Studuino Programming Environment Manual

Transcription

1 Studuino Programming Environment Manual Ver Jun. 02, 204 This manual explains the Studuino Programming Environment and how to use it. As the Studuino Programming Environment develops, this manual may be edited or revised.

2 Index. Robotist and Studuino Programming Environment..... Overview and Features System Requirements About Studuino Introduction Installing the Software Starting the Software Uninstalling the Software The Startup Screen Studuino Icon Programming Environment Overview and Features The Icon Palette The Program Field The Attribute Field The Main Menu Context Menus Studuino Block Programming Environment Overview and Features The Command Group Palette and Block Palette About Block Programming The Script Field The Condition Field The Main Menu Context Menus Troubleshooting General Troubleshooting Studuino Icon Programming Environment Studuino Block Programming Environment... 55

3 Version History Version Changes Added description of servomotor delay block. (page 36) Added error description for function, variable and list names which use non-alphanumeric characters. (page 40, 49)

4 . Robotist and Studuino Programming Environment.. Overview and Features Arduino compatible Studuino Artec Blocks Studuino Programming Environment Parts Create a robot by combining blocks and parts. Studuino is suitable for any programmer, from beginner to advanced. buzzers, sensors Robotist consists of Studuino, Artec blocks, parts, and the Studuino Programming Environment. You will be able to create robots with original looks and functions by combining Studuino, Artec blocks, and other parts. The robot will move according to the program you created in the Studuino Programming Environment. The Studuino Programming Environment is designed so that even beginners can easily create an advanced robot control program. Simply drag and drop the icons or blocks that control your robot into the Program Field. These programs are Arduino compatible. Programs created in the Studuino environment can be translated into Arduino language, where you can design even more advanced programs.

5 .2. System Requirements Item Specifications OS Windows XP (SP2 or later) / Vista / 7 / 8 / 8. Processor (CPU) Pentium 4, 2 GHz or higher (or equivalent) recommended Memory 256 MB or higher USB USB2.0 port Software Microsoft.NET Framework 4.0 required (automatically installed with the Studuino software) Display XGA ( ) or higher.3. About Studuino This section covers the Studuino connectors used when making a robot. Black Black Gray Gray Black Black DC motor connectors 3 These connectors are for DC motors. Up to two DC motors can be connected. The connector names are M and M2. 2 Servomotor connectors (multiple-pin digital connector) These connectors are for servomotors. Up to 8 motors can be connected. The connector names are D2, D4, D7, D8, D9, D0, D, and D2. When a servomotor is connected, the signal wire (gray wire) must be on the inner side, as shown above. 2

6 3 Sensor/LED/Buzzer headers (multiple-pin analog connector) These 2-pin connectors are for sensors, LEDs, or buzzers. Each connector has 3 pins. The connector names are A0-A7. Any sensor (other than touch sensors or accelerometers) can be connected to connectors A0-A7. Touch sensors, LEDs, and buzzers can be connected to A0-A5. Accelerometers can only be connected to connectors A4 and A5. When a sensor/led/buzzer is connected, the signal wire (gray wire) must be on the inner side, as shown in [Connection example 2]. 4 Push-button switches These are button switches. (?)The connector names are A0-A3. Sensor/LED/buzzer connectors A0-A3 cannot be used with a push-button switch. 5 Reset switch This switch resets the board. Press this switch to restart Studuino when it is initialized but does not operate properly or the PC does not recognize it. 6 Power supply connector (external power connector) Connects to a power source. Sensors/LEDs/buzzers/switches can use voltage supplied by USB, but DC motors and servomotors require power from the power jack. Connect a battery box to the power jack when USB is disconnected. 7 Communication jack (USB mini B connector) Connects to a cable for PC communication. The included USB mini-b cable can be replaced with a commercially available one. The following connectors or switches cannot be used at the same time: DC motor connector M and servomotor connector D2, D4 DC motor connector M2 and servomotor connector D7, D8 Push-button switch A0 and sensor/led/buzzer connector A0 Push-button switch A and sensor/led/buzzer connector A Push-button switch A2 and sensor/led/buzzer connector A2 Push-button switch A3 and sensor/led/buzzer connector A3 For example, you can t use a DC motor connected to M while a servomotor is connected to D2 or D4. They may not work properly due to interference. Likewise using a servomotor connected to D2 or D4 while a DC motor is connected to M may cause the DC 3

7 motor to malfunction. 2. Introduction 2.. Installing the Software Download a zip file containing the Studuino software from Decompress the zip file, find and double-click setup.exe to install the software. Microsoft.NET Framework 4 is required to use this software. If.NET Framework 4 is not already on the system, it will be automatically installed before Studuino. This software will be installed in the following location. The user name will be in the red [username] area, and in [***] a unique alphanumeric string will appear. Windows XP C:\Documents and Settings\[username]\Local Settings\Apps\2.0\[***]\[***]\[***] Windows Vista / 7 / 8 C:\Users\[username]\AppData\Local\Apps\2.0\[***]\[***]\[***] 2.2. Starting the Software Windows XP / Vista / 7 Select Studuino Programming Environment, which will appear in the Start menu after installation is completed. If you do not see the icon in the Start menu, choose All Programs, go to the Artec Co., Ltd. folder and select Studuino Programming Environment. The Studuino Programming Environment startup screen will appear. 4

