chip in chip program and press option button at variable chip then Variable Setting dialog box will appear.

First, in order to make variable, select ‚New var.‛.

Then (대화상자) will appear whether you want to make new variable. Press

‚Yes‛.

Enter new name ‚A1‛. Variable name can be only one or two character and only use English and number. And press ‚OK‛button. 41 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


Above picture shows box that initialize variable number. Defalt value is set 0 and you can set other number. Enter the value at 10 and press ‘ok’.

Then variable is made and it has value 10 and name is ‘A1.

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:

Variable name can be only one or two character and only use English and numeral letter. If you use more than 3 character as variable name, above warning message appears.

Variable name must not start with numeral letter. If you use variable name which start with numeral letter then above warning message appears.



You can only use value as integer.

In Rogic, you can use maximum 16 variables. If you make 17th variable, above message will appear.

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: Calculate chip is used to calculate variable and constant. : Calculate chip is used to add or subtract or multiplicate or divide variable and constant. Press option button at calculate chip then calculation box will appear.



첫번째 피연산자 연산자

두번째 피연산자 연산 결과

User can set two operands, operator and variable that is saved the calculation result. Operand can be seleted as variable or constant.

If A1, AD is already made, the variable appears the list of operand. If you select A1 or AD, variable is selected as operand and if you select value, constant is selected as operand. You have to enter the constant value when you select the value.



Above picture shows the example that adds A1 and AD and stores its value at A1. If A1 has value by 5, 15 will be saved at A1.

If you click the operator button, add calculation will be change subtract calculation. If A1 has value by 10 and AD has value by 5, 5 will be saved at A1.



You can calculate multiplication or division by click the operator. If A1 has value by 10 and AD has value by 5, 50 will be saved at A1 when you calculate multiplication and 2 will be saved at A1 when you calculate division.



Above picture shows example that select operand by 2. If A1 has value by 10, 12 will be saved at A1.

In addition, you can insert the calculation result as operand.

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:

Variable has value between -128 and 127. So you must initialize the value inside the range.



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: Delay chip is used to delay specific time.

: To operate the robot, it needs appropriate delay. Delay chip is used to delay the state of robot in specific time. If you press option button at delay chip then delay setting dialog box will appear.

Increase button

Reduce button

Unit is 0.1 seconds and it is possible 0.1 seconds to 25 seconds with the delay. You can use the keyboard or mouse to enter the delay.



If you repeatedly perform the same task, it is more straightforward using while chip than repeatedly using the same chip.

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: While chip is used to repeat particular tasks. : The robot will perform a lot of simple repetitive tasks. While chip is the chip that repeats such actions, it consists of chips that mean start of the repeat and that mean end of the repeat. While chip has infinite repeat mode and condition repeat mode. User can set mode by click the option button. As shown below to the left, if you setting the ‘∞’symbol, while chip is set the infinite repeat mode and repeat chips between while-chip infinitely. And as shown below to the right, condition repeat mode that setting the condition and repeat when conditions are placed between the while-chip is true is also available. (It is possible to set condition a variable and variable or variable and number)

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: If you use while-chip as infinite repeat mode, it repeats infinitely so chips that outside of the while-chip is not operate. 49 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


If you use while chip and it doesn ’t satisfy end condition, it runs endlessly. Then another chips that not in while chip will not run permanently.

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: Below picture is the example of using while chip to move the robot forward infinitly.



: Below picture is the example of using while with variable chip

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When the while chip works, calculate chip will operate, so ‘A’ will increase by 1. When the first time, ‘A’is equal to 1, so the while chip satisfy condition. The while chip will work 2 times because then ‘A’ will be 3 and don’t satisfy the condition.

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: Break chip is used to come out from closest while loop. : In the while chip, if the chip program meet the break chip, then the chip program run from chip that out of while chip.

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: The break chip is not used without while chip. 51 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


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: Below picture is the example of using break chip.

Above chip program is reapeatly check sensor and if sensor find object then break out the while chip so the chip program end.

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

: The loop chip is used to repeat program with specific times. : The while chip is used to reapt tasks infinitly or check condition by using variable chip. But if you use the while chip and you want to repeat tasks specific number of times, you may use variable and set condition to work and this process is so complicate. The loop chip simplified



while (

chip.

The (

) chip

indicate start of

loop

and the

) chip indicate loop end. You can specify the number of repeats

in loop setting dialog box. Below picture shows the example of setting that loop chip work 3 times.

