Buku Panduan Manual Kirobo
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Transcript of Buku Panduan Manual Kirobo
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Exclusive software for autonomous robot KIROBO
MR-9132E USER’S MANUAL I =ALPHABET OF KIROBO=
Copyright © 2! EK "#$#% CO&' ()*&
Icon+or,s-web-2E
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2!1
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Icon+or,s-web-2E
TABLE OF CONTENTS
I& I%)RO*3C)IO%
4.5 %O)ICE 6OR 73#R*I#%8
425 8E))I%7 3$ 9ICO%+ORK8: ;
45 #3)O%O2
45 $RO7R#< )?#) BR#%C?E8 --- )O3C? 8E%8OR >
4>5 $RO7R#< )?#) BR#%C?E8 --- (I7?) 8E%8OR >@
4;5 $RO7R#< 38I%7 #RI#B(E8 ;
4!5
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Icon+or,s-web-2E
I. INTRODUCTION
[1] NOTICE FOR GUARDIANS
$(E#8E RE#* )?E 6O((O+I%7 +I)? O3R 73#R*I#% BE6ORE 8)#R)I%7&
GIntroHuction Icon+or,s is HeHicateH software' HesigneH for use with an autonomous robot ,it
9KIROBO:' HevelopeH by EK "apan Co&' (tH& Icon+or,s anH KIROBO have been HevelopeH in
orHer to help beginners in autonomous robotics to experience the Joy of programming anH to
Hevelop their interest in science anH technology&
G3se Restriction $olicy
・ The IconWorks software is freely available but, its copyright is the exclusive
property of EK Japan Co., t!.
Re-use in any fashion whatsoever' such as reprinting' reHistribution' sale' alteration or
moHification' is strictly
prohibiteH&
・ Changing or "o!ifying all or part of the software into a rea!able for", by way of
reverse asse"bling,
Hecompiling' reverse engineering or any other way whatsoever' is prohibiteH&
G*isclaimer $olicy
・ The user un!erstan!s an! assures that EK Japan "akes no guarantee as to the
accuracy, practicality an!
creHibility of this manual anH use of the software or the results arising there from& 6urthermore'
the user accepts that EK "apan ma,es no compensation for any Hamage incurreH as a result of the
installation or use
of this software' which will be at the users sole responsibility anH liability&
・ EK Japan un!ertakes no responsibility nor obligation to provi!e any kin! of
services such as #but not li"ite!
to0 technical support' maintenance' improvement of this software&
G$lease Hirect any inLuiries you have to ---
EK "apan Co&' (tH&
2-.=- )ofuro-
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Operating 8ystem /O80 +inHowsA$ +inHowsista
C$3
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Icon+or,s-web-2E
GCaution
)his software senHs Hata using the heaHphone terminal& #s such' there may be cases where
Hata
communication is not successful' particularly when the heaHphone signal output components ofthe $C are
significantly HegraHeH or HamageH& If Hifficulties arise when transferring Hata' before proceeHing
further'
please chec, the conHition of your harHware& If you continue to have Hifficulties please test the
Hata transfer
operation using another $C&
G%otice to 7uarHians
)his software is intenHeH for stuHents of . years olH anH above at an elementary school on the
presumption
that he or she has a basic unHerstanHing of the operation of a $C& If not' supervision by a
guarHian is strongly
recommenHeH&
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[2] SETTING UP “ICONORKS!
