manual of robot

8/18/2019 manual of robot

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Qu-Bot, A Quickly Programmable Robot User’s Manual

P 1 52

T

QB

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QB.

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P 2 52

QB Q P R. QB

, . T

QB

.

T QB R K ,

, , , ,

QBVL, , , . V

, , QB K. T

. B

. P @.

.

T QB R PC USB ()

QBVL .

A USB,

, PC

.

T QB L

. A USB .T . A

.

B .

1. L F R

2. W H R

3. O T R

4. L T R

5.

H H R6. O A R

7. I G M R

8. R C R

9. PC USB C R

10. M S R

11. S R


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P 3 52

B :

1. E

2. N

3. M (N R P

)4. D , ,

5. A 10 .

6. V . N . E..

B, , , USB C .

7. USB PC L.

8. E I

9. O QB 3

.10. B USB

I M O:

1. 3 P S

2. 3 L F S

3. 2 M C S

4. 1 R C R S

5. 1 A L S

6.

3 G P S

O M O:

1. 1 162 C LCD

2. 3 G P LED

3. 2 M & M D

4. 1 B

5. 1 USB T & R

O B F:1. 1 P I LED

2. 1 C I LED

3. 1 4 W S S S

4. 8 S S I LED

5. 1 R S

6. 1 P O/O S

7. 1 DC I J


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P 4 52

B I:

1. 1 F A M C

2. 1 L R B 3.7V, 1.4A

3. 2 G DC

4.

2 M C 5. 2 W

6. 1 C

7. 1 USB C

8. 1 R C

9. 1 B C A

10. 1 CD

11. 1 P M

12. A ,

B:

1. S

2. P


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P 5 52

I 1 2I 51.

I & A 7

1.1. A QB 7

1.2. I QB 13

2. BL & B I 15

2.1. USB D I 15

2.2. QB V L I 18

3. B B L 3.23 (BLAB) 20

3.1. QB V L S 20

3.1.1. S 20

3.1.2. M B 21

3.1.3. C B 24

3.2. P QB QBVL 26

3.2.1. H D & D C B?? 26

3.2.2. H 26

3.2.3. P QB 27

3.2.4. D 27

4. B LAB (O B) 28

4.1. L LED 28

4.1.1. C LED B 284.1.2. C A 28

4.1.3. LED O/O S 28

4.2. R 29

4.2.1. C B B 29

4.2.2. C A 29

4.2.3. R B 1 29

4.3. W LCD 29

4.3.1. C LCD B 29

4.3.2. C A 304.3.3. D T LCD 30

4.4. M QB 31

4.4.1. C M B 31

4.4.2. C A 31

4.4.3. M QB 31

4.5. C PC UART 32

4.5.1. C UART B 32

4.5.2. C A 32


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P 6 52

4.5.3. D T S T 32

4.5.4. U S T 33

5. B LAB (L B) 34

5.1. WHILE(1) I 34

5.1.1. C WHILE(1) B 345.1.2. B LED1 34

5.2. WHILE(C) C 34

5.2.1. C WHILE(C) B 34

5.2.2. B LED1 S1 35

6. B LAB (C B) 36

6.1. IF(C), ELSE IF(C), ELSE & ENDIF 36

6.1.1. S 36

6.1.2. C B, O O 36

6.1.3.

F IF, ELSE IF, ELSE, ENDIF 386.1.4. G LED 39

6.2. O IF 39

6.3. N IF ELSE 40

7. B LAB (O B) 41

7.1. D T 41

7.2. V QB 41

7.3. V B 41

7.3.1. S C 41

7.4. V O B 437.5. D B 43

7.6. C B 44

8. A 45

8.1. B 45

8.2. O 46

8.3. E 47

8.4. D 48

8.5. L F 49

8.6. L F 508.7. R C QB 51

8.8. PC QB 52


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P 7 52

1. I & A

1.1. A B

B K .

C, , .


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P 8 52

1

I 3 3

.

2

I QB PCB 3 . A

3 PCB

.


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P 9 52

3

P QB 6 . S PCB

3 . C

.

4

P 2 . C PCB 2

. T . I

PCB . A

PCB .


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P 10 52

5

A , 2

.

6

N . P

.


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P 11 52

7

A 2 , . T

. A

. T

.

8

N 2 ,

.


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P 12 52

9

I LCD . N QB . I

. T QB USB

AC . W

.

W QB PC USB

. W AC QB

USB PC

AC .

