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        M

O

WAY

     Title

: mOway Beginner Manual

     Rev

: v2.1.3 – March 2011 

     Page

 25 

of

 65 

www.moway-robot.com 

5. mOwayGUI programming 

5.1.

Creating a Project 

The only thing you have to do is to click on the new project icon. 

Image 24. mOwayGUI screen 

5.2.

First programme in mOwayGUI 

In order to develop your first programme, first you must create a project (previous 

chapter). This first basic programme will make mOway avoid obstacles.  

Содержание mOway

Страница 1: ...MOWAY S BEGINNER MANUAL...

Страница 2: ...anted to copy distribute and or modify this document under the terms of the GNU Free Documentation License Version 2 0 or any later version published by the Free Software Foundation with no Invariant...

Страница 3: ...3 3 11 Top two color LED 16 3 3 12 Brake LED 17 3 3 13 Free Pad 17 3 4 Power Supply System 17 3 5 RF module and RFUsb 18 3 6 Camera module and Moway Videocap 20 4 First Steps 21 4 1 mOway Pack instal...

Страница 4: ...inner Manual Rev v2 1 3 March 2011 Page 4 of 65 www moway robot com 6 1 2 Radio control 60 6 1 3 LED 60 6 1 4 Speaker 60 6 1 5 Info 60 6 1 6 Sensor status 60 6 1 7 Keyboard control 60 7 MowayCam 61 8...

Страница 5: ...anged Software is one of the fundamental elements in the world of mobile robotics The main difference between developing a program for these robots and running it with a personal computer is interacti...

Страница 6: ...65 www moway robot com This manual is divided in two parts The first part includes a description of the elements which form part of the robot and their functioning The second part of the manual includ...

Страница 7: ...terrain commanded by a I2C communications bus All these peripherals are connected to a microcontroller responsible for governing the robot This small robot incorporates I2C SPI expansion bus options...

Страница 8: ...ansion connector 3 I M 521 7B 5B5 B5 1 B7 1 B5 B5 7B 6 1 3 1 6 2 1 5B5 B 1 B5 B B 5 1 B 5 3 1 B7 1 B5 B5 1 B7 1 B5 B5 ULGJH 1 1 1 1 HDU QFRGHU HDU QFRGHU 5B5 B5 5B5 B B 5 B 5 63 5 0 7 03 77 5 0 7 5 5...

Страница 9: ...recision of 1 mm aprox 4 General speedometer counts distances traveled since the initial command 5 Angle control controls the angle when the mOway rotates The microcontroller sends the I2C command to...

Страница 10: ...implify communications through some functions which are responsible for I2C communications The format for these frames is explained in the motors and drive system library section The table below descr...

Страница 11: ...two microcontroller analog ports so strong terrain contrasts like white lines on black backgrounds can be detected They are also capable of distinguishing different tones The Vishay CNY70 sensor has a...

Страница 12: ...tted light obtaining an intermediate voltage at the microcontroller s analog channel input This way colors are easily identified1 Image 6 Line tracking sensor on a colored surface 1 Dark surface A dar...

Страница 13: ...ted to the microcontroller s analog inputs so it can detect the presence of any object digital mode and also measure how far away it is analog mode 2 The sensor functions similarly to the line trackin...

Страница 14: ...intensity level and any change in intensity levels based on the last reading3 Image 11 Location of Light Sensor 3 3 4 Expansion connector This connector allows the mOway to connect with any commercia...

Страница 15: ...e reading of the ADC it is possible to get the temperature value in that moment and notice any change in it since the last reading4 3 3 6 Speaker The CMT 1102 speaker from CUI INC directly connected t...

Страница 16: ...hose electrical capacity changes as the acceleration varies By measuring X Y Z axes of the MMA7455L accelerometer from FREESCALE Semiconductor it is possible to know if mOway is correctly positioned i...

Страница 17: ...mOway has implemented a free Pad to allow expert users to connect their electronics It is accessible opening the robot and it s located near brake LED6 3 4 Power Supply System mOway s battery is loca...

Страница 18: ...two LED located in the back part of the robot7 Green LED indicates that mOway is switched on and red LED indicates that the battery is charging When the battery is full red LED will switch off8 Image...