P?ow to install Icon+or,s
F"# $%&"'()P
*ownloaH the Icon+or,s software in accorHance with the instructions on EK "#$#%s homepage&
httpDwww&ele,it&co&JpenglishHownloaHinHex&php
.& 8ave the Icon+or,s software for 9+inHowsA$: from the HownloaH screen in an appropriate folHer
accorHing to
the instructions that appear on the screen& /)he file nameH 9Icon+or,s8etupE: is saveH&0
2& :Icon+or,s8etupSSSS&EAE: is createH in the specifieH folHer&
& *ouble-clic, the 9Icon+or,s8etupSSSS&EAE: icon to start the software installation process&
S )he numbers that come in the part of 9SSSS: change HepenHing on the Icon+or,s version&
>& Restart the $C when 9I%8)#((#)IO% CO
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/>0 8et up the short cut&
P3ninstalling Icon+or,s
.& Open the control panel anH clic, 9#HH or Remove $rograms:&
2& 8elect Icon+or,s from the program list anH clic, 9Remove:&
& Clic, 9OK: when the message 93%I%8)#((#)IO% CO
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F"# $%&"'(*$(+,
*ownloaH the Icon+or,s software in accorHance with the instructions on EK "#$#%s homepage&
httpDwww&ele,it&co&JpenglishHownloaHinHex&php
.& 8ave the Icon+or,s software for 9+inHowsista: from the HownloaH screen in an appropriate folHer
accorHing
to the instructions that appear on the screen& /)he file nameH 9Icon+or,sistaSSSE: is saveH&0
S )he numbers that come in the part of 9SSS: change HepenHing on the Icon+or,s version&
2& *ouble-clic, the HownloaHeH file' anH 9setup&exe: is createH in the folHer&
& *ouble-clic, 9setup&exe:' anH follow the instructions that appear on the screen&
PInstallation flow
*ouble-clic, the icon&
6or +inHowsista' the message as shown on the right might appear
after the above icon is Houble-clic,eH&
+hen this message appears' clic, 4#llow5&
%oteD *epenHing on your $C environment the letters in the
installation screens might not be HisplayeH correctly& ?owever'
this is not a fatal error anH the installation process can be
continueH&
/.0 Icon+or,s installation screen
Clic, 4OK5&
/20 Confirmation screen
Clic, the button&
Icon+or,s-web-2E
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)he message that might be HisplayeH
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/0 Installing group
Clic, 4Continue5&
/>0 Installation is completeH&
Clic, 4OK5&
P3ninstalling Icon+or,s
.& Open the control panel' anH clic, 9$rograms:' anH 93ninstall a program:&
2& Right-clic, Icon+or,s anH clic, 93ninstall Change:&
6ollow the instructions that appear on the screen' anH clic, 9Continue: anH then 9es:&
Icon+or,s-web-2E
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[3] AUTONOMOUS ROBOT AND PROGRAMMING
+hat is an 9autonomous robot:T
#n autonomous robot gathers information about its surrounHings' processes the information gathereH
through itssensors' ma,es JuHgments anH senHs commanHs to move a boHy&
#n autonomous robot is able to carry out a 9routine: or 9pre-HetermineH tas,: but also ma,e JuHgments
anH
actions' without external assistance or guiHance' baseH on its environment anH surrounHings&
#n autonomous robot can be HefineH by the following componentsD
.0 8ensor
20 Computer anH program
0
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toucheH when a pressure is applieH to it' etc& & )ouch sensors can
be some of the most simple anH are probably the most familiar sensors for us& )hey
are also mounteH on KIROBO anH can be useH to Hetect obstacles or serve for
conHitional JuHgment Hecisions when presseH&
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KIROBOs touch sensor
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2 C"4+# ,%& #"6#,4
#n autonomous robot is pre-programmeH with what actions to ta,e HepenHing upon
certain circumstances& )he program is storeH in the computers memory /R#
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Icon+or,s-web-2E
KIROBOs microcomputer
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InsiHe the KIROBO geareH motor&
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)he motherboarH is a $CB or $rinteH Circuit BoarH& It is a means of connecting the components of the robot& )he
C$3 or Central
$rocessing 3nit which Hoes the Vwor, of the program' the R#< or RanHom #ccess