8 Windows 8 Select Studuino Programming Environment on the start screen. The Studuino Programming Environment startup screen will appear Uninstalling the Software Windows XP Open Control Panel and select Studuino Programming Environment from Add or Remove Programs. Click Change/Remove. Windows Vista/7 Open Control Panel and select Uninstall a program. Next, select Studuino Programming Environment and click Uninstall or change a program. Windows 8 Click the desktop tile on the bottom left of the Start screen to show the desktop. Right-click the bottom left corner to show the system management menu and select Programs and Features. On the Programs and Features screen, select Studuino Programming Environment and click Uninstall or change a program. 5

9 3. The Startup Screen The Studuino Programming Environment opens with the screen shown above. Icon Programming Environment Clicking on the Icon Programming Environment will start the software and allow you to make a program to control your robot. For more details on programming a robot using the Studuino Icon Programming Environment, see 4. Studuino Icon Programming Environment. Block Programming Environment Clicking on the Block Programming Environment will start the software and allow you to make a program to control your robot. For more details on programming a robot using the Studuino Block Programming Environment, see 5. Studuino Block Programming Environment. Language Settings Select Language Settings from the main menu to change the software language to Japanese, English, or Chinese. Exit The Start screen will exit when you select Exit from the main menu. Click "Back to Main Menu" at the bottom left of the screen to go back to the main menu from any page. 6

10 4. Studuino Icon Programming Environment 4.. Overview and Features Icon Palette Program /Transfer Program Field Attribute Field The Studuino Icon Programming Environment is designed for creating a program to control your Artec robot by dragging & dropping icons into the Program Field. Each icon in the Program Field can have a detailed operation mode specified in its Attribute Field. A full-fledged robot control program can easily be created by using Test (refer to Test Mode in 4.5. The Main Menu). Test mode provides real-time control of your robot. You can also check sensor-input values with the Sensor Viewer (refer to Sensor Viewer in 4.5. The Main Menu). After creating a program, transfer it to your Studuino and execute it by clicking the (Transfer) icon. The control program can also be converted to Arduino language for editing using the Arduino IDE (refer to Display Arduino Language in 4.5. The Main Menu). 7

11 4.2. The Icon Palette DC Motor Buzzer LED Wait Motion Servomotor Sensor Repeat Submenu Robot control icons are provided in the Icon Palette. The Operation group contains robot action icons, the Sensor group contains icons that control sensor values, the Repeat group contains icons that control program loops, and the Submenu group contains icons that run submenu items. The following section explains the different types of icons in each group. Operation Group The Operation group contains icons that control robot parts. Controls DC motors Controls a single LED Controls servomotors Buzzer plays a melody Sounds a single note from Waits for a specified time the buzzer As shown below, when two DC motors are connected to M and M2 as car wheels you can use icons to control the movement of your car. The wheels should be in front. Connect to M2 Connect to M Forward 8

12 Forward Left turn (F) Right turn (F) Backward Left turn (B) Right turn (B) Rotation Sensor Group In the Sensor group there are icons that use sensor values as conditions for robot movements. Do not use sensor values as conditions for robot movements Use one sensor value as a condition for robot movements Use two sensor values as conditions for robot movements Repeat Group The Repeat group contains icons that are used to repeat a part of the process. Repeat start Repeat end Submenu Group The Submenu group contains icons that run a specific process from a submenu. Run Submenu Run Submenu The Program Field Drag & drop Menu tabs Operation 9

13 The Program Field is used to create robot control programs by dragging & dropping control icons into the Icon Palette. Each column is treated as one operation. Use the tabs at the top to switch between the Main menu, Submenu, and Submenu 2. Menu The menu is used to create programs for your robot. A total of 24 operations can be programmed. The programs you create are executed in numerical order. The menu, from top to bottom, contains boxes for Repeat, Operation, and Condition icons. Place Repeat icons in Repeat boxes, icons from the Operation or Submenu group in Operation boxes, and icons from the Sensor group in Condition boxes. Repeat Icon Boxes Icons from the Repeat group can be dragged and dropped into Repeat boxes. Follow the steps below to set Repeat icons. Drop a Start Repeat icon in the loop box of the operation which you want to repeat (flashing). 2 Drop an End Repeat icon in the Repeat box of the operation where you want the loop to end (stop flashing). Repeat segments will be enclosed in a purple rectangle. 0

