Instruction Sheet
Phoenix Mobile Robot
http://www.johuco.com
Quick Start - Just insert 4 AAA batteries (of any kind) and turn Phoenix on using the switch on the top board. The robot has been preprogrammed with a demo controller ("wander.c" from the "examples" directory).
Software Installation - The software supplied is compatible with IBM PC computers only (not Macs or Unix boxes). Insert the floppy disk and run a:\install which will put all the software in directory "c:\johuco".
Downloading - Plug the DB-9 end of supplied cable into Serial Port 1 (COM A) of your computer and the other end into the serial jack on the robot (with the power off). Now in DOS (or a DOS box under Windows) go to the "c:\johuco\examples" directory and type dlj ph-level and follow the on-screen directions: hold the button down then turn on the power (you can release the button afterward). At this point the yellow light should be on steadily. When you hit the Enter key to start downloading, the yellow light should flicker or dim. If the light behaves improperly or the program complains, you may have to switch the serial port number. Go to directory "c:\johuco\bin" and edit the file "dlj.bat" as directed (e.g. replace the 1's with 3's to change the port).
Assembly Programming - In "c:\johuco\examples" there are some examples of raw assembly language routines. To generate an ".s19" file and download it type asj ir-level d for instance. The optional "d" at the end specifies that you want to download the file after assembling (it calls "dlj"). The assembler always combines your code with the standard definitions in file "c:\johuco\lib\6811defs.asm".
C Programming - In "c:\johuco\examples" there are also some examples of C code. To compile and assemble a source file type ccj numbers t for instance. The optional "t" at the end says to download the code and then start the terminal emulator. A final argument of "d" says to just download the file, while an argument of "l" says to generate a listing file (".lst" and ".s") to help in debugging. The compiler always adds the standard startup code in "c:\johuco\lib\crt.s". Be advised that the simple terminal program for option "t" may not work under Windows. To fix this you can edit the file "c:\johuco\bin\dlj.bat" and instead of calling "talk 1", invoke a terminal emulator configured for 9600 baud.
C Libraries - You can use a number of useful routines by including their ".h" header files in your code. Look at the ".c" and ".h" files in "c:\johuco\lib" for documentation on what each function in a file does.
Compiler - For your convenience we have included the freeware version of ImageCraft's C cross-compiler. It can alternatively be downloaded here (ICC11 v0.50 = "icc11fre.zip"). This is an early version of the compiler and has a number of limitations and bugs. You might want to contact ImageCraft to purchase an upgrade (ICC11 v5.0 for DOS, currently $100).
TUNING (using controls)
Photocell - The program ph-level (in directory "examples") lets you adjust the sensitivity of the photocells to different ambient conditions. Download and run this to show the top 2 bits of the light value on the front LEDs. Without leaning over the robot, tweak the lower left pot (top photocell) until just the left LED just comes on (the right should be off). Then hold down the button and similarly adjust the upper left pot (front photocell) until just the left LED is on, but then back down until just the right LED is on instead. These pots have already been set to standard values at the factory.
IR - The program ir-level (in directory "examples") lets you adjust the overall power level of the infrared LEDs. Download and run this to have the front LEDs display the response of the left and right detectors. The knob near the serial connector controls the basic power level - full forward is off (useful for detecting TV remotes), full backwards is highest (for greatest sensing range). With the robot on the ground and the knob at the highest power, adjust the top right pot (wide IR) until the lights go off and stay off fairly consistently. Now hold the button and adjust the lower right pot (narrow IR) until the lights just come on when the robot is moved about 12 inches in front of a brown cardboard box. These pots have already been set to standard values at the factory.
Bump - Adjusting this sensor might be necessary if the robot seems to respond too easily to irregular floors or is not sensing hard collisions. Use a non-conductive poker (e.g. a matchstick) to change the angle of the mercury switch hanging from under the lower board: a steeper angle makes it less sensitive, flatter makes it more sensitive.
Beeper - To make the beeper louder, remove the black vinyl tape covering its top hole (or cover it to make it quieter).
Steering - There is a white mechanical adjustment pointer under the vehicle which can be rotated to make the robot travel more or less straight when there are no turn commands.
Copyright © 1998, Johuco Ltd., All Rights Reserved