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Icon+or,s-web-2E
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[] ABOUT ICONORKS
P 8imple anH easy-to-learn
It is HesigneH to help beginners to learn how to program an autonomous robot
with the greatest ease&
)o control an autonomous robot reLuires a high-level of ,nowleHge& In
Icon+or,s' however' a beginner can learn programming by manipulating icons
which are interpreteH as a commanH --- all you have to Ho is to place colorful icons' li,e when you play
carHs' in
accorHance with the type of a robot you want to ma,e anH how you want it to move&
Icon+or,s has been HesigneH for beginners to master the basics of
programmingU therefore' the functions containeH in it are ,ept to a
minimum& %evertheless' there are an abunHance of possibilities available
for you to ma,e the most of it& It will all HepenH on how anH what you want to learn&
RemoHeling a robot anH challenging competitions such as robot Hancing or line tracing
will be a lot of fun tooW
P #bout 9sounH communication:
)han,s to 9sounH communication:' a completeH program can be transferreH easily to the robot&
Conventionally' it is necessary to buy a special communication
cable or a piece of aHHitional harHware HepenHing on the $C&
In Icon+or,s' however' a program can be easily transferreH using
sounH anH the encloseH program transfer cable&
XXX
[>] USER SUPPORT INFORMATION
#ny Luestions' suggestions or reLuest for an upHate of the information' please senH an inLuiry toD
EK "apan Co&' (tH&
2-.=- )ofuro-
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II. THE BASIC SCREEN AND ICONS
L+’( (+,#+ I"%"#;( /+7 $%$+$,: (#%
Or' Houble-clic, the short-cut icon on the Hes,top&
(E6)-C(ICKI%7 #% ICO% O% )?E I%I)I#( 8CREE% +I(( )#KE O3 )O I)8 #88OCI#)E* 8CREE%&
[1] STARTING AND ENDING ICONORKS
CREATING A PROGRAM? GO@.
$RO7R#< E*I)I%7 8CREE% +I((
O$E% 3$& O3 C#% CRE#)E O3R
O+% $RO7R#< O% )?E 8CREE%
E)PLANATION? HELP
O3 C#% (E#R% #BO3) )?E 38#7E
#%* 63%C)IO%8 O6 ICO%+ORK8&
Icon+or,s-web-2E
)his is the Icon+or,s welcome screen&
?ere is how to start it&
G8tart
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Icon+or,s
Icon
STARTING ITH A SAMPLE
PROGRAM? TR
# 8#
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T$ %T&'T (C'E&TI)* & +'$*'&- ・・・ TE E/ITI)* %C'EE) )EE/% T$ 0E &CTI1&TE/.
(E6)-C(ICK )?E 9CRE#)I%7 # $RO7R#
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I%6OR *I66ERE%) $RO7R#
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$RO$ER) #RE#
S )he HisplayeH contents will change
HepenHing on the selecteH icon&
)his area is to Hisplay the icon properties anH to set the values of variables or
conHitions& +hen there is no information for set up in the icon' a 9current area:
frame will be HisplayeH on the $RO7R#
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)he flow from 9programming: to 9 moving a robot: is HescribeH below&
O$E% Creates a new file or opens a file&
$repares a wor,sheet to write a program /$RO7R#
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[] BASIC OPERATION
Basic operation
#rrange icons on the screen using left-clic, anH right-clic, accorHingly&
Clic, the icons for robot movements
anH arrange them on the screen to
create an action program&
Icon+or,s-web-2E
C:$;
Icon tray
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C:$;
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8E(EC)I%7 )?E 7RI*
T7$( 5#,4 '$::
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8E(EC)I%7 ICO%8 /8E(EC)I%7 # 8I%7(E ICO%0
8elect one )o select more than two' continue to left-clic,&
(eft-clic, the icon placeH in the programming area& )he icon flashes anH enters a 98E(EC)E* 8)#)E: conHition&
+ith one icon in a 98E(EC)E* 8)#)E:' you can continue to select multiple icons by left-clic,ing&
8E(EC)I%7 ICO%8 /8E(EC)I%7 # B(OCK0
RI7?)-C(ICK the corner griH of the bloc, RI7?)-C(ICK the corner griH of the bloc, in a Hiagonal Hirection
)his moHe is for when you want to select an area in one action /Bloc, 8election
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S Icon Hesigns on the ICO% )R# are simplifieH&
ICO% %#] ICON LIST
P:,( #5# +" P,6 32-3 5"# , &+,$:& :,%,+$"% "5 +7 5%+$"%(.