Страница 19: ...of the BZI RF2GH4 module are as follows Low consumption Working frequency 2 4GHz Transmitting power between 18 and 0 dBm Transmission speed between 1 and 2 Mbps 128 in transmission channels selectable...

Страница 20: ...device which is an input output port managed by SPI A library is provided to make easier for user to develop programs with the camera module The basic functions are the camera ON and OFF and the sele...

Страница 21: ...wayGUI software o This software controls all aspects of the robot program download battery charge control radio control RFUsb13 management and C or assembler programs download Reference projects in as...

Страница 22: ...f a HEX file has been imported the download progress will start automatically Disconnect the robot and check the project mOwayPack provide 8 compiled projects 3 to check sensors 3 to check the drive s...

Страница 23: ...re is installed Image 22 Driver installed in Windows xp Check if Moway s software has detected the RFUsb 4 4 RF modules RF modules are very useful tool to introduce RF concept These are the steps to s...

Страница 24: ...As with RFUsb device a driver that it s included in mOwayPack is required to use video capturer The first time the Moway Videocap is connected the PC will detect it as a new device Driver installatio...

Страница 25: ...ogramming 5 1 Creating a Project The only thing you have to do is to click on the new project icon Image 24 mOwayGUI screen 5 2 First programme in mOwayGUI In order to develop your first programme fir...

Страница 26: ...gured as may be seen in the following image 2 The command to make one of the LEDs blink is added This is another module with the following configuration Image 25 Pause and LEDs configuration 3 The end...

Страница 27: ...MOWAY Title mOway Beginner Manual Rev v2 1 3 March 2011 Page 27 of 65 www moway robot com Image 26 First mOwayGUI program Pause and blinking...

Страница 28: ...dules are configured to check both sensors individually Image 27 Check obstacles configuration 7 Condition modules have a true output and false output If the condition is true obstacle detected the co...

Страница 29: ...MOWAY Title mOway Beginner Manual Rev v2 1 3 March 2011 Page 29 of 65 www moway robot com Image 28 First mOwayGUI program obstacle detection...

Страница 30: ...com 9 We add movement to the robot straight on indefinitely until an obstacle is found 10 When an obstacle is found a command is sent to the robot to rotate 180 The robot will continue to move in a st...

Страница 31: ...MOWAY Title mOway Beginner Manual Rev v2 1 3 March 2011 Page 31 of 65 www moway robot com Image 30 End of first program in mOwayGUI...

Страница 32: ...way robot com 5 3 mOwayGUI 5 3 1 Modules Modules are actions in which the output is unconditional turn on a LED send a movement command etc With modules the following actions can be carried out Image...

Страница 33: ...hem off or make them blink Image 33 Choose the LED diode and its action Assign sensor value This function is to assign a variable to one sensor This variable can be used to configure different aspects...

Страница 34: ...connector WARNING Only advanced users can use the pinout configuration Any incorrect connection of electronic elements to the expansion connector may damage the robot irreversibly Speaker This functi...

Страница 35: ...MOWAY Title mOway Beginner Manual Rev v2 1 3 March 2011 Page 35 of 65 www moway robot com Image 36 Choose the frequency and the time of the tone ENGINES Image 37 Choose the type of module Engines...

Страница 36: ...ows you to block the movement command the program stops running until the movement module finishes according to time or distance This option is only accessible if we select the options Enable end acco...

Страница 37: ...the speed the curvature radio the direction the way and the time or the distance Rotation The rotation module is another specific case of the movement module With this command mOway will rotate eithe...

Страница 38: ...se the speed the rotate mode the way and the time or the distance We can also use here the time restrictions and turning angle as well as the Wait until end of command option Stop The Stop module is a...

Страница 39: ...ta of the movements it makes This module enables you to consult this record Current speed Distance covered Angle of turn etc Image 42 Choose the variable and the move information Reset movement data T...

Страница 40: ...module Radio Frequency RF Control This activates or deactivates the RF module When you activate this control you must select which address the robot will use and in which channel you wish to operate S...

Страница 41: ...le Camera Camera Control This activates or deactivates the camera module When you activate this control you must select which channel the camera will send images to the video Moway Videocap16 Camera c...

Страница 42: ...com OPERATIONS Image 48 Choose the type of module Operations Assignment This function is to assign a value a constant or variable to a previously created variable This variable can be used to configu...

