Presentation on theme: "Robonova-1 Instruction Manual v1.5"— Presentation transcript:
1Robonova-1 Instruction Manual v1.5 Written by Meena Seralathan
2OverviewThe Robonova-1 is a humanoid robot able to execute a number of pre-programmed moves, as well as execute new moves through use of the RoboBASIC programming language, and the RoboBASIC’s catch-and-play feature, which allows for real-time recording of servo positions for even simpler routine coding. While there are also a program designed for emulating the remote control (roboRemocon) and a program designed to be a version of RoboBASIC that is coded more like a script and less like a program(roboScript), it is generally easier to program in the RoboBASIC program.
3What the Robonova-1 Comes With 16 servosMR-C3024 controller board5-cell NiMH rechargeable battery and chargerIR sensor on head for use with included remote control8 AD portsPIEZO speaker for basic sound capabilitiesCD with RoboBASIC, roboRemocon, and roboScript (all v2.5) for programming the robot’s moves; also comes with code demonstrating various movements the Robonova-1 can do, such as walking, sitting, and punching, and an instruction PDF (in English, Japanese, or Korean)
4What the Robonova-1 Can Be Modified To Have Up to 8 additional servosTouch SensorsSound SensorsIR SensorsSonar SensorsLight SensorsTilt SensorsAccelerometerGyroGripper Hands (to replace hands included with robot)CameraDifferent-colored head/brackets
5List of Actions Included with the Robonova-1 Standard PoseSitBendRaise handsLeft/Right/Front punchTumble forward/backwardCartwheel left/rightTurn left/rightStep forward/backward/left/rightStand up (useful if the robot falls on its back or its stomach)Left/Right kickLeft/Right hand attackFast walk“Fly”HandstandDance
6How to program the Robonova-1 The Robonova-1 does not come with a board that is easily programmable in any language other than its provided language, RoboBASIC. The firmware on the robot is specially designed to work with this language (not even normal BASIC), and programming in another language would essentially require wiping the board and creating one's own code for the board to read in the language of choice. Thus there are mainly two methods of programming the robot:Using the included interfaces and languageUsing another board with better language compatibility as a master board, and then using this board to send signals to the robot’s boardFirst, this manual will deal with RoboBASIC and how to use it to program simple and not-so-simple routines. Then it will provide a general method of controlling the Robonova-1 with another board.NOTE: This manual assumes you have a 3000-series board,. Though the parameters and general concepts provided in this manual will work with the 2000-series, some of the functions have different names (especially in the sound and serial communications categories). If working with the 2000-series, refer to the .pdf file provided with your hardware to make sure you are using the right names for your commands.NOTE: This program was meant to be used under Windows, and is designed to work with Windows 98, ME, 2000, or XP. Using this with Vista will give you errors, and the program cannot be (easily) installed on Mac or Linux systems. If working under Vista, go to the Appendix to find out a fix to the incompatibility issue.
7Initializing Your Robonova-1 In order to start your first program, you need to first make sure your robot is properly connected to your computer. Make sure you follow this procedure before attempting to program the Robonova-1. You should not have to do this again, unless you reinstall the software.(1) Connect the provided serial cable to the robot and to the correct port on your computer. Turn the robot on.(2) Open RoboBASICv2.5. Go to Set -> Controller Type. Make sure the selected controller is the right one for your robot.(3) Go to Set ->Set Port. Make sure Com Port (Serial Type) is selected in the Port box.(4) Find out what COM port the serial cable is connected to. If you do not know how to do this, refer to the Appendix at the end of this manual.(5) Select the correct COM port in the drop-down box next to Port No. You can leave the rest of the information alone for now.(6) Now go to Controller -> Controller Information. Make sure your robot is connected and on; if it is not, you will probably receive an error code of -4 (-4 generally means the robot is not connected to the computer). You should see a window that displays a variety of information. If you get a window with no information, this means your computer is not properly connected to the robot. Check the cable again, and make sure the robot is on and running.(7) If all went well and you saw information in the text windows, then you’re set!
10Overview of RoboBASICRoboBASIC is the only program of the three where users code in a traditional-looking environment. RoboBASIC is also the main program to use with the Robonova-1’s catch- and-play features.
11Using RoboBASICThe buttons in the toolbar that you will use most are the Download and the Run All buttons. These are the second and third encircled buttons, respectively. Download will send the code to the robot, while Run All will execute it once on the robot. Both options will automatically compile the code before sending it to the robot.If you prefer, you can also compile the code separately using the Make Object Code button (first encircled button).