EA$(#%#)IO% O6
$RO$ER)
)?E BE7I%%I%7 #%* E%*I%7 ICO%8
$RO$ER) D %O%E
)hese icons are pre-arrangeH on the sheet&
*eletion anH copying is not possible but'
it is possible to move them&
)here are no BE7I% anH E%* icons on the ICO%
)R#&
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/CC+0
)his is the start point of a program& )he
program always begins with this icon
/Execution always commences here&0
)his is the terminus of a program&
)he program enHs with this icon&
)he robot turns left
forwarHs&
)he robot turns
right forwarHs&
)he robot turns left
bac,warH&
)he robot turns
right bac,warH&
)he robot rotates
CC+&
Icon+or,s-web-2E
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)he speeH can be set
at three levels /high'
meHium anH low0&
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It sets the length of
time a bra,e is applieH
anH the motor stops&
Can be set within the
range of &. - .
seconHs&
$RO7R#< CO%)RO( ICO%8
$IO)-)3R%
C(OCK+I8E
/C+0
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meHium anH low0&
Input the length of
waiting time&
Can be set within the
range of &. - .
seconHs&
Input the number of
repeats by numbers&
Can be set within the
range of .-2;;&
8elect (ight 8ensor
. or 2&
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%O%E ---
ICO% %#
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Is useH as a Joint or spacer for isolateH
icons&
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8et a HesignateH variable value or enter a
specific value&
Input any value which can be between -2;;&
%O%E
%O%E
---
8elect )ouch 8ensor .
or 2&
---
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Can be set at four levels
between low anH
high-pitcheH tones&
E*I)ORI#( B3))O%8
Reference
page
Icon+or,s-web-2E
(E*
)urns on anH off the (E*&
8et (eH
BEE$
# beep sounH continues for &2 seconHs&
8et Beep
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.
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III. BASIC FUNCTIONS
)he
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ensure sounHs are emitteH from the $C&
.
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6I(E
%E+ /%0 &&&Opens a new blan, program area on the active sheet&
.0 96I(E/60: [9%E+:/%0
# new sheet will appear&
O$E%/O0 &&&Opens a saveH file into the active sheet&
.0 96I(E/60: [ 9O$E%:/O0
20 +hen opening a new file on the sheet' the following
Luestion is as,eHU 9#ny program being eHiteH in the
current program area will be overwritten& OKT:
$ress /0 after chec,ing there is no ris, to your Hata&
20 8elect the file on the selection screen& 0 O$E% /O0&
+hen opening a new file on the sheet being useH' a confirmation box appears&
8elect 9es/0: if it is safe to overwrite the existing Hata or program&
Icon+or,s-web-2E8E(EC)
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I
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8#E #8/E0&&&when you want to save a program for the f irst time or using a Hifferent name
.0 :6I(E:/60 [ :8#E #8:/E0 20 Input the file name into the winHow which appears anH press 98#E:/80&
S #n extension is automatically aHHeHU there is no neeH to enter it&
'ET2') T$ TE WEC$E %C'EE) ・・・ Exit the progra" e!iting screen an! return to the welco"e
screen.