C USB 1215 . D LCD

(S S 1.2, C 17)

USB.


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P 13 52

1.2. I B

C

1. P & C LED I QB

. C LED

AC .

2. LED1, LED2 & LED3 L


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P 14 52

3. LCD B C C B 162 LCD

4. B B

5. R W R D

6. L W L D

7.

R M R D

8. L M L D

9. L C .

C . I W

.

10. L C .

11. DC J I AC C.

12. O/O S P O/O S. I P .

13. USB C C USB PC USB .

QB .

14. IR R S R IR

15. L B B QB.

R B .

16. LCD H C 162 LCD.

17. S S S C 9,10,18,21,22&24

S . T

.

S1 18

S2 21,24

S3 22

S4 9,10

T .

18. L A S.

19. SW1, SW2, SW3 I S

20. R S P .

21. L O A F L

22. C O S A F C

23. LDR S A L S

24. R O S A R C

25. USB C U QB PC

26. AC C F

27. IR R S QB

28. LCD 162 C LCD. C 16.


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P 15 52

2. B & BL I

2.1. B D I

B QB USB PC USB

PC. QB . I

W 7 U , QB . T 2 USB

P. USB V7. QB CD. I W

P USB P.. I W V

W 7 USB V7..

A . QB PL2303 USB

. T .


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P 16 52

P .

O L I .


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P 17 52

T . P . N

.

I USB QB

. I

.

I C

PSD M P. T P USB

S C P (P ).


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P 18 52

2.2. B L I

I QB CD QB V L . T

QBVLS.. R QBVL .

O .

O . C

.


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P 19 52

W .

N . P . T QBVL

. R .


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P 20 52

3. B B L 3.23 (BLAB)

3.1. B L

3.1.1.

A QBVL . T

.

B .

1. M : C F, T, V H.

2. Q : C N, L, S P .

3. C : C , .

4. A : I .

5. & : S .

6.

C : E .7. C : S QB

8. S : S

9. P : S

10. USB : S QB.


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P 21 52

3.1.2. M B

3.1.2.1. F

3.1.2.1.1. N C (C+N): C . C N

F> N C.

3.1.2.1.2. O (C+O): O . C O F> O. T .QBF .


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P 22 52

3.1.2.1.3. S (C+S): S . C S

F> S. O

. T .QBF .

3.1.2.1.4. S A (S+F2): S S. S C

F> S A.

3.1.2.1.5. E (C+): E QBVL.

3.1.2.2. T

3.1.2.2.1. L P (C+L): P

QB USB C. P USB C .

3.1.2.2.2. S T (C+T): O S T

UART .

3.1.2.3. V


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P 23 52

3.1.2.3.1. I (F7): M A .

3.1.2.3.2. O (F8): M A .

3.1.2.3.3. E A (F11): E A B.

3.1.2.3.4. C A (F12): C B.

I & O

3.1.2.4. H

3.1.2.4.1. C: B H.


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P 24 52

3.1.2.4.2. G U N: R

QBVL .

3.1.2.4.3. C U: C QBVL V.

3.1.2.4.4. QB F: A ?? V .

3.1.2.4.5. .QB.: V .QB..3.1.2.4.6. A QBVL: S , .

3.1.3. C B

D

. S & E

QB P. T

.

1. O ()

2. O (B)

3. C (G)

4. L (R)

5. S E (P)

3.1.3.1. O ()

C B , .

C LED1, 2 3 , .

D T & V 162 LCD.

M .

D . U

PC USB.

3.1.3.2. O (B)

U I .

E.. V=C V O V=V.

N: I AI & II 7.3.1.


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P 25 52

G D M, M S.

O O O. O

V . O (+,,*, /).

E..

1. 1 = 2 3

2. 1 =2 * C

N:

1) V

.

2) V V1

.3) C .. 0255.

I .

3.1.3.3. C (G)

1. S . I

IF 5.

2. C ELSEIF ELSE .

3. I ELSEIF . I

ELSEIF 5. E 2.

4. I ELSE .

5. E ENDIF.

I

OR & AND C

.

*A IF(C)

.B F

.

B .

B LDRV V.


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P 26 52

B UART V.

B IR C.

B S1, 2 & 3 .

B M (E)

V.

3.1.3.4. L (R)

I .

C L. L .

3.1.3.5. START & END (P)

I P. LCD & UART

.

I E . T

QB.

3.2. B BL3.2.1. H D & D C B??

T . S

. D

&

. I

. (T LED .)