Страница 43: ...d to carry out arithmetic operations to add or subtract to or from a variable The first parameter must be a variable in each case and this will be used to store the result of the operation The second...

Страница 44: ...seconds The pause parameter may be a constant or a variable Image 52 Choose the time Subroutine call Subroutine call which can be reused in other mOway projects Image 53 Choose the subroutine 5 3 2 Co...

Страница 45: ...5 of 65 www moway robot com Image 54 Set of mOwayGUI conditionals SENSORS Image 55 Choose the type of conditional Sensors Check line It checks the digital value of line sensors This module is very use...

Страница 46: ...has to be true Image 56 Choose the left and the right line sensors both have to be white Check obstacles It checks the digital value of obstacle sensors It is used to determine whether there is an obs...

Страница 47: ...the accelerometer you can check if the mOway has been beaten once tap or twice Double tap Image 58 Choose the interrupt type Sound This sensor checks if there is a loud sound or not Image 59 Choose t...

Страница 48: ...c elements to the expansion connector may damage the robot irreversibly Sensor comparative It compares the analogue value of obstacle line battery temperature accelerometer or microphone sensors All m...

Страница 49: ...MOWAY Title mOway Beginner Manual Rev v2 1 3 March 2011 Page 49 of 65 www moway robot com Image 62 Choose the variable to be compared ENGINES Image 63 Choose the type of conditional Engines...

Страница 50: ...m Movement info comparative A comparison is made with the information from the drive system The drive system provides information about the total distance covered partial distance etc Image 64 Choose...

Страница 51: ...mits a frame to a specific address The address of the recipient and the data which can consists of constants or variables must be indicated in the frame It must be remembered that before inserting thi...

Страница 52: ...MOWAY Title mOway Beginner Manual Rev v2 1 3 March 2011 Page 52 of 65 www moway robot com Image 67 Choose the first data to be transmitted Image 68 Choose the second data to be transmitted...

Страница 53: ...st be indicated at least two variables one for collecting the transmitter address and the other for the data It must be remembered that before this conditional the module must be configured using the...

Страница 54: ...MOWAY Title mOway Beginner Manual Rev v2 1 3 March 2011 Page 54 of 65 www moway robot com Image 71 Choose the second data to transmit OPERATIONS Image 72 Choose the type of conditional Operations...

Страница 55: ...It makes a comparison on a variable The variable can be compared with a constant or with another variable This is very useful when comparing a variable used to carry out a mathematical operation Image...

Страница 56: ...loop can be created Image 75 Choose the option initialization The Start element can initialize the variables Image 76 Choose the variable and the value for the initialization 5 3 4 Arrow Arrows are u...

Страница 57: ...lement 5 3 6 Subroutines In order to simplify the diagrams and optimise the use of programme memory reusable subroutines can be generated In other words if a part of the programme is repeated with gre...

Страница 58: ...sors This tool which uses RF BZI RF2GH4 modules and RFUsb mOway Base is compatible is very useful for all those users wishing to explore the field where the microbot will perform Its functioning conce...

Страница 59: ...io Control s indicator dispatch status on the left lower part will glow red when configuring the module with the robot switched off Once connected the communications channel can be changed if WI FI Bl...

Страница 60: ...ay s four LEDs are switched on and off 6 1 4 Speaker In this section is checked the switched on and off of the robot s speaker in a particular frecuency 6 1 5 Info Displays information about Moway RC...

Страница 61: ...gram This can be easily done in mOwayGUI by adding a camera module and selecting Activate camera Then Moway can be programmed as usual in mOwayGUI After this MowayCam window is shown Click on Start bu...

Страница 62: ...m window 8 Moway RC CAM Center Moway RC CAM Center is an upgraded version of Moway RC Center with a window to display images from Moway camera RF window has the same functionality of RC Center sensor...

Страница 63: ...era will be activated During this time images are displayed on the camera window Activate button Activates the camera This button is disabled during camera activation time Save Saves a still image in...

Страница 64: ...age 64 of 65 www moway robot com Image 83 Access from mOwayGUI IMPORTANT Video Moway Videocap MUST NOT be disconnected from USB port while Moway RC CAM Center is running If it is some computers could...

Страница 65: ...MOWAY Title mOway Beginner Manual Rev v2 1 3 March 2011 Page 65 of 65 www moway robot com...

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