+hen you want to finish eHiting the program' please follow the following proceHure' or clic, the 9C(O8E: button
on the winHow&
:6I(E:/60[:RE)3R% )O
)?E +E(CO
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E*I)I%7
ER#8E &&& *elete the selecteH icon&
$ut the icon you want to erase into the 98E(EC)E* 8)#)E: /blin,ing0& /SRefer to $age .1&0
Clic, 9E*I): [:ER#8E:& Or' (eft-clic, 9ER#8E: in the 9E*I): tray&
CO$ &&& Copy the selecteH icon into the HesignateH griH&
$ut the icon you want to
copy in the 98E(EC)E*
8)#)E:&
Or'
L5+-:$; /C,+$"% “BEGIN ,%& “END! $"%( ,%%"+
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/C0EK "#$#% CO&'()*&
Or'
/C,+$"%
“BEGIN! "# “END! $"%( ,%%"+
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3%*O &&& Returning to the preceHing 9E*I): screen
8ometimes you cannot use the 93%*O: commanH' in which
case a gray icon is HisplayeH&
9E*I): [:3%*O (#8) #C)IO%:' or left-clic, 93%*O: in the
9E*I): tray
C(E#R &&& Clear the selection&&& cancel the selection of icons on the 9E*I): screen&
+hen the icons or griHs are in the 98E(EC)E*
8)#)E: /blin,ing0
S+hen this is HisplayeH' you
the preceHing
cannot return&
screen
S)he 98E(EC)E* 8)#)E: will be cancelleH&
Chec,
line connection
Or'
Or'
9E*I):[: C(E#R 8E(EC)IO%:' or left-clic, 9C(E#R:/R0 in the 9E*I):
tray
)OO(
8%)#A-C?ECK &&& )he program can be transferreH to the robot when complete& )he program cannot be sent if it is
incomplete&
# syntax-chec, is always performeH on the program before senHing&
9E*I): [ 98%)#A C?ECK:' or left-clic,
9C?ECK: in the 9E*I): tray when a program has
been createH&
Or'
)he 8%)#A C?ECK is Hone in three consecutive steps& It changes to 98E%*:
only when all the steps have been completeH sucessfully&
Chec,
Confirms if the lines are correctly connecteH anH iHentifies any connection error by flashing&
line connection
OK OK OK
Chec,
SEND
0'&)C・E'*E
Chec,
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$$+・'E+
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[2] PROGRAM TRANSFER
+hen the 8%)#A-C?ECK is completeH anH the 98E%*: button is HisplayeH' confirm if the cable is connecteH anH
senH the
program Hata to the robot&
Below are the preparations neeHeH for the Hata transfer&
S $reparing for the transfer
8E%* &&&Insert the program transfer cable to senH the program from $C to the robot&
O% )?E $C 8I*E O% )?E KIROBO 8I*E
+hat is neeHeH for for the
# program transfer cable /bunHleH with the
transferT
,it0&
KIROBO
I%8ER)I%7 )?E C#B(E
Insert the program transfer
cable into the heaHphone
Jac,/plug0 of the $C anH the
Jac,/plug0 on the robot siHe&
)his is the sign of
an heaHphone terminal&
)he Jac, /plug0 on the motherboarH
S $reparing for the sounH communication
#*"38)
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Close the winHow of $RO$ER)
when confirmation or change is
Hone&
$RE$#RI%7 )?E ROBO) )O RECEIE )?E $RO7R#<
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[3] PROGRAM E)ECUTION
+hen the program is transferreH successfully' move the robot&
EAEC3)E )?E $RO7R#<
.0 +hen the transfer has been successfully completeH'
press 8+. again to execute the sent program&
8)O$$I%7 )?E ROBO)
.0 (E*2 flashes while the program is
executeH& ou can stop the robot by
pressing 8+. Huring program
execution&
20 *epenHing on the program createH' the
robot may continue to operate even if
the execution of the program is
complete& In this case the robot
continues even if (E*2 is no longer
flashing& )o stop the robot' simply turn
off the power&
Icon+or,s-web-2E
KIROBO 4"+7#
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I*. BASIC OPERATION PRACTICE
[1] THE ICON FUNCTIONS AND PROPERT SETTING PRACTICE
8E))I%7 # $RO$ER)
)here are some icons which allow the setting of
aHHitional properties& (eft-clic, the HesireH icon
anH the current setting will be HisplayeH in the
property area& Enter or select your HesireH value
anH confirm by 98E):&
/EA#
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your unHerstanHing of these techniLues&
Icon+or,s-web-2E
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8E%*
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?ow can the robot be maHe to stopT
Execute a 98)O$: commanH& )here are 2 commanH icons for 98)O$:' but we will use 9
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)he ?ow HiH the robot
robot shoulH move forwarH anH stop about seconHs later&
moveT
(ets try to rema,e this program but' this time not incluHing 9
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#s explaineH' there are 2 icons by which you can stop movements& +hat are the Hifferences between themT
Compare the commanHs& /.0
9BR#KE:
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E+
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$ractice the property setting of
9&
3se 9
open /vacant0 frame areas&
MO*E
3se 9CO$: anH layout the
icons as illustrateH on the
right-hanH siHe&
3se 9
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“FORARD!