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

: The number of repeats can be selected from 0 to 127.

: The below picture shows the example that moves robot forward for 1 second and backward for 1 second at 3 times.



: The If chip checks condition and runs program depanding on the



state. 

: The robot needs sensor to react with external environment. environment. So robot needs the chip that checks the condition to use sensor. By click the option button below setting option is displayed.

If you check‘Sensor Port, the ‚if chip‛ will check input port and if you check ‘compare’, the ‚if chip‛will check condition



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: Below picture is the example that using ‘if chip’.

If sensor connected to port 1 gives ‘yes’signal, the robot will turn counter clock wise for 1 second. And if sensor gives ‘no’ signal, the robot will move forward.

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: Below picture is the example that using ‘if chip’and variable chip.

This program will run loop 4 times and ‘A’will increase by 1 each time. In this program ‘if chip’ is set to operate when A is equal to 2. So when A is equal to 2, 55 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


the robot



will move forward forward for 1 second. Otherwise motors will not work.

: Remote control chip operates other chips when the condition of remocon and condition that you determined are same.



: 리모컨칩은 리모컨 송신부(사용자가 로봇으로 명령을 보

내는 부분)의 스위치가 눌러진 상태에 대하여 수행할 동작을 지정할 수 있는 칩입니 다. If you click the option button, remocon key setting dialog appears.



You can see the image that looks like remocon in remocon key setting box. In here, user set the button and input port.For example, if you want to deal with the case that remocon driver is connected input port #7 and button #1 is pressed, Set the port #7 and press the button #1 and click the OK button. Next put the chip that you want to operate in remote chip. The remote control chip can also deal with the case that more than one button is pressed.

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: You have to use the Remote condtol chip inside the while chip, because the condition is checked repeatedly.



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: Below example is the usage of remote control chip.

If you press the button #1, the robot will move forward and if you press the button #2, the robot will move backward. If you press nothing, the robot will stop.



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: The IR sensor chip operates chips when the condition of connected input port is true.

: The IR sensor chip operates chips when the condition



of sensor is same as the condition that you determined. If you click the option button at IR sensor chip, you can choose the input port and condition that you want to deal with.

IR sensor chip checks the condition of input port that you chose. And if the condition is true, it operates chips that is put between the IR sensor chip. After the operating is over, it checks the condition again, and determines whether operates chips again. So if the condition of input port is same as the condition that you determined, chips between the IR sensor port is operated 59 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


repeately.

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: You have to use the IR sensor inside the while chip, because the condition is checked repeatedly.

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: Below picture shows example of using IR Sensor.

If the condition of IR sensor that connected input port 1 is ON, the left wheel of robot moves bacward for 1 second. And if the condition is OFF, the wheel of robot moves forward.



: If the contact switc h’s state match to the chip option, the chip



program works which is in contact switch chip.

: The contact switch chip is chip that works specific



work

during corresponding switch is ‚on‛ or ‚off‛. If you click the option

button at contact switch chip, you can select sensor port and switch (조건) like below picture.

The contack switch chip check corresponding port swich whether ‚on‛ or

‚off‛. If switch matchs with chip ’s option then, the chip program works in contact switch chip. And After all chip in contact switch chip works, again contact switch chip check contact switch and when contact switch option matches to input port, contact switch chip works else next chip works.

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: The contact chip needs while chip because it needs to reapetely check input signal. 61 RoboRobo ⓒ 2008.All rights reserved. ㈜로보로보, RoboRobo.,LTD. http://www.roborobo.co.kr


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: Below example shows the use of contact switch.

If the switch that connected to input port 1 is ‚on‛,then the DC motor will go forward, else the DC motor will go backward.



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

: Rand chip sends ‘on’ signal to one out port ranmdomly.

: Rand chip randomly select one output port among the output port 1-4 and send the ‚on‛signal. If you set delay, then every delay second It works. When the one output port is selected and you press switch that connected corresponding input port, then the chips in the rand chip will work.

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: If you want chip in the rand chip to be worked, you have to give signal corresponding rand chip s random output signal by connecting switch. Rand chip ’

needs while chip because it needs to reapetely check input signal





: Below picture show you example of using

rand chip

“

”

If the output port 1-4 are connected each LED and input port 1-4 are connected to each switch, then every one second randomly one LED light on. When the LED that is connected to output 2 is light on and you press switch that connected input port 2, then the Dot matrix will display characters have saved.


Robo robo program

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