12More on Using RoboBASIC These three buttons are shortcuts to the text menu choices. Starting from the left, they are:Controller Information (which you should already know something about)Servo Motor Real-Time Control (used for the catch-and-play feature, and discussed later in this manual)Direct Line Control (used to execute a single line of code; only for OUT, MOVE, SERVO, POS, MOVEPOS commands).
13Even More on Using RoboBASIC These are more shortcuts, dealing more specifically with the robot controller. Starting from the left, they are:Clear Memory (this should clear any old programs off the robot’s memory; useful for when the robot starts accidentally running old code)Controller Reset Mode (should reset the board back to its factory defaults; may require re-initializing board, and should clear everything done to the board after receiving it)Controller Run Mode (have not actually used this command)Controller Stop Mode (this one either)ROBONOVA (or this one)
14Writing Code for a Single Action A Glimpse of RoboBASICWriting Code for a Single Action
15Writing Code for a Single Action On the right is an example of what roboBASIC code looks like. This code tells the robot to move to its standard position. Before giving a more detailed explanation of how to program using this language, we will explain what this code block does.GETMOTORSET G24, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0SPEED 5MOTOR G24MOVE G6A,100, 76, 145, 93, 100, 100MOVE G6D,100, 76, 145, 93, 100, 100MOVE G6B,100, 30, 80, 100, 100, 100MOVE G6C,100, 30, 80, 100, 100, 100WAIT
16Writing Code for a Single Action This command is used to read the position of a set of servos, and to then set the servo positions. In this line, GETMOTORSET reads the positions of all servos (G24 refers to all servos under the control of the board), and then sets each to the values listed after G24. A “1” tells the Robonova-1 to keep the position of the servo as-is, while a “0” tells the Robonova-1 to change the servo to its initial position. It is best to put this at the beginning of all programs, because it sets the servos to positions that will ensure that it starts moving safely.GETMOTORSET G24, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0
17Writing Code for a Single Action This command is rather straightforward; it sets the speed of the servo movement. The higher the value after SPEED, the faster the robot will move. Values can range between 1 and 20, but it is best to keep most movements at 10 or lower for stability (any value higher than 15 is likely to cause problems with an unmodded robot). For very fast movements there is a HIGHSPEED command, which will be touched on later.SPEED 5
18Writing Code for a Single Action This command turns on the output port of the specified servo set (in this case, all of them). In other words, it opens the servo ports so that your code can talk to the servos and tell them to move. If planning on having all body parts of the robot move during your routine, this is a must-have piece of code at the beginning of the file.MOTOR G24
19Writing Code for a Single Action These lines are what actually move the Robonova-1. The command MOVE is followed by the set of servos you want to move (more info about what G6A, etc mean on the next slide).100 is the initial value for servo positions; values above 100 move the servos clockwise, while values below 100 move the servos anti- clockwise.MOVE G6A,100, 76, 145, 93, 100, 100MOVE G6D,100, 76, 145, 93, 100, 100MOVE G6B,100, 30, 80, 100, 100, 100MOVE G6C,100, 30, 80, 100, 100, 100
20Writing Code for a Single Action Besides the group G24, there are 4 subsets of servos that one can concentrate on. Each set can control six servos at a time.A: Servos 0-5B: Servos 6-11C: Servos 12-17D: Servos 18-23
21Writing Code for a Single Action To the right is a diagram to show what servo corresponds to what number in the motor group. As you can see:Group A mostly controls the left legGroup B mostly controls the left armGroup C mostly controls the right armGroup D mostly controls the right leg
22Writing Code for a Single Action Last but not least is the WAIT command. This command tells the servos to wait until every specified motor set has finished moving before going onto whatever code comes after the movement. This is particularly useful if you plan on having multiple movements in one routine.WAIT
23Using Multiple Commands in a Single Program A Glimpse of RoboBASICUsing Multiple Commands in a Single Program
24Using Multiple Commands in a Single Program There are ways to program the Robonova-1 to execute multiple movements in succession, as well as ways to program it to loop through commands, or to read input from the remote control and act accordingly. Each will be described briefly.