STOP M&$4
“FORARD“
H$67
Icon+or,s-web-2E
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If you want to repeat the same movement' how can it be HoneT %ow' we will learn about using 9RE$E#): icon&
)o start with' please prepare the following program' senH anH execute&
98)#R):-9RE$E#):/once0-96OR+#R*:-9+#I):/.seconH0-9BEE$: /timbre 05-9
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$RO$ER) 8E))I%7 8CREE%
Enter the number of repeats using numbers& Can be set within the range of .-2;;&
SOnly real numbers can be useH /no fractions0&
?ow to change the setting
/EA# -
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/C0EK "#$#% CO&'()*&
to
8E%*
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Example of a program to aHJust the running Hirection of KIROBO /to enable KIROBO run
straight0
KIROBO has 2 separate geareH motors to rotate the tires on the right anH left siHes& Even though 2 motors loo, the
same' the
motor specification is not always exactly the same' which causes KIROBO to run more or less curveH&
)herefore' we recommenH users to Hevelop a program with the exclusive software Icon +or,s for correction of
running Hirection
of KIROBO so that it runs straight&
)he following program is an example& $lease try by yourself how it goes anH also challenge Heveloping other
programs of your
own&
G. Chec, how your KIROBO runsW
6irst' lets see how straight your KIROBO runsW
In which Hirection Hoes it runT Chec, by T
using a program inHicateH below&
/EA0 +hen KIROBO runs graHually to right
G$rogram Example
4Explanation5
. #HH )3R% (E6) icon before 6OR+#R* icon&
S +hen your KIROBO graHually runs to the left' then aHH )3R% RI7?) icon insteaH of )3R% (E6) icon&
2 Repeat 6OR+#R* movement as shown above by setting the number to repeat in accorHance with the running
Hirection
of your KIROBO& #HJustment is also possible by changing the turning speeH&
Insert the above program in the main program to the location where you want your KIROBO run straight&
# program to correct the running Hirection HepenHs all upon how your KIROBO moves in Hefault& 8o' please refer to
the above
program anH the explanation anH ma,e a program appropriate for your KIROBO&
Icon+or,s-web-2E
Change the program to correct the running
course to left little by little&
. 2
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# $RO7R#< )?#) BR#%C?E8
+hen ma,ing a program' it is often recommenHeH to 9Hraw a
flow chart:& +hat is a flowchartT
# flow chart is useH to clearly express a series of proceHures
when Hesigning or correcting a program& )he flow chart is
helpful to explain your iHeas or organiMe your thoughts& )here
are various ways to Hescribe the flow chart& In this manual' the
symbols shown on the right-hanH siHe will be useH for the sa,e
of simplicity&
+hen you Hraw a flow chart' these symbols will be useH in
combination along the program flow&
(et us illustrate by the flow chart how KIROBO moves&
]KIROBO is loo,ing for a soccer ball& If it finHs a ball' it runs to
the ball anH pic,s it up&:
)he above can be translateH into the flow chart on the right&
+hen an autonomous robot moves' it Hetects its environment
using the sensors anH JuHges what action it shoulH ta,e next&
In KIROBOs case' it will be li,e this&
In response to the Luestion ]?ave you locateH a ballT:
[ In case of ]es]' ]It runs to the ball]&
[ In case of ]%o]' ]It loo,s for the ball]&
8o' the next action HepenHs on the result of a given conHition&
(i,ewise' the program must be maHe for the robot to ma,e a
JuHgment HepenHing on the conHition' such as ]*o xxx in case
of yyy anH MMM if not]&
3se this flow chart when you create a program or chec, the
createH program&
[2] PROGRAM AND FLO CHART
Icon+or,s-web-2E
#ttacheH to both the beginning anH enH terminal
of the program&
CorresponHs to each of the computer processprocessing actions&
JuHge
*eciHes which course to select
HeciHe
HepenHing on a conHition
combine
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- >2 -
/C0EK "#$#% CO&'()*& 8hows the exit or an entrance to
another place on the flow chart&
3
8hows the Hirection of the processing
flow&
8)#R)
(oo,ing for a ball
(ocateH a
NO
ballT
Run to the ball
$ic,eH up
NOthe ballT
ES
E%*
ES
&6@
&6@
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[3] PROGRAM THAT BRANCHES --- TOUCH SENSOR
F#"%+
M"(
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E$+7# “ES! "# “NO! $"% 4(+
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)his icon as,s whether the touch sensor is 9O%: or 9O66:&
+hen the sensor is ]O%:' place ]E8]' anH the program follows this
path when the sensor is pusheH&
+hen the sensor is 9O66]' place ]%O]' anH the program follows this
path when the sensor is not pusheH&
(E)8 )R $(#CI%7 )?E O)?ER CO0 Connect all the icons up using lines&
“4"( 5"#',#& '7% %"+ (7&!
.0 +hen not pusheH' place %O because electricity isn\t flowing through the touch sensor&
20 Change the 96OR+#R*: icon to the low speeH&
0 Connect all the icons up using lines&
BR#%C?I%7 $RO7R#< RE73(#)IO%8
Icon+or,s-web-2E
T7 (%("# $( ON.
T7 (%("# $( OFF.
)he icon name D -
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%ow' lets place the ]repeat enHlessly: icon&
*o you recall which icon ma,es the robot move continuously until the power is turneH offT
It is 9(OO$:&&&
)he completeH program is as shown below& 8enH it to the robot anH confirm how it wor,s&
8E%*
)he same program is available from the initial screen ]8tarting from a sample program]--- ]using step2 touch
sensor]-]reversing
with the touch sensor]&
S *etaileH guiHance about this sample program is given on $age > of KIROBO 38ER8
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L+’( :,#% +7 #:( 5"# B#,%7 ,%& M#6@
# brancheH program must always be mergeH into one line& +hen a program is brancheH for several times' ma,e sure
to merge
two brancheH lines that are brancheH most recently first&
+e recommenH you' when you ma,e a program with branches' to ma,e it loo, visually simple so that you will ,now
which
brancheH lines neeH to be mergeH&
P Example of a correct program with 2 pairs of Branch anH
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[] PROGRAM THAT BRANCHES --- LIGHT SENSOR
#s well as the touch sensors' there are 2 light sensors mounteH on KIRORO& (ets stuHy a program using a light
sensor&
G?arHware
6rom the variety of light /optical0 sensors available' the one useH on KIROBO is a
]photo-transistor]& +hen it finHs /senses0 light' an electric signal flows' this informs the
microcomputer that it has founH a light&
#,+( +" :$67+
# light sensor is susceptible to the influence of surrounHing lightU therefore' its sensitivity
must be aHJusteH accorHing to the surrounHing conHitions by turning the resistor type aHJuster
on the motherboarH&
G$rogram
$rogram branches off if a light sensor has founH a light /O%0 or not /O660&
(ets place the light sensor icon anH set its property&
8etting the property means which of the 2 light sensors on KIROBO you want to monitor&
$RO$ER)
8elect either (ight 8ensor . or 2&
)his is how you change the setting&
/EA#@ -
/C0EK "#$#% CO&'()*&
(ight sensor icon
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Icon+or,s-web-2E
(E)8 $(#CE ICO%8&
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Icon+or,s-web-2E
G3seful 8hortcuts for the Operation of Icon+or,s Once you get useH to operating Icon+or,s'
try some more aHvanceH techniLues to program more speeHily anH with greater easeW
