buku panduan manual kirobo

8/17/2019 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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/C0EK "#$#% CO&'()*&

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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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Icon+or,s-web-2E

[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+&

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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&


range of &. - .

seconHs&

Input the number of

repeats by numbers&


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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/C0EK "#$#% CO&'()*&

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 -

/C0EK "#$#% CO&'()*&


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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&

- ;! -

/C0EK "#$#% CO&'()*&


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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

- ;@ -/C0EK "#$#% CO&'()*&

buku panduan manual kirobo

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