25Programming a Chain of Movements This program will cause the robot to move to its standard pose, take a bow, then return to its standard pose. Putting a quotation mark before a line is how one comments out a line of code. As you can see, having one move succeed another is as easy as putting the new servo values after the previous move.GETMOTORSET G24, 1, 1, 1, 1, 1, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 0, 0, 0, 1, 1, 1, 1, 1, 0SPEED 5MOTOR G24‘standard poseMOVE G6A,100, 76, 145, 93, 100, 100MOVE G6D,100, 76, 145, 93, 100, 100MOVE G6B,100, 30, 80, 100, 100, 100MOVE G6C,100, 30, 80, 100, 100, 100WAIT‘bendSPEED 8MOVE G6A, 100, 58, 135, 160, 100, 100MOVE G6D, 100, 58, 135, 160, 100, 100MOVE G6B, 100, 30, 80, , , ,MOVE G6C, 100, 30, 80, , , ,
26Using For Loops, If Statements For loops and if statements are included in RoboBASIC and are similar to their BASIC parallels.For the interval in the for loop one has to take a predefined variable (in this case, I), set it to an initial value (0), and choose a value to increase the initial value to (10). The end of the for loop is signified by the NEXT command.For the if statement, one chooses a predefined variable with a value (X), determines the condition of the statement (X < 10), then gives a command for the program should that condition be fulfilled. If statements are then ended by the ENDIF command.This is a good time to also point out how to declare variables in RoboBASIC. The syntax is basically, DIM (variable letter) AS (variable type; only bytes and integers are supported). Assigning variables is rather similar to most other languages: variable name = value.DIM I AS INTEGERDIM X AS INTEGERX = 2FOR I = 0 TO 10IF X < 10 THEN‘bendSPEED 8MOVE G6A, 100, 58, 135, 160, 100, 100MOVE G6D, 100, 58, 135, 160, 100, 100MOVE G6B, 100, 30, 80, , , ,MOVE G6C, 100, 30, 80, , , ,WAIT‘standard poseMOVE G6A,100, 76, 145, 93, 100, 100MOVE G6D,100, 76, 145, 93, 100, 100MOVE G6B,100, 30, 80, 100, 100, 100MOVE G6C,100, 30, 80, 100, 100, 100ENDIFX = X + 4NEXT
27Reading from the Remote Control RoboBASIC already has commands to read in values for sensors, and has a command that specifically reads the input sent from the remote to the robot. In this code we are trying to have the robot bow if the user presses 1 on the remote control pad. A is a predefined variable that stores the value coming from the first instance of REMOCON (in other words, the first controller to send data to it). If A isn’t 1 (A <> 1), then the code restarts at the beginning of MAIN (GOTO MAIN); otherwise, it goes to another function that defines the bow position, delays the robot’s movement for a second (DELAY 1000), then moves the robot to its standard position and loops back to the beginning of MAIN.MAIN:A = REMOCON(1)IF A <> 1 THEN GOTO MAINSPEED 8GOSUB bow_poseDELAY 1000SPEED 6GOSUB standard_poseGOTO MAIN
28Reading from Serial Device This bit of code will read and store a byte sent over a serial connection with a baud rate of , and will loop back to the beginning of read_bluetooth until it gets a byte. When it does get a byte, it stores it in X and then returns to the part of the code that called the function.ERX (baud rate), (predefined byte variable), (location in code to go to if byte is not read)read_bluetooth:ERX 57600, X, read_bluetoothRETURN
29Things to Note When Reading From a Bluetooth Device ETX/ERX can only send and receive byte values. Make sure the variables for these are initiated accordingly.The Robonova-1 works with TTL, not RS-232. Be sure to use a device that is TTL-compatible, else find a converter for the devices.
30Using the Catch-and-Play Features Via RoboBasic v2.5
31Catch-and-PlayYou can pull up this screen by going to the menu and clicking Control -> Servo Motor Real-Time Control.To use the catch-and-play feature, you first unselect all of the servos that you want to move. This is about the equivalent of MOTOR. After that, you move the robot into the position you want, then make sure that all boxes are checked again. This is the equivalent of GETMOTORSET. Finally, to add the new position to your code, press the Move Insert button of each motor group. Don’t forget to add a WAIT command at the end!You can also use this window to learn more about servo position values, in case you’re interested in correctly coding these values without having to use the catch- and-play interface.