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[>] PROGRAM USING *ARIABLES
)here are many ways of using variables HepenHing on the program contents' anH only a part of them are explaineH
below& (ets try
a simple program using variables that
)o start with' ma,e the below program&
M,; , #"6#,4 ,(
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$RO$ER) 8E))I%7 8CREE%
8elect O% to turn O% the (E*' anH O66 to turn it O66&
?ow to change the setting
/EA0 Change from 9O66: to 9O%:&
REC#(( )?E O$ER#)IO% O3 ?#E *O%E 8O 6#R' #%* #RR#%7E )?E ICO%8&
T7
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+hen you finish inputting in
all the columns' left-clic,
48E)5&
[7% T"7 (%("#1 $( (7& 1 +$4(]
0 Chec, if )ouch sensor. is pusheH . times&
Icon nameD ariable branching
# program branches HepenHing on the conHition whether the variable value is more than a specifieH value or not&
$roperty
8pecify a variable to compare' or input a value& # value is selectable in the range from
-2;;&
3p to 1 variables' # to ?' can be set&
?ere' for example' it is set to #&
?ow to set
8elect a variable for comparison from the selection
box on the left-hanH siHe&
Input a value to compare&
+hen you input a number' select 4%3
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+hen another variable is useH for comparison' select a
corresponHing alphabet from the selection box on the
right-hanH siHe&
Icon+or,s-web-2E
- ; -/C0EK "#$#% CO&'()*&
+hen all the columns are
input' left-clic, 48E)5&
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(E)8 83< 3$W
“T7
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[] MODIFICATION
%ow you have learneH the basics of programmingW 8o lets moHify the robot anH create your own KIROBOW
In the KIROBO pac,age' various parts for moHification are incluHeH& 3se these parts to Hecorate the robot or change
sensor
positions&
)he white panels can be painteH& 3se paints for plastic moHels anH ma,e your KIROBO loo, coolW
S
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Icon+or,s-web-2E
*. TROUBLESHOOTING? A
%o icon is flashing even though a connection error occurs&
# +hen a connection error occurs even though there is no icon flashing on the visible area of the screen' scroll the
screen anH
chec, the other part of the programming area where you coulH not see on the screen&
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Icon+or,s&
(E*2 /reH0 starts flashing right after the power 8+ turns O%&
# )his phenomenon occurs when the power 8+ is pusheH with )ouch sensor. or 2 presseH& )his inHicates it is in a
Hefault
aHJustment moHe' anH there is no problem in the function& +hen 8+. or 8+2 is pusheH in this status' the Hefault
conHition might
be changeH& In such case' turn O66 the power 8+' anH turn O% again when the touch sensor is not presseH&
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Icon+or,s-web-2E
# program cannot be transferreH to KIROBO successfully' or it cannot be transferreH from a specific $C&
# )here is a sounH output unit embeHHeH in a $C /calleH a built-in sounH boarH or a sounH carH0' anH some of them
tenH to emit
larger noise than the others' which is consiHereH to be one of the cause of unsuccessful program transfer& In such
case' the
problem coulH be solveH by using a commercially available 938B auHio conversion cable:&
S 938B auHio conversion cable: is usually available at $C shops&
8uch 938B auHio conversion cable: can be consiHereH as an external sounH circuit' anH a KIROBO program can be
sent through
this external sounH circuit' without passing through the embeHHeH sounH carH& )herefore the noise upon program
transfer can be
reHuceH to enable successful program transfer&
EnH of the Hocument
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