14 3 After dropping 2, a Repeat Settings dialog box 3 will appear where you can enter the number of times you want the loop to repeat. If you check Repeat indefinitely, the loop will repeat an endless number of times. You have now made a loop. To change the number of times the loop repeats, click the End Repeat icon (stop flashing) and the Repeat Settings dialog box will reappear. Operation Icon Boxes Icons from the Operation and Submenu groups can be dragged and dropped into Operation boxes. Submenu icons are used to execute operations set in Submenu or of the Program Field (see the Submenus section for details). Also, you can copy any icon in an Operation box by dragging and dropping it into an empty box. As shown below, copied icons will retain the attributes of their parent icons. Drag & drop Attributes for # Attributes for #2 Copied icons retain the attributes of the parent icon

15 Condition Icon Boxes Moves the car forward A no condition icon is set automatically When a condition is set, it executes along with the operation in the same column Conditions are modified in the Attribute Field When an icon is dropped in an Operation box, a no condition icon is created in the Condition box automatically. By dropping an icon from the Sensor group into the Condition box, sensor input values can be used as conditions for the operation. Sensor or threshold values which are used for the condition can be set in the Attribute Field. Selecting a Sensor icon with a condition allows you to modify that condition in the Attribute Field. Please refer to 4.4. The Attribute Field for details on how to modify conditions for Sensor icons. The above picture shows a program which has an unconditional operation that makes the car move forward in box, but a conditional operation in step 2 that makes the car move backwards if value of the Light sensor is less than 3. This operation will not run if the value of the Light sensor is greater than 3. Submenus Placing a Submenu icon in the main menu will run operations in the Submenu Operations Conditions Smaller programs of up to 8 operations can be created in Submenus. When a Submenu 2

16 icon is placed in the Main menu, programs created in the Submenu are executed in numerical order. There are Operation and Condition boxes in Submenus. Operation group icons are placed in Operation boxes and Sensor group icons in Condition boxes. Selecting and Placing Multiple Icons Multiple icons in the Program Field can be copied by selecting and dragging & dropping them into another box. Click in the blue area outside the Operation, Condition, and Repeat boxes and your icon will change to. Drag your cursor to create a selection box around the icons you want to copy. Release the left mouse button once you have selected the icons and your cursor will return to normal. Only Operation icons can be selected. Empty boxes and Submenu icons will not be included in your selection. Mouse cursor changes into a hand Selection box appears as a dotted line Only Operation icons can be selected Dotted line turns solid once selection has been made Mouse cursor returns to normal Now we will drag the icons to a new space. Your mouse cursor will change to the first icon in the selection. Dragging the icons to another space will copy them. Dragging your cursor to a different menu tab will switch to that menu. Dragging the icons to boxes in a different menu 3

17 tab will copy them there. Copying Operation icons will also copy any Condition icons that you have set for them. Dragging Operation icons with no condition will set a no condition icon for them. Drag and drop Operation icons Drag icons to a tab to switch tabs and drop them in an empty box 4

18 4.4. The Attribute Field Selecting an icon will show its settings in the Attribute Field Each Control icon has unique attributes. For example, a Motion icon for a car has information on speed, duration, and so forth. This information can be modified in the Attribute Field. When an icon in the Program Field is selected, the attributes of the selected icon are displayed in the Attribute Field where they can be changed. The following section explains attributes for different icons. Motion Icons Attribute Description Speed Set movement speed from 0-0. Time Set movement time from 0. to 25.5 sec. Brake Use this setting to stop your robot. This is useful for when you need to make your robot stop at a certain place. Without using Brake, your robot will run its program and coast to a stop. Your robot will smoothly transition between movements if you do not use Brake. 5

19 Motion Icons 2 Attribute Description Speed Set movement speed from 0-0. Rotation Set a left or right turn. Time Set movement time from 0. to 25.5 sec. Brake Use this setting to stop your robot. This is useful for when you need to make your robot stop at a certain place. Without using Brake, your robot will run its program and coast to a stop. Your robot will smoothly transition between movements if you do not use Brake. DC Motor Icon Attribute Connector Rotation Rotation Speed Time Brake Description Sets which connector the DC motor is connected to. Refer to Port Settings in 4.5. The Main Menu to see which connectors you can use. Sets the rotation direction (forward or backward). Sets the rotation speed of the DC motor from 0-0. Set movement time from 0. to 25.5 sec. Use this setting to stop your DC motor. This is useful for when you need to make your robot stop at a certain place. Without using Brake, your robot will run its program and coast to a stop. Your robot will smoothly transition between movements if you do not use Brake. 6

20 Servomotor Icon Attribute Angle Speed Description Check the box for each motor to set an angle from 0 to 80 degrees in one degree increments. Refer to Port Settings in 4.5. The Main Menu to see which connectors you can use. Sets five levels of speed for the selected angles. LED Icon Attribute Description Switch Turns the LED on or off. Connector Sets which connector an LED is connected to. Refer to Port Settings in 4.5. The Main Menu to see which connectors you can use. Buzzer Icon Attribute Sound Connector Description Sets a note to play with a length of 0. to.0 seconds. Sets which connector a buzzer is connected to. Refer to Port Settings in 4.5. The Main Menu to see which connectors you can use. 7