32A Deeper Glimpse at RoboBASIC Quick Index of RoboBASIC Commands
33General Program Commands GOTO [function]GOSUB [function]RETURNENDSTOPRUNWAITDELAY [time]BREAKJumps to a specified part of program and executes all code henceforthJumps to specified part of program and executes code until a RETURN is reachedReturns from a subroutine to the point where the subroutine was calledEnd the programStop the programRun the program continuouslyWait until the program has finished before moving onDelay the execution of the next line of code (value in milliseconds)Pause the program and switch to debug mode
34Commands Related to Variables DIM [variable] AS [type]CONSTINTEGERBYTEDeclare a variable as a typeDeclare a constant variableUsed with DIM...AS to declare an integer variableUsed with DIM...AS to declare a byte variable
35For Loops/If Statements IF...THENELSEIF...THENELSEENDIFFOR...TONEXTStart a conditional statementStart a secondary conditional statementSet a default statement for when no conditions have been metEnd a set of conditional statementsStart a for loopEnd a for loop or iterate variable to next value
37Digital Signal Commands IN [port#]OUT [port#], [outputValue]BYTEIN [port#]BYTEOUT [port#], [outputValue]INKEY [port#]STATE [port#]PULSE [port#]TOGGLE [port#]KEYIN [ADPort], [#keys]Read signal from input portSend signal to output portRead a byte from input portSend a byte to the output portReduce chatteringGet status of output portSend pulse signal to output portReverse status of output portReceive input from analog keyboard
38Memory Commands PEEK [region] POKE [region], [byteData] ROMPEEK [region]ROMPOKE [region], [byteData]Read data from controller RAMWrite data to controller RAMRead data from external EEPROM RAMWrite data to external EEPROM RAM
39LCD Screen Commands LCDINIT CLS LOCATE [x],[y] PRINT [charString], [ASCIInumber]FORMAT [var], [type], [position]CSONCSOFFCONTDECHEXBINInitialize LCD moduleClear all characters displayed on LCDSet x/y coordinates of the characters displayed in the LCDDisplay letter in LCDSet type format of characters on LCDTurn cursor in LCD onTurn cursor in LCD offSet letter contrastSend decimal character to LCD (used with FORMAT)Send hexadecimal character to LCD (used with FORMAT)Send binary character to LCD (used with FORMAT)
40Motor/Servo Commands ZERO [motor0_neutral]... [motorN_neutral] MOTOR [motor#]MOTOROFF [motor#]MOVE [motor0_angle]...[motor N_angle]SPEEDDIRPTPSERVOSet neutral angle of servoTurn on the output port of the servoTurn off the output port of the servoMove a set of servos to specified positionsSet the speed of the servos (1- 15; 3 is initial)Set the direction of the servosTurn simultaneous control of servos on/offControl a particular servo
41Even More Motor/Servo Commands PWMFPWMHIGHSPEEDFASTSERVOPOSMOVEPOSMOVE24MOTORINGETMOTORSETINITSet pulse width control for DC motorSet pulse width and frequencyAllow/disable servos to move in “fast mode”Operate servos at maximum speedSet a position for the robotMove to specified POSMove all 24 servos at the same timeRead in the motor values for the current positionGet the current servo values and determine whether to keep them or set them to their initial positions (1 = keep, 0 = initialize)Set initial pose
42Last Batch of Motor/Servo Commands AIMOTORAIMOTOROFFAIMOTORINSETONSETOFFALLONALLOFFControl motors via an AI motorTurn off AI motorRead position values from AI motorUse in conjunction with other commands to enter setup modeCancel setup modeUse in conjunction with other commands to enter setup mode for all servosCancel setup mode for all servos
43Assigning Motor Group Commands G6AG6BG6CG6DG6EG8AG8BG8CG8DG12G16G24G32Assign servos 0-5 to group AAssign servos 6-11 to group BAssign servos to group CAssign servos to group D (not available for original robot)Assign servos to group E (not available for original robot)Assign servos 0-7 to group AAssign servos 8-15 to group BAssign servos to group CAssign servos to group D (not available for original robot)Assign servos 0-11Assign servos 0-15Assign servos 0-23Assign servos 0-31 (not available for original robot)
44Sound Commands SOUND [pitch],[length] MUSIC [stringOfNotes] TEMPO [value]Plays a note based on inputted frequency/durationPlays a string of notes based on inputted note informationSets the tempo of the song/sound
46MUSIC Command (Even More Detail) Extra notation is placed before the actual noteSong is written as a string of notesMUSIC “M4GGAA GGE GGEED”MUSIC “DE#FGAB>#CD”
47External Communication Commands ERX [baudRate],[byteVar],[Err orProcessFunction]ETX [baudRate], [byteVar]AD(<ADPort>)REMOCON(1)SONAR(<UltrasoundPort>)RCIN(<RCPort>)GYRODIR [group],[motorDirection]GYROSET [group],[gyroPort]GYROSENSE [group],[byteSensitivityV alue]Reads a byte from a RS-232 connection through the RX port (goes to ErrorProcessFunction if byte is either not received or is invalid)Sends a byte through the TX port using the RS-232 connectionReads analog signal from device connected to specified AD portReads signal from remote control/virtual REMOCONReads distance being measured by the ultrasonic wave port (lower controller port = output ultrasound port, higher controller port = input ultrasound port)Reads signal from RC remote controlSets direction of motor group when they are connected to a specified gyroAssigns gyro to particular set of servosSets sensitivity of servo group to the gyro
48Ultrasound Port Information Digital In/Out Controller Port #Ultrasound Port #Port # #0 Ultra-sonic Port outputPort # #0 Ultra-sonic Port inputPort # #1 Ultra-sonic Port outputPort # #1 Ultra-sonic Port inputPort # #2 Ultra-sonic Port outputPort # #2 Ultra-sonic Port inputPort # #3 Ultra-sonic Port outputPort # #3 Ultra-sonic Port inputPort # #4 Ultra-sonic Port outputPort # #4 Ultra-sonic Port inputPort # #5 Ultra-sonic Port outputPort # #5 Ultra-sonic Port inputPort # #6 Ultra-sonic Port outputPort # #6 Ultra-sonic Port inputPort # #7 Ultra-sonic Port outputPort # #7 Ultra-sonic Port inputPort # #8 Ultra-sonic Port outputPort # #8 Ultra-sonic Port inputPort # #9 Ultra-sonic Port outputPort # #9 Ultra-sonic Port inputPort # #10 Ultra-sonic Port outputPort # #10 Ultra-sonic Port inputPort # #11 Ultra-sonic Port outputPort # #11 Ultra-sonic Port input
49Gyro Port Information AD Port # Gyro Port # Port #0 (Port #32) Gyro #1 channel output PortPort #1 (Port #33) Gyro #2 channel output PortPort #2 (Port #34) Gyro #3 channel output PortPort #3 (Port #35) Gyro #4 channel output PortPort #4 (Port #36) Gyro #1 channel input PortPort #5 (Port #37) Gyro #2 channel input PortPort #6 (Port #38) Gyro #3 channel input PortPort #7 (Port #39) Gyro #4 channel input PortAD Port #Gyro Port #
50Baud Rates Supported All with 8-bit data, no parity, 1 stop bit 240048009600144001920028800384005760076800115200230400
51Random Commands RND REMARK [Description] ON [variable] GOTO [function] $DEVICE [Controller]$LIMIT [Motor#],[MinValue],[Ma xValue]Get a random byte numberAnother way of commenting codeGo to a specified section of the code when a variable is of a certain value (simpler version of long if/elseif block)Set controller that will run the program once compiledSet a servos' maximum rotation angle (default )
54Overview of RoboScript v2.5 RoboScript is very similar to RoboBASIC, with the exception being that code is displayed in a script format, rather than a normal code format. This is can be useful for people who want a simpler way of organizing and reading the roboBASIC code.
55Initialize the Robonova-1 As with RoboBASIC, your work will go much more smoothly if you make sure your robot is properly connected and is corrctly recognized by the software. Use the same initialization procedure outlined for RoboBASIC; the only difference is that under Port Settings, there will not be a Port section on the left of the window.
56More on Using RoboScript This program relies almost exclusively on catch-and-play movement code, with only a couple of commands provided (PTP ALLON, PTP ALLOFF, DELAY, GOTO, and MOVE24). To use RoboScript, you turn the robot on, move the dials located at the bottom of the screen until the robot has moved to a desirable position, then use the Insert Move button to place that movement in the code. You can also press the buttons for the other commands and change the parameters in the text boxes/drop- down menus in order to change the speed, insert delays, go to specific lines of code, and .The dials all correspond to specific servos (look back at the Catch-And-Play section to get an idea of which dial will affect what body part). In addition, each dial starts at the Robonova’s initial position. If you read the RoboBASIC section, you know that values above 100 turn the servos clockwise, and values below turn the servos anti- clockwise. Be very careful about using these dials; this method of getting positions makes it much easier to spin a servo too far in a particular position. Make sure you are watching your robot carefully as you make adjustments, to ensure that you do not blow out a servo trying to move it too far into a dangerous position.