3.2.2. H

A . T

.

O

. O

. (S LED

LED1 ON. N .)


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P 27 52

3.2.3. B

C USB QB. O

. C S .

O USB S R

QB. D USB USB .LED1 ON. A

END .

P 3.2.4. D .

T .

*A I

.


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P 28 52

4. B LAB (O B)

I S 3.1.3.1.

4.1. L LED

4.1.1. C LED B

LED B , LED. T 3 LED QB . LED

2.1.

4.1.2. C A

L C LED .

O: L .

F E LED . T LED1 ON, LED1

OFF, LED2 ON, LED2 OFF, LED3 ON, LED3 OFF, TOGGLE LED1, TOGGLE LED2,

TOGGLE LED3.

4.1.3. LED O/O

A

.

C 7.5

.

T

Q

B.

LED1 2 S.LED1 LED2

1 .

LED2 LED3

500S.

LED3 .

B

.


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P 29 52

4.2.

4.2.1. C B B

B B , B.

4.2.2. C A

L C B .

O: S .

F B ON, OFF TOGGLE.

4.2.3. B 1

A .

T QB.

B 1 .

B 1 .

B .

4.3. LCD

4.3.1. C LCD BLCD B 162 L C D QB. LCD

QB LCD S B .

S LCD I LCD.

*I LCD LCD

C .

*I LCD

LCD B, .


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P 30 52

4.3.2. C A

L C LCD .

C : , N (C LCD F )

H: , N (M F )

G (015): G . =0 1 .

G (01): G R . =0 1

.LCD O : T, V

O : A LCD O T T. T

LCD .

O : A LCD O T V. T

LCD .

4.3.3. D LCD

A .

T QB.

C LCD.

M C 5 R 1.

P H!!! LCD.

W 2 .

G C 3 R 2.

P I AM QB

B .


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P 31 52

4.4. M B

4.4.1. C M B

M B C .

4.4.2. C A

L C M .

M: S D.

O TURN LEFT, TURN RIGHT, MOVE FORWARD, MOVEBACKWARD, LEFT MOTOR FORWARD, LEFT MOTOR BACKWARD, RIGHT MOTOR

FORWARD, RIGHT MOTOR BACKWARD, STOP, LEFT MOTOR STOP RIGHT

MOTOR STOP

: S 0

10. 10 .

4.4.3. M B

A .

T QB.

L 60 . H QB

60 .

M QB 60 .

B .


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P 32 52

4.5. C C A

4.5.1. C A B

UART B PC. D T >

S T (C+T).

4.5.2. C A

L C UART .

A O : S TET, VARIABLE NEWLINE.

O : S T PC. A UART O T

T.O : S V V PC. A UART

O T V.

4.5.3. D

A .

T QB.

T .

QB HELLO!!! NEWLINE.

W 1 S.


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P 33 52

QB M NAME IS QUBOT. NEWLINE.

W 1 .

QB OU ARE USING UART SAMPLE CODES NEWLINE.

B .

4.5.4.

S T > S .

S B R, C C C C Q

B.

.


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P 34 52

5. B LAB (L B)

W ,

. T , , . I

3.1.3.2.

5.1. HILE(1) I 5.1.1. C HILE(1) B

T I . P END WHILE

WHILE(1). P WHILE(1) END WHILE

.

5.1.2. B LED1

A .

F WHILE(1) . T QB

.

T LED1 100S.

W ENDWHILE

WHILE(1) .

H .5.2. HILE(C) C

T . P

6.1.2 .

5.2.1. C HILE(C) B

T . I

WHILE(C) END WHILE B

. U

WHILE(C) END WHILE B . I


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P 35 52

ENDWHILE .

5.2.2. B LED1 1

A .

F WHILE(C)

. T S!=1 .

I WHILE(1) .

H LED1.

O S1 WHILE(C)

100 .*I 5 100

1

. H LED1 . .

S

ENDWHILE LED LED1 OFF.

H LED1 B .


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P 36 52

6. B LAB (C B)

S . I

QB .

. W

. I S3.1.3.3.

6.1. IF(C), ELE IF(C), ELE & ENDIF

6.1.1.

O IF(C) . I

ELSE (S3.2.4). T .

*I ELE IF .

ELSE IF(C) IF ELSE B. I ELSE

IF(C) ENDIF . T

ELSE IF(C) . T ELSE IF(C)

IF(C) .

6.1.2. C B, O O

L IF(C) . C C

V .

.