21 Melody Icon Attribute Compose Connector Description Add notes by scale or rests by selecting them and pressing the key. A tempo of either 90, 20, or 50 can be selected. Each icon can hold eight notes and/or rests. Sets which connector a buzzer is connected to. Refer to Port Settings in 4.5. The Main Menu to see which connectors you can use. Wait Icon Attribute Time Description Waits for a specified length of time. Set wait time from 0. to 25.5 sec. Single Sensor Condition Icon Attribute Condition Description Set a condition threshold by using the combo box to choose a sensor connected to the Studuino, and select the type of condition (equality (=), inequality (< >), or range (, )). Ranges are open intervals and do not include the threshold numbers. The picture below shows the combo box and the sensors connected to the Studuino. Refer to Port Settings in 4.5. The Main Menu to see how the sensors will be displayed. 8

22 Dual-condition Icon Attribute Condition Description Set a condition threshold by using the combo box to choose a sensor connected to the Studuino, and select the type of condition (equality (=), inequality (< >), or range (, )). Ranges are open intervals and do not include the threshold numbers. A Dual-condition icon has an extra combo box for choosing an if/else statement. The picture below shows the combo box and the sensors connected to the Studuino. Refer to Port Settings in 4.5. The Main Menu to see how the sensors will be displayed. 9

23 4.5. The Main Menu File Menu You can use the File menu to save and load files. Open Open a previously saved file. Save Saves the program you're currently working on and overwrites the previous version. Save As Saves the program with a specified name. Exit Closes the Studuino Icon Programming Environment. Edit Menu The Edit menu can be used to modify your program. Undo Undoes your last action. The software will remember the last 0 actions you've performed, including placing icons, inserting and deleting columns, and changing port settings. Reset Removes all icons from the Program Field. 20

24 Show Arduino Language Converts the program in your Program Field to Arduino language. The source code you export using this feature can be compiled and sent to your Studuino using the Arduino IDE. Motor Calibration Use this feature to adjust the angles of your servomotors and the speed of your DC motors and save the settings to a file. Running this feature will start Test mode and open the Motor Calibration dialog box. Servomotor Calibration When the dialog box opens, all angles for the connected servomotors are set to 90 degrees by default. Entering an offset value from -5 to 5 degrees will set the angle for the corresponding servomotor to 90 degrees + the offset value. Returns all offset values to 0 Enter offset values here Watch your servomotors and adjust the values until you get the correct 90 degree angle. Click OK when you have finished calibrating your servomotors. Saved settings will be used for future programs. 2

25 DC Motor Calibration Once the dialog has opened, click Rotate and the two DC motors will begin rotating at their highest speed. Use the sliders to adjust the motors and make them move at the same speed. Clicking Stop will stop the motors and enable the OK and Cancel buttons again. Click OK. Saved settings will be used for future programs. Click here and the motors will begin rotating at maximum speed. Use the slider to adjust the speed of the motors. Port Settings Opening Port Settings allows you to see the parts connected to your Studuino in the Studuino Icon Programming Environment. Clicking on this feature will show the Port Settings dialog box. As shown in the picture below, this dialog box shows all Studuino connectors and 22

26 switches on the Studuino. Check any which have a part connected to them. 23

27 Servomotor Button DC motor Sensor/LED/buzzer As described in.3. About Studuino, DC motor connector M and servomotor connectors D2 and D4, DC motor connector M2 and servomotor connectors D7 and D8, push-button switches A0-A3 and sensor/led/buzzer connectors A-A3 cannot be used at the same time. As these combinations also cannot be used at the same time in the Port Settings dialog, please uncheck one side while the other is active. For example, when using D2 and D4 for the servomotor, the checkboxes for D2 and D4 would only be available by unchecking M for the DC motor. <Caution> For an accelerometer, which uses two connectors, all of the corresponding connectors should be checked. Part Connector Combination Accelerometer A4, A5 Connector combination when multiple connectors are used When the checkboxes of the corresponding connectors under Connector Combination above are checked, the part connected to the Studuino will be displayed. Checking one box for a part which uses multiple connectors will automatically select the boxes for any other connectors it s using. 24

28 Run Menu The Run menu allows you to link with your Studuino while making programs. 25

29 Transfer Transfer compiles any program you've made and sends it to your Studuino. You can also access Transfer by clicking on the button between the Program Field and Icon Palette. Make sure that your Studuino is connected to your PC via a USB cable before transferring your program. You'll see a status bar like the one to the right while your program transfers. This status bar will disappear once the program has transferred. Messages will also appear if there is a communication error between your PC and Studuino. See below for details on these messages. This message appears if communication between the PC and Studuino is interrupted during a transfer. The error that causes this message may cause the Studuino Icon Programming Environment to close without warning. Save your data and restart the software. This message appears when there is no connection between your PC and Studuino. If you see this message, check the connection between your PC and Studuino and try again. This message appears when another application is interfering with communication between your PC and Studuino. Close any applications which may be causing this error and try again. Run Run executes any program you've transferred. 26

