WHALES BOT AI MODULE1 EP Instructions

User Manual of AI Module 1

V1.2

Contents

Preface ........................................................................................................................................................... 3

Chapter 1 Product Introduction ................................................................................................................ 4

I. MC101 Controller .......................................................................................................................... 4

II. Actuator and Sensor ..................................................................................................................... 5

Chapter 2 Software Introduction .............................................................................................................. 7

I. Software Download and Installation .............................................................................................. 7

II. Connection Controller and Downloader ...................................................................................... 7

III. Flow Chart Programming .............................................................................................................. 8

1、Introduction of flow chart interface ........................................................................................ 8

2、Module instructions .................................................................................................................... 9

3、Module introduction ................................................................................................................... 9

IV. Introduction of C Language and Python Editing Interface .................................................. 17

I.Introduction of C Language interface ....................................................................................... 17

II.Introduction of Python Language interface............................................................................ 18

Chapter 4 Programming Example ......................................................................................................... 19

I.Control Motor Stop and Rotation by Touching the Sensor.................................................. 19

II.Infrared Sensor Detection .......................................................................................................... 20

Chapter 5 Introduction to Line Patrol ................................................................................................... 21

Chapter 6 Epilogue ................................................................................................................................... 25

I.Maintenance.................................................................................................................................... 25

II. System Upgrade .......................................................................................................................... 25

III. Contact Us................................................................................................................................... 25

Preface

The book introduces the way to use AI Module 1 series building block robots and
WhalesBot Scratch software. Simple programming examples are given to help users
learn to use AI Module 1 series along with its software better and faster. After you get
this product, please read the manual carefully.

AI Module 1 series are the latest building block robots of Whales combining
controllers and software, which not only can meet the needs of daily robot teaching,
but also meet a variety of application environments such as robot competition.
WhalesBot Scratch software is able to teach students the most advanced Scratch and
Python and also supports bar chart programming, standard C programming and
Python programming. The flow chart module covers all port functions, and supports
visual programming such as subroutine function. It contains seven functional
modules, including action, sensor (detection), control, program, data, advanced and
line patrol modules. Based on the brand-new cross-platform technology development,
it can be operated on Windows, Mac and other operating system, and supports
multithread programming. The bar chart can automatically generate C and Python
Language, of which C Language supports pointer, array, structure and other complex
applications, and the robot library functions are available.

Chapter 1 Product Introduction

I. MC101 Controller

MC101 controller is the latest generation. It is small but
stable and reliable, also it has large program storage capacity
and rich interface, famous of being high performance but low
power consumption. MC101 controller has such universal
interfaces as I/O, I^2C and URART at the top, motor interface
and MiniUSB interface at the bottom, buttons and speakers at
the front and battery compartment at the back.

Processor: 32-bit Cortex-M3 processor, clock frequency 72MHz, 512KB
FlashROM, 64KRAM;

Memory: 32 Mbit high-capacity memory chip with a variety of built-in sound
effects, which can expand more functions with software upgrade;

Port: Provide 10 input and output interfaces, including 5 digital/analog interfaces
(AI, DO), 4 closed-loop motor control interfaces, with a single maximum current of

1.5A; 1 RS485 servo motor serial interface, with a maximum current of 6A; USB
interface can support online commissioning mode to facilitate program
commissioning;

Button: Set up a key to simplify user operation. Through this button, users are
able to switch on and off the machine, run the program, deal with Bluetooth pairing
and other functions. The built-in indicator light of the button displays various working
states of the controller.

⚫ Light off: Power off

⚫ White: Power on

⚫ White flickering light: Running the program

⚫ Yellow flickering light: Downloading the program

⚫ Red flickering light: Low battery

Others: The working voltage of the system is 6.8~10V. Functions include
working state display and audio playing, etc.

MC101 controller firmware upgrade

The main program running in the firmware MC101. Without firmware, the
MC101 controller will not be able to work.

Sometimes new firmware versions are released to enhance functionality or fix
software defects.

Make sure using WhalesBot Scratch software to connect your computer to
MC101 controller with a USB cable to update firmware.

1. Turn on the MC101 controller and connect it to your computer.

2. Select “Firmware upgrade” from “ ” menu. The following interface will

pop up:

3. Click “Start to upