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AmigoBot Users Guide
A Successful Connection
ARIA prints out lots of diagnostic
text as it negotiates a connection
with your AmigoBot.
the client requests various AmigOS
servers
to
start
including
sonar
integration, and so on.
sounds an audible connection cue,
and you should hear the robot's
sonar ping with a distinctive and
repetitive clicking. In addition, the
LED
SYSTEM
continuously (was flashing slowly
while awaiting connection).
that the ARIA demo automatically
engages
your
though a special client command. Normally, the motors are disengaged.
O p e r a t i n g t h e A R I A D e m o n s t r a t i o n C l i e n t
When connected with the ARIA demo client, your
AmigoBot becomes responsive and intelligent. For
example, it moves cautiously.
drive toward an obstacle, your AmigoBot will not
crash because the ARIA demo includes obstacle-
avoidance behaviors which enable the robot to
detect and actively avoid collisions.
The ARIA demo displays a menu of operation
options. The default mode of operation is teleop.
In teleop mode, you drive AmigoBot manually,
using the arrow keys on your keyboard or a joystick connected to the client PC's joystick port.
While driving from the keyboard, each keypress speeds the robot forward or backward or
incrementally changes its direction incrementally. For instance, when turning, it is often useful to
press the left- or right-turn key rapidly several times in a row, because the turn increment is small.
The other modes of ARIA demo operation give you access to your AmigoBot's various sensors
and accessories, including encoders, sonar, I/O port states, and more. Accordingly, use the
ARIA demo not only as a demonstration tool, but as a diagnostic one, as well, if you suspect a
sensor or effector has failed or is working poorly.
Access each ARIA demo mode by pressing its related hot-key; 't', for instance, to select
teleoperation.
Each mode includes onscreen instructions and may have sub-menus for
operating of the respective device.
D i s c o n n e c t i n g
When you finish, press the Esc key to disconnect the ARIA client from your AmigoBot and exit the
ARIA demonstration program.
moving, and its sonar should stop firing. You may now slide Power switch to OFF.
12
If successful,
their
activities,
polling,
position
The robot
should
light
Note
robot's
motors
Although it may
Your AmigoBot should disengage its drive motors and stop
Table 2. ARIA demo operation modes
MODE
HOT
DESCRIPTION
K
EY
Displays the state of the robot's digital
io
i
and analog-to-digital I/O ports
position
p
Displays the coordinates of the robot's
position relative to its starting location
sonar
s
Displays the robot's sonar readings
wander
w
Sends the robot to move around at its own
whim, while avoiding obstacles
teleop
t
Allows the user to drive and steer the
robot via the keyboard or a joystick
connected to the computer
Table 2. Keyboard teleoperation
KEY
↑
↓
←
→
space
ACTION
Increment forward velocity
Decrement forward velocity
Incremental left turn
Incremental right turn
All stop
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