Pre-assembled version manual
Ver.1.0
Piccorobo
1
Table of content s
Introduction / Note …………………………………………………………………………………………………1
01. Confirmation of contents …………………………………………………………………………………..…2
02. Setup ……………………………………………………………………………………………………….…..3
03. Control the robot …………………………………………………………………………………………….4
A) Power ON ……………………………………………………………………………………………….4
B) Board configuration on Arduin o IDE …………………………………………………………………..5
C) Sketch uploading ……………………………………………………………………………………….6
D) Wi-Fi setting and servo motor adjusting ………………………………………………… ……………7
E) Control robot with PC & smartphone …………………………………………………………………..8
04. Further practice ………………………………………………………………………………………………10
05. FAQ ………………………………………………………………………………………………………….10
Introduction
Thank you for purchasing Piccorobo IoT assembled version," Thank you". This manual describes how to use the robot.
Please
read this manual and us e r obo t c arefu lly .
•
Please note, personal c o mputer (PC) is necessary for operating t his robot so this manual and other related documen tary
instruction assume tha t u sers are familiar with at least basic level of operating knowledge about PC. Therefore, any questions
related to PC and o r Wi-Fi devices themselve s a re out of s uppo rt.
•
This product does not include battery and charger. Please buy Ni-MH AAA buttery and its charger by yourself
This product is supposed to be operated under connecti on to Wi-Fi
. You can also op era te it out of Wi-Fi but this will cau se
a part of function and sketch come to be failure.
※Please note that specification might be changed without notice due to outcome of improvement.
Cautions
●
Please make sure to keep out of the little child when use or assemble this product. Besides, please pay attention not to let the
little child swallow small parts by any occasion.
●
This product is not a to y. Ple ase make sure t o k eep an eye on th e s ite when the child touch or use this robot.
●
Do not use or store thi s produ ct un der a high humidity environment or place otherwise unexpected condensation may occur.
●
Please make sure to handle this product wit h any tools carefu lly..
●
Do not disassemble or r emodel ser vo moto rs as well as PCB because they are precision equipment so some failure, electric shock
and fire are presumed.
●
Do not place conductive thin gs on the PC B because there is a risk of short, broken and fire of battery and circuit.
●
This robot might cau se some unexpec te d beh av ior dur ing t he adju st ment. For avoiding any possible bod ily inju ry and property
damage due to falling of this product, ple a se k eep en ough space when handling it. Meanwhile, please min d your fing er during every
operation with the robot ..
●
When you join the connector to the PCB, check pin as signm ent carefully. It is risky i f you make a wrong connection.
●
Please mind any po ss ible p inch ing of ca ble s because disconnect ion and sh ort are concerned.
●
When disconnect the cabl e s, p lea se p ul l t he portion of plug or connector. If you disconnect and re connect by p ul lin g the
cord part, some unexpected electric shock and or fire might be caused by disconnection and
short-circuit.
2
01
Confirmation of contents
※
Screws and nuts those used for the optional accessories are necessary by installation of the
separate
sensor, please make sure to keep them safety.
⑦
M2 screwx4(used for
optional
accessories)
⑥
M3 nutx10 (used for
optional
accessories)
⑤
M3 screwx10
(
used for
optional accessories)
④
woodworking bond (used
for
optional accessories)x1
③
Part of the MD F (u s ed for
the
optional accessories)
②
USB cable (A to
microB)
x1
①robot bod yx1
Contents
Radio
Nippers
Plus driver No. 0, No. 1, No.2
This is used to change extensions or set of Piccorobo IoT. Please
Tools Required
The follo wing tools are used for expanding and modifying Piccorobo IoT. Please prepare by yourself.
3
02
Setup
First, you need to se t up to make VS-RC20 2(the board) can be u se d with PC. Please refer to VS-RC202 manual for detailed
instruction of set up.
■
VS-RC202 Manual
https://www.vstone.co.jp/products/vs_rc202/download.html
After finishing soft ware set up , c onnec t the boa rd to y our PC vi a USB po rt and f ollo wing instruction as below
to write sketch for adjusti ng axis of servo mo tors.
(Choose VS-RC202 sample sketch “vs-rc202_set_home_position”)
4
Power button
03
Control the robot
Follow sequences as indicated below to write program into the board and you may su cceeding in controlling the robot gradually.
Note, an en vir on ment for ac ces sing Wi -Fi will be necessary af ter you c o mplete d all following sequences..
Please keep a note of the SSID and password for the Wi-Fi router you want the robot to connect to in advance.
※Please use the 2.4GHz band.
A) Power ON
Open the cover o f the rob ot hea d and se t Ni-MH AA battery in the bat tery b ox and con nec t DC plug in to DC j ack of th e b oar d. And t hen
connect the board to your PC via USB, board will turn on and led will light.
In case of the power is ON, if the feet touch each other or spacer links hit the e dge of th e hole as shown below,
take off the DC plug immediately.
If you neglect such reaction, some damage to the servo motor might be caused.
If the feet touch each other or spacer links hi t the edge of the ho le, th e servo horn is determined to be misaligned. Please
reattach servo horn to th e a xis of the servo motor. Little m isa lig n is no problem but plea se just make sure that feet do not touch
each other as well as spacer links do not hit the edge of t he hol e
.
If the servo horn has been misaligned, please follow sequence as below to reattach it to the axis..
① Turn off the power of the board and remove the servo horn fro m the axis of the servo motor.
②
Turn on the power of the b oard after r emoving the serv o horn (servo motor ax is will be home position).
③ When power is on, reattach the servo horn to the axis of the servo motor (Do not tighten the
screw).
④ After turning off the power of the board, screw the servo horn .
It is OK, if no pa rts interfere with each o ther when p o wer i s O N. Go to next page.
5
[Flash Mo de] [Flash
]
Frequency ] [CP U
]
Frequency] [Flash Size]
[Debug port ]
Method]
[Upload
B) Board configuration on Arduino IDE
01. Start Arduino IDE, select the Too ls > Board > Generi c ES P826 6 on menu bar, an d s elec t other settings
as
below.
※
Depending o n you r e nvi ron men t, it is possible that different information may be displayed.
Generic ESP8266
Moduel
DIO
40MHz
80MHz
2M(1M SPIFFS)
Disabled
None
nodemcu
115200
The port connected to the
board
6
C) Sketch uploading
Connected the board with your PC via USB and startArduino IDE.
Select Files> sample sketch> VS-RC20 2> v s-rc202_HTML_Controller on menu bar and open sketch. And then select Too ls> E SP8266
Sketch Data Upload and. A fter a while , you can se e [ 10 0%] on Arduin o I DE p ro mpt a nd it means file u plo ad finish ed.
If ESP8266 Sketch Data Upload does no t d isplay
, so ftwa re setting ha s not been fin ished so ple ase comp le te t he i nitia l settings by referring to
the "software set
up" on VS-RC202 Instruction Manual.
In this section, insta ll HTML file which is displayed on smart phone in VS-RC202. When you want t o in stall so me files exce pt of sk et ch,
use this function. If you want to k no w abou t deta il , plea se refer to the VS-RC202 manual.
Next, upload sketch in the b oard . Click arrow button. If sketch is written to the boar d successfully, the
message “Done uploading”
would be displayed. If error message is displayed, check the board settings and port selection.
It takes for a while to upload sketch. Do not unplug USB cable until the message “Done uploading” is displayed.
7
D) Wi-Fi settings and servo motor adjusting
After checking sketch uploading has been do ne, Se t up Wi -Fi configuration. You ca n find t he line t o d esc ribe S SI D and pa sswo rd of
your Wi-Fi router ne ar the top of the sk etc h. Pl ease write SS I D an d pa ss word of the Wi-Fi router.
Then set the off set to co rre ct the deviati on of the se rvo horn. There is a fu nct ion ca lle d "se tSe rvoO ffset ()" to the 236 line in the sketch.
By setting
the initial position to th e s econd argument o f thi s function and adjus t th e d ev iat ion . The range of the second argument
is -500 ~ 500.
[Example]
●
setServoOffset (1, 100) // Set offset 100 to SV1(left foot)
●
setServoOffset (2, 100) / / Set offset 100 to SV2(ri ght foot)
●
setServoOffset (3, -50) // Set offset -50 to SV3(center)
●
setServoOffset (4, 50) // Set offset 50 to SV3(head)
After describing the offset, upload sketch again. When upload is done, offset wi ll be refl ected.
Change offset gradually (20 ~ 60 degrees) and modify to make robot stands straight.
Since the axis of the servo motor is li ttle bit loo se, t here is a pos sibility that cannot be modified
straight. So just adju st t ha t r obot s tand s ro ughly st raig ht. It i s e nough to w alk.
8
E) Control robot with PC and smart phone
When you have finished the adj us tment of t he offset , let's t ry to mo ve the robot. Open serial-monitor during connecting the boa rd with
your PC via USB cable . Select tools>serial monitor on Arduino IDE. If error messa ge “espcom m_upload_ mem failed” is display ed, i t
may be that port se lectio n i s wron g or USB cab le is no t conn ected t o the PC.
Set the baud rate of the serial-monitor to 115200. When the SSID and pass word ha s b een se t s ucce ssful ly , IP address which assigned
from the Wi-Fi LAN router would be disp layed on se rial-monitor as below.
When nothing is displayed on the serial monitor, please press the reset button on the board.
IP address
reset
9
Connect smartphone (or PC) to the Wi-Fi router which the robot is connected to and launch the browser. And then Enter IP address displayed on
the serial monitor in the URL field and go to the robot controller page . I f you con ne cted yo u r devi ce to the Wi-Fi router succe ssfull y, you will see
the page as below. If the page is not displayed, please check and verify whether any miss typing with IP address or power of robot might be not on.
Once the HTML is displayed properly, unplug the USB cable from the board and close the head of the robot. After the second time the board will
get IP address automatically even though disconnected with the PC. If you cannot open the robot co ntr olle r p age, it is possible that the IP address
assigned to th e b oar d by th e Wi-Fi router has been changed . In the case, check the new I P addres s on s erial mon itor ag ain.
If you try to turn o ff the po w er of the robot manually , p ress b utt on for more than 3 seconds and re lease i t. However, power won’t
be off as long as the robot keeps connecting wit h a USB cable which please note.
Recession
Stop
SV9,10
of LEDON / OFF
Power-supply voltage
[LR]
[GO]
[LEFT]
[STOP]
[LED]
[OFF]
[SONIC]
Operation
Power button
Functions
[L-L] See the left side
[L-R] See the right side
[GO] Go forward
[LEFT] Turn to the left
[RIGHT] Turn to the right
[BACK] Go back
[STOP] Stop
[LED] LED ON/OFF (SV9,10)
[OFF] Power OFF
[SENSOR1] Display the value of AN1
[SENSOR2] Display the value of AN2
[SENSOR3] Display the value of AN3
[SONIC] Display the value of ultrasonic sensor
[Vin]Display the current supply power voltage[mV]
04
Further practice
After you learn basic usage of the Piccorobo IoT, let's learn the advanced programming with reference to the VS-RC202 manual.
You can download the manual from the following URL.
And you can also download the robot example using VS-RC202. Check it.
https://www.vstone.co.jp/products/vs_rc202/download.html
05
FAQ
●
Cannot find Generic ESP8266 Module from board manager in the Ard uino IDE.
→
Install the configura tio n fil e o f E SP8266 in ac cord ance with instruction as on P16 of the VS-RC202 manual.
●
Cannot upload sketch to board with th e Ardu ino I D E.
→
It is possible that boa rd sel ect ion o r c o m port selec ti on is wrong or USB cab le is no t c onnected .
●
Robot controller page is not displayed on bro wser.
→
Make sure that SS ID and pass word of the Wi-Fi router in the sketch and IP ad dress in URL field you en ter ed a re correct. (Note) http://
might be needed to en ter p rio r to IP address by so me bro wser .
●
Settings of router and IP address are correct but the robot controller page is not displayed on browser .
→
You might have forgotten t o u pload the HMTL file to the boa rd . Upload the HTML file in acco rdance with ins truction on P18 of the VS-
RC202 manual.
●
Servo motor does not work properly.
→
There is a possibilit y that you mistook the order of the ser vo mo tor pi n co nnec tion to the bo ard . Turn off the power i mmedi ate ly an d che ck the
order of the servo m otor p in con necti on.
●
Abnormal noise from the servo motor.
→
There is a possibilit y that the servo motor is locked or is under a condit ion of heavy lo ad. Turn off the power imm ediate ly and chec k th e
course of the loading like if feet touching each o ther.
●
Response of the robot i s b ad.
→
When you operate the robo t w ith br o wser, some delay might oc cur because of a weak wireless communication env ironm ent or something like
interfering data is transferring.
●
The robot turns off suddenly.
→ The board automatically turns off its power for safety when battery volt a ge fal ling down less
than a predeter mi n ed voltage or the board is under big electrical load because of connecting
many servo motors and or motor might be locked..
10
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