30 Test Mode Click on Test or the button between the Program Field and Icon Palette to start Test mode. You can use Test mode to communicate with your Studuino and control parts in real time. Test mode can be used to adjust icon settings in order to fine tune your robot. The table below describes each Test mode icon. Icon Description Motion Click on any Motion icon in the Program Field to see its movement settings. DC Motor Click on any Motion icon in the Program Field to see its movement settings. Click on any Motion icon in the Program Field to see its angle settings. You can Servomotor also check angle settings in real time using the Attribute Field. Changes to speed settings will not be recognized in Test mode. LED Buzzer Melody Changing LED settings will turn them on and off. The buzzer will sound notes when changed in the Attribute Field. Click on any Melody icon in the Program Field and the buzzer will play the melody. Your robot will also play notes selected in the Attribute Field using its buzzer. Make sure your PC and Studuino are connected before starting Test mode. You will see a message like the one to the right when initiating Test mode. This message will disappear once Test mode has started. Messages will appear if there is a communication error between the PC and Studuino when starting Test mode. See below for details on these messages. This message appears if communication between the PC and Studuino is interrupted when starting Test mode. The error that causes this message may cause the Studuino Icon Programming Environment to close without warning. Save your data using the dialog box. This message appears when there is no connection between your PC and Studuino. If you see this message, check the connection between your PC and Studuino and try again. 27

31 This message appears when another application is interfering with communication between the PC and Studuino. Close any applications which may be causing this error and try again. Sensor Viewer The Sensor Viewer is used to communicate with your Studuino and check the values of any sensor connected to the unit. Shows the values for connected sensors. Make sure your PC and Studuino are connected before opening the Sensor Viewer. When starting the Sensor Viewer you will see a similar status bar to the one that appears when initializing Test mode. This message will disappear once the Sensor Viewer has opened. Messages will appear if there is a communication error between the PC and Studuino when starting the Sensor Viewer. See below for details on these messages. This message appears if communication between the PC and Studuino is interrupted when starting the Sensor Viewer. The error that causes this message may cause the Studuino Icon Programming Environment to close without warning. Save your data using the dialog box. 28

32 This message appears when there is no connection between your PC and Studuino. If you see this message, check the connection between your PC and Studuino and try again. This message appears when another application is interfering with communication between the PC and Studuino. Close any applications which may be causing this error and try again. Help Menu The Help menu contains information about the Studuino Icon Programming Environment. About Studuino Icon Programming Shows the version of the software you are currently using. 29

33 4.6. Context Menus Right-clicking on a box in the Program Field will bring up a context menu. Delete Deletes an icon. Delete a Column Removes a column and moves other columns to the left. Add a Column Inserts an empty column. 30

34 5. Studuino Block Programming Environment 5.. Overview and Features Command Group Palette Drag & drop Sensor Board Block Palette Script Field Condition Field The Studuino Block Programming Environment is a visual programming environment developed for Robotist. It is based on the Scratch programming environment developed by the Massachusetts Institute of Technology. Robot control programs can be created by dragging blocks from the Block Palette and attaching them to other blocks in the Script Field. It is possible to create high-level programs as advanced as ones written in other programming languages (such as C) because blocks support standard programming elements such as branching, loops, and variables. You can also control your robot in real time using Test mode. Use Test mode to create a program while checking sensor values (using the Sensor Board), robot status, and more (see 5.5. The Main Menu). After you create your program, it can be transferred to Studuino and executed by clicking Transfer. The finished control program can also be converted to Arduino language for later editing (refer to Export Arduino Language in 5.5. The Main Menu). The Studuino Block Programming Environment is described below. 3

35 5.2. The Command Group Palette and Block Palette The Command Group Palette and Block Palette control blocks which are used for programming. The Block Palette display can be switched by selecting the Command Group Palette button. The Command Group Palette buttons and blocks which are displayed in the corresponding Block Palette are described below. Button Block Blocks which control DC motors, Motion servomotors, buzzers, and LEDs Standard elements of programming such as Control branching, loops, functions and processing blocks Sensing Blocks which reference sensor values Blocks which control basic and advanced Operators arithmetic and logic operators Blocks which control variables, lists, and Variables processing for variables and lists About Block Programming In the Studuino Block Programming Environment there are two kinds of Blocks, ones with notches on the top and bottom such as (process blocks) and ones without notches such as and (setting blocks). Process blocks, used mainly for processing actions, are attached to create the programs that control your robot. attach vertically The speed of the DC motor is set to 00, moving for one second before stopping. Blocks with rounded edges such as return values, and are used mainly to modify the settings of other blocks. Hexagonal blocks such as are used to set conditions and modify conditional process blocks such as. 32

36 Putting together a light sensor value block and a val blockprocess blocks Creates a block which uses the sum of the light sensor and val blocks Type 5 Setting a less than (<) operator using val and an input value of 5 This operator checks whether val is less than 5 Adding a block which checks if the light sensor value is less than 50 and a DC motor block to a branch block This branch will make the DC motor run if the value of the light sensor is less than 50 The rounded input box in and the hexagonal space in 2 can be used to change block settings. 2 The rounded input box in can accept blocks such as or numerical input. The hexagonal space in 2 can accept a block such as to change the settings of the block. The following section explains the different types of blocks in the Block Palette. 33

