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AmigoBot Users Guide
do in Control Mode (see next section). However, self-wander is a very simple robotics program
with very limited capabilities as compared with ARIA or other PC-based robotics applications.
Be careful that the robot doesn't drive over a steep ledge or down a
Press Reset or switch Power OFF at any time to cancel self-wander.
Control Mode
Use Control Mode to operate the robot from an off board program (such as ARIA) running on a
PC.
The robot's onboard systems go into Control Mode when you first turn Power ON or
whenever you Reset the robot. The amber User LED is OFF and the green System LED flashes
slowly and rhythmically.
Sophisticated robotics programs like the ARIA demo or Saphira establish control of the robot
through the Control serial port. Accordingly, you must have an AmigoLeash or the AmigoBot
with Serial Ethernet radio
Control Port.
Once a connection is made between the robot and the controlling program, the System LED
blinks if the motors are disengaged and stays lit when the motors are engaged. Some robotics
programs have a menu item or button that lets you engage and disengage the motors. You
may control the motors manually by pressing the Motors/Test button.
System Mode
The AmigOS onboard software, related robot-operating
parameters, and sounds all are stored in AmigoBot's
FLASH memory.
permanent and persist after you remove power, but
with special tools can be changed and updated.
AmigoSounds, for example, downloads new sound files
to AmigoBot's 1MB of FLASH.
You make changes to the AmigoBot's onboard
software and data when the robot is in System Mode.
System-related
software
communicate with AmigoBot through its system serial
port.
Accordingly,
alternative serial port on the bottom of the robot.
A special sequence of button-presses puts AmigoBot
into System Mode:
Press and hold in the black Motors/Test
button.
Press and release the red Reset button.
The Serial Ethernet radio connects to the Control port from inside the robot.
3
18
flight of stairs when wandering.
attached between the controlling PC's serial port and the robot's
3
These data and programs are
tools
running
attach
AmigoLeash
WARNING!
on
a
PC
to
that
Figure 13: You cannot drive AmigoBot
from the System serial port.
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