59Overview of RoboRemocon v2.5 This program is not meant for programming the robot; rather, it is meant to set the actions that will be carried out when specific buttons are pressed on the included remote control. It is also meant to serve as a virtual remote control, where the user presses the buttons on the image on-screen rather than the actual remote control in order to carry out the same action (this option being useful if one runs out of batteries or simply loses the remote).
60Initializing the Robot As with the other two programs, it is useful to make sure the program is talking correctly to the robot. For RoboRemocon, simply make sure the port settings are correct under Setting Port, and you should be fine.
61Using RoboRemoconTo assign actions to the remote, you need to have created the files describing the action in RoboScript (or have made a valid .rsf file).Press the Setting Buttons button. A window like the one in the image should appear. To set the buttons, double-click on the File column in the row of the button you are setting. You will see a screen with text boxes for a label, an .rsf file name (with buttons to clear this box and to browse for the file), and a tag description. Get the RoboScript action you want set to this button, and change the label or tag information if desired.Click Download to send this information to the robot. You should now be able to press buttons on the PC image of the remote and have the robot carry out the actions. To switch control to the IR remote, select the IR Remote Control option in the bottom-left corner of the Setting Buttons screen, then re-download the program. You should then be able to press buttons on the IR remote and have your robot act accordingly.You can also use these settings in a RoboBASIC command by downloading this information and then using the REMOCON command in your RoboBASIC code.
62Using Another Board to Program With the Robonova-1
63General ProcedureTo use another board, you will of course need some sort of way to connect the new board to the Robonova-1’s board. You will also need to find a way to have the computer talk to the new board, plus a method of sending byte signals from the new board to the Robonova-1 board. Then you will need a program on the Robonova-1’s board that can process that byte and carry out an action based on what it received.
64Sample Code for The Robonova-1 Program ‘Put initialization code hereMAIN:GOSUB READ_BOARDIF X = 65 THENGOSUB STANDARD_POSE 'AELSEIF X = 66 THENGOSUB BEND 'BELSEIF X = 67 THENGOSUB SIT 'CELSEIF X = 68 THENGOSUB STEP_FORWARD 'DELSEIF X = 69 THENGOSUB STEP_BACKWARD 'EELSEMUSIC “CC”ENDIFGOSUB STANDARD_POSEGOSUB MAINBREAD_BOARD:ERX 57600, X, READ_BOARDRETURN‘Put movement code functions here
65Trouble-Shooting and Other Random But Important Information AppendixTrouble-Shooting and Other Random But Important Information
66Getting RoboBASIC to Work in Vista To get RoboBASIC working on a Vista machine, paste the following into Notepad, then save as a .bat file. You should then be able to double-click it, and your RoboBASIC program should work.regsvr32 /u c:\windows\system32\mscomm32.ocx regsvr32 /u c:\windows\system32\COMCT332.ocx regsvr32 /u c:\windows\system32\MSCOMCTL.ocx regsvr32 /u c:\windows\system32\MSCOMCTL.ocx regsvr32 c:\windows\system32\mscomm32.ocx regsvr32 c:\windows\system32\COMCT332.ocx regsvr32 c:\windows\system32\MSCOMCTL.ocx regsvr32 c:\windows\system32\MSCOMCTL.ocx regsvr32 /u c:\windows\system32\COMDLG32.ocx regsvr32 c:\windows\system32\COMDLG32.ocx* For more information on this, visit the RoboSavvy Forums.
67Finding Out What COM Port You Need Note: If you could not plug the serial cable into your computer, then you do not have the correct physical COM Port, and will not be able to get the port using these paths. You will have to use a computer that you can plug the cable into before either of these paths will work.XP and below:Control Panel (under Start -> Settings)SystemHardwareDevice ManagerPortsCommunications PortNext to this choice should be the number of the COM port being used by the serial cable.Vista:Control Panel (under Start)System And MaintenanceView Hardware and Devices (under Device Manager)PortsCommunications PortNext to this choice should be the number of the COM port being used by the serial cable
68Acknowledgements/Sources The RoboSavvy forums and the RoboSavvy wiki page were very helpful for figuring out hardware information, such as modifications that could be used with the robot, and for determining what sort of procedure one would have to go through to use bluetooth with the Robonova-1, or to program it directly using a language other than RoboBASIC. It also provided the solution for getting RoboBASIC and Vista to work with each other.The included instruction manual: while it did not explain how to use some features in its programs and was often difficult to understand, it did provide a comprehensive list of commands that can be used in RoboBASIC, as well as instructions on how to initialize the robot.