37 Motion Palette Blocks Blocks in the Motion Palette are used to control the parts of your robot. Blocks for parts without Port Settings configured are grayed out and cannot be placed in the Script Field. Connected to Studuino Not connected to Studuino Find descriptions of each block below. Servomotor Control Block Controls a servomotor connected to your Studuino. 2 Sets the servomotor connecting with connectors (D2-D2) specified in with an angle (0-80) specified in 2. Any setting with a value less than 0 will be set as 0, and any value greater than 80 will be set as 80. DC Motor Control Blocks Controls a DC motor connected to your Studuino. 2 Sets the DC motor connected to connectors (M/M2) specified in with the speed (0-00) specified in 2. The higher the speed value, the faster the DC motor runs. Any setting with a value less than 0 will be set as 0, and any value greater than 00 will be set as Sets the DC motor connected to connectors (M/M2) specified in with a direction (clockwise/counterclockwise) specified in 2. 2 Sets the DC motor connected to connectors (M/M2) specified in with a stopping method (brake/coast) specified in 2. 34

38 Buzzer Control Blocks 2 Sets the buzzer connected to connectors (A0-A5) specified in with an output volume specified in 2. Click on in 2 to set the note you would like the buzzer to play. You can select scales ranging from C48 (30Hz) to C08 (486Hz). You can also select notes ranging from C48 (30Hz) to C72 523Hz). If you would like to use scales higher than C72, input them directly using the keyboard. Playing notes with the buzzer may interfere with the operation of a DC motor connected to M. If you would like to use a DC motor connected to M, use a block to stop the buzzer before attaching a DC motor block. The combo box in is used to stop any buzzer connected to (A0-A5). LED Control Block The combo box in is used to turn any LED connected to (A0-A5) on or off. Control Palette Blocks Blocks in the Control Palette allow you to control the flow of your program. Find descriptions of each block below. This block begins a function. You can name the function using the combo box in. Use the combo box in to call a specific function. Wait for the number of seconds specified in. The process inserted in will loop indefinitely. 35

39 2 The process inserted in will repeat the number of times specified in 2. 2 Continuously evaluates whether the condition in has been met and runs the process in 2 if it has. The condition in is specified using a block from the Operators Palette. 2 If the condition in has been met, the process in 2 is executed. The condition in is specified using a block from the Operators Palette. 2 3 If the condition in has been met, the process in 2 is executed. If it hasn't, the block runs the process in 3. The condition in is specified using a block from the Operators Palette. Waits until the condition in has been met. The condition in is specified using a block from the Operators Palette. 2 The process in 2 repeats until conditions for the process in are met. The condition in is specified using a block from the Operators Palette. 2 This block allows you to control the delay for the servomotor block inserted in 2 by entering a number from 0-20 in. This block only works with servomotor blocks and other blocks will not be recognized. 36

40 Sensing Palette Blocks Blocks in the Sensing Palette are used to retrieve sensor values. Blocks for parts without Port Settings configured are grayed out and cannot be placed in the Script Field. Connected to Studuino Not connected to Studuino Sensor blocks can be combined with and use the values of other blocks. The picture below shows a combination of a servomotor block and a light sensor block. This combination allows you to change the angles of the motor in response to the amount of light in a room. Combine sensor blocks with other blocks that accept input. Find descriptions of each block below. Returns the value of the light sensor connected to A0-A7 specified in. Sensor value ranges from 0 to 00. Returns the value of a touch sensor connected to A0-A5 specified in. Sensor value is 0 when the sensor is touched and in its normal state. Returns the value of the light sensor connected to A0-A7 specified in. Sensor value ranges from 0 to 50. Returns the value of a reflective infrared sensor connected to A0-A7 specified in. Sensor value ranges from 0 to

41 Returns the value of a specified direction (X/Y/Z axis) from a connected accelerometer. Sensor value ranges from 0 to 00. Returns the value of a push-button switch connected to A0-A3 specified in. Sensor value is 0 when the button is pushed and in its normal state. Operators Palette Blocks Blocks in the Operators Palette perform calculations using the values you input. Find descriptions of each block below. 2 Adds the values set in and 2. Arithmetic operation blocks include subtraction (-), multiplication (*), and division (/) blocks. You can select the other arithmetic operators from the context menu by right-clicking on the block. 2 Returns a random number between the values set in and 2. 2 Determines whether the value set in is less than the value set in 2. The other comparative operators find whether the values are equal (=) or whether a value is larger (>). You can select the other comparative operators from the context menu by right-clicking on the block. The picture below shows a combination of a light sensor, condition, and servomotor block. You can use this to set the servomotor angle to 90 degrees if the light sensor value dips below