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P 37 52

6.1.1.1. O1

T . F V

. H .

A

. C 7.2.

E 3 , 3 O 2 M

(E) V.

LDR V .

S1, S2 & S3 .

A .

IR I & UART I . P 7.3.1.

6.1.1.2. O

S .

== C

!= C

< L T

> G T


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P 38 52

= G E

6.1.1.3. O2

V .

6.1.1.4. L

&& L AND (B )

L OR (A )

T .

6.1.1.5. C

C 1, , 2.

O1 2

.

I L 1, L

O 2.

T .

LDR V < 100 A L 100 (099)

BOTTOM CENTER == 1 L

S1 != 1 S1

LEFT MOTOR COUNT > 1000 L 1000

FRONT LEFT == 1 O

S1 == 1 AND S2 == 1

ND S3 == 1

A

S1 == 1 OR S2 == 1 OR

S3 == 1

A

LDR V < 50 OR LDR V >

100

A (049 &

101255). W 255 .

6.1.3. F IF, ELE IF, ELE, ENDIF

W IF(C) ELSEIF(C)

.

I

ENDIF.

I ELSEIF ELSE .

I IF ELSEIF ELSE

ELSE .


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P 39 52

6.1.4. G LED

T LED QB

.

IF .

F . B

. F ?

H: P .

6.2. O IF

R 6.1.4 IF(S)

. A .

*I IF() ELE IF(C) .


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P 40 52

6.3. N IF ELE

IF IF ELSE B IFELSE. A

IF ELSE.

P , LED .


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P 41 52

7. B LAB (O B)

M

.

7.1. D

T QB.1. C V : 0255

2. I V: 327868 32767

3. L V: 2147483648 2147483647

7.2. B

F QB

1. 32 C V: CHAR1 CHAR32

2. 32 I V: INT1 INT32

3. 10 L V: LONG1 LONG10

4.

10 C : CNT1 CNT10 (C D T)7.3. B

T . T

7.2 UART I IR I. L

.

V .

1. V1 = C

2. V1 = V2

S V1 .

S V V C.

I V .

O

.

7.3.1. C

T UART I IR I. S V N

.

I .

T .

7.3.1.1. A I

R 4.5.4 S T. H

. T QB. W


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P 42 52

QB

FIFO (F F O) . T

.

E.. W UART . I FIFO. O

UART I=W FIFO= UART. I

UART I= & FIFO = UART.

P UART .

7.3.1.2. I I

IR R S 114. H

12S. H

IR 200. I V .

I IR IR I 255

IR IR I .


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P 43 52

A IR

LCD.

7.4. O B

T +, , * /. L

V O

T

1. V = V1 (+, , * /) C

2. V = V1 (+, , * /) V2

T INT17 & 84 LONG6 (LONG6= INT17 * 84). A

84 LONG6 = INT17 * CHAR30.

*C 0255.

7.5. D B

T . W

. L D

.


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P 44 52

T M, M S. C U

. W T V . T

100 M.

7.6. C B

T CNT1 CNT10 . T

.

C C

. A CNT5 .


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P 45 52

8. A

8.1. B

T .

• W

.


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P 46 52

8.2. O

T QB

.

• LCD .

•

T 1 .

• B 7

• W 500

200 10

• W

.


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P 47 52

8.3. E

I ,

(B

) .

• B .

• I ( )

• I

.

• B . S

. K .


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P 48 52

8.4. D

T

. T

1 .

• T QB 66.3 . S

208.182 (πD = 66.3 3.14 ).

• T 8 16 (8 + 8 ) 1

. I 208.182 (

). S 208.182 / 16 = 13 . T

.

• I 1

77(1000/13) .

•

S . W 1 . T

.

• T 76. W 77

,

, 1 .


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P 49 52

8.5. L F

T .

• I . R . S

.• W

.

• A 50

.

• A . A 50

.


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P 50 52

8.6. L F

T 3 QB

.

•

W 0. T . I .

• I ,

. I ,

.

• I R

.


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P 51 52

8.7. C B

P QB .

• W IR , RC5 . I

1 127. • T 4 . T

.

• A . T 4

IR 32(U), 33(D), 17(L) & 16(R).

• T IR I

LCD T PC.

• F . F IR 4

.


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P 52 52

8.8. C B

QB PC USB. C USB

V S P PC. T

PC. T UART (U A R

T). T

HT . T QBVL

. I QB

, , , PC.H PC

QB

.

• I UART . W A, S, D W

, , .


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