42 2 This block is an AND operator using the conditions set in and 2. The other logical operator blocks are OR and NOT. You can select the other logical operators from the context menu by right-clicking on the block. The picture below shows a combination of a logical operator, condition, and DC motor block. You can use this combination to make the DC motor move forward when the sound value is between 30 and

43 2 This modulo block divides by 2 and returns the remainder. As with the block, right-clicking on this block will allow you to select other arithmetic operators from the context menu. This block returns the nearest integer (whole number) for the value set in. 2 This block uses the value in for the specified arithmetic operation in 2. You can choose from absolute values, square roots, trigonometric functions, logarithms, and exponents. Variables Palette Blocks Blocks in the Variables Palette are used to make variables and lists. Click on the Make a variable button and type in a name to make a variable. Click on the Make a list button and type in a name to make a list. Using non-alphanumeric (A-Z, a-z, 0-9) characters in function, variable, and list names will cause a Build error when transferring your program (see the Program/Transfer section in 5.5. The Main Menu for details). Only use alphanumeric characters (A-Z, a-z, 0-9) for function, variable, and list names. Values of variables and lists can be from E+38 to E+38, or a maximum of 32 bits (4 bytes). The following section explains the variable blocks in the Variables Palette (for a variable named "val"). Returns the value of the variable. 2 Sets the variable in to the value set in 2. 2 Motors, LEDs, Increases the value set in by the value set in 2. 40

44 You can make up to 70 different variables. The picture above shows a combination of a loop and a servomotor block. You can use this to make program that increases the value in the variable "val" by 0, making the process repeat 0 times and increasing the angle of the motor from 0 to 00 in 0 degree increments. Lists are structured blocks which allow you to add or remove values as you see fit. Lists can hold up to 40 separate values. The following section explains the list blocks in the Variables Palette (for a list named "list"). Returns the first value in the list. 2 Adds the value in to the list in 2. 2 Deletes the value in from the list in Inserts the value in 3 to list at position Sets the value at position 2 in list to the value set in 3. 2 Returns in value at position 2 in list. 4

45 Returns the length of list. 2 Determines whether list includes the value in 2. Script Field Condition Field The picture above adds the values 0, 20, and 30 from the previous 3 blocks to "list". This process makes a list that includes 0 in the first position, 20 in the second position and 30 in the third position. Using this list, you can set the angles of the servomotor in the next blocks. The servomotor connected to D9 will have its angles set to 0, the servomotor in D0 to 20, and the servomotor in D to 30 degrees The Script Field The Script Field is where you drag and attach blocks to create your program. The Studuino Block Programming Environment opens with a Start program block in the Script Field. This block starts your program. Any program you make must include this block. 42

46 5.4. The Condition Field The Condition Field shows Test mode sensor values, variables, and lists. Starting Test mode will open the Sensor Board, where you can view the values of any sensor connected to your Studuino. As shown below, you can also view the change in values of any variables or lists in the Condition Field by clicking the checkbox to the left of them. View variables in the condition field by clicking here Appears if you open Test 5.5. The Main Menu File Menu You can use the File menu to save and load projects. New Start a new project. Open... Open a previously saved project. Save Save your current project. Save As Save your program with a specified name. Exit Closes the Studuino Block Programming Environment. 43

47 Edit Menu The Edit menu can be used to modify your program. Undelete Restores a deleted block. Start / Stop Single Stepping Starts running your program step by step. When using Single Stepping, the block currently being processed will turn yellow. You can change how fast steps run using the Set Single Stepping... menu. Set Single Stepping Use this to change how fast steps are processed. Turbo is the fastest speed, and Flash is the slowest method of processing steps. Export Arduino Language Converts the program in your Script Field to Arduino language. All blocks in your Script Field will be converted to Arduino language. The source code you export using this feature can be compiled and sent to your Studuino using the Arduino IDE. Any blocks which are not attached to the master or function blocks will still be converted to Arduino language. Use Arduino IDE to delete any code from unattached blocks before compiling your program. 44

48 Block Converted to Arduino // // Artec robot mainroutine // void artecrobotmain() { for (;;) { ARSR_subroutine(); } } // // Artec robot subroutine // void ARSR_subroutine() { servomotor(dig9,90); } dcmotorpower(m,00); Results in a compiling error Blocks which are unattached to functions (orphaned) will still be processed by the function in the Block Programming Environment, but orphaned code will result in a compiling error in Arduino IDE. Unset values in blocks such as will be set to 0 when exporting to Arduino language. Unset conditions in blocks such as be set to "false" when exporting to Arduino language. will 45

49 Servomotor Calibration Use this feature to adjust the angles of your servomotor and save them to a file. Running this feature will start Test and open the Motor Calibration dialog box. When the dialog box opens, all angles for the connected servomotor are set to 90 degrees by default. Sets all offset values to 0 Enter offset values here Watch your servomotor and adjust the values until you get the correct 90 degree angle. Click OK when you have finished calibrating your servomotor. Saved settings will be used for future programs. 46

50 Port Settings Allows you to see the parts which are connected to your Studuino in the Studuino Block Programming Environment. Clicking on this feature will show the Port Settings dialog box. As shown in the picture below, this dialog box shows all Studuino connectors and switches on the Studuino. Check any which have a part connected to them. Servomotor Button DC motor Sensor/LED/buzzer As discussed in.3. About Studuino, the following connectors or switches cannot be used at the same time: DC motor connector M and servomotor connector D2, D4 DC motor connector M2 and servomotor connector D7, D8 Push-button switch A0-A3 and sensor/led/buzzer connector A0-A3 As these combinations also cannot be used at the same time in the Port Settings dialog, 47

51 please uncheck one side while the other is active. For example, when using D2 and D4 for the servomotor, the checkboxes for D2 and D4 would only be available by unchecking M for the DC motor. <Caution> For the accelerometer, which uses two connectors, all of the corresponding connectors (or a compatible combination) should be checked. Part Connector Combination Accelerometer A4,A5 Connector combination when multiple connectors are used When the checkboxes of the corresponding connectors in Connector Combination above are checked, the part connected to the Studuino will be displayed. Checking one box for a part which uses multiple connectors will automatically select the boxes for any other connectors it s using. When an accelerometer is selected with A4, A5 is selected automatically. 48

52 Run Menu The Run menu allows you to link with your Studuino while making programs. Transfer Transfer compiles any program you've made and sends it to your Studuino. You will see a message box like the one in the below picture if a build error occurs. Title Message A build error will occur if there are blocks that are unattached to the master or function blocks in the Script Field. See below for details on this message. This message appears if there are blocks that are unattached to master or function blocks in the Script Field. When preparing to build, please attach or delete any orphaned blocks in the Script Field before using Transfer. You will also see this message when any function, variable, or list names contain [Unattached blocks] non-alphanumeric characters. Rename your function, list, or variable and try again. This message appears if there are any undefined function blocks in your program. As shown below, any blocks which call functions must have the function defined. When you're prepared to build your program, place and define a function block in the Script Field, or delete any orphaned function blocks before using Transfer. [An undefined function] 49

53 This message appears when the two error messages described above occur at the same time. When preparing to build, please attach or delete any orphaned blocks and define functions for blocks which use them before using Transfer. Once you have built your program you can transfer it to your Studuino. See below for details on messages you'll see when transferring your program. This message appears during a program transfer. Do not disconnect your Studuino from the PC when transferring a program. If communication between your Studuino and PC is interrupted during a transfer you will see the below messages. This message appears if communication between the PC and Studuino is interrupted during a transfer. Reconnect your Studuino to the PC and try again. and try again. This message appears when there is no connection between your PC and Studuino. If you see this message, check the connection between your PC and Studuino This message appears when another application is interfering with communication between the PC and Studuino. Close any applications which may be causing this error and try again. Run Run executes any program you've transferred. This appears in the menu after you have successfully transferred a program. Test Mode 50

54 You can use Test mode to communicate with your Studuino and control parts in real time. Make sure your PC and Studuino are connected before starting Test mode. Click on Test and you will see the message to the left telling you that Test mode is being initialized. Do not disconnect your Studuino from the PC while in Test mode. If communication between your Studuino and PC is interrupted during a transfer you will see the below messages or a runtime error may cause the Studuino Block Programming Environment to freeze. Keep your Studuino connected to the PC at all times while in Test mode. See below for details on these error messages. This message appears if communication between the PC and Studuino is interrupted when initializing Test mode. Reconnect your Studuino to the PC and try again. This message appears when there is no connection between your PC and Studuino. If you see this message, check the connection between your PC and Studuino and try again. be causing this error and try again. This message appears when another application is interfering with communication between the PC and Studuino. Close any applications which may This message appears if communication between the PC and Studuino is interrupted during Test mode. Save your project and restart the software. Help Menu The Help menu contains information about the Studuino Block Programming Environment. 5

55 About Studuino Block Programming Environment Shows the version of the software you are currently using Context Menus Right-clicking on blocks in the Script Field or the Script Field itself will bring up a context menu. Clean Up Arranges blocks in the Script Field. Save Picture of Scripts Saves an image of the blocks in the Script Field as in.gif format. Add Comment Adds a comment. Dragging the resulting comment to any block will append the comment to that block. Right-clicking on any block aside from the master block will bring up a context menu. Duplicate Duplicates a block or set of blocks. Delete Deletes a block or set of blocks. 6. Troubleshooting The following section covers troubleshooting methods for this software. In the event that the solutions provided in this manual do not solve your issue or your issue is not covered, please contact us directly. Please check our website for the most current information regarding your product General Troubleshooting This section covers troubleshooting methods common to both Studuino Programming Environments. 52

56 My DC motor or servomotor won't work in Test mode Motors require power from the battery box to function properly. Insert batteries into the battery box and connect it to your Studuino unit before turning the power on. My robot resets unexpectedly Exhausted batteries can cause your robot to reset unexpectedly. Replace the batteries in the battery box. My sensor values are behaving strangely Every sensor is different, which can cause variations in the values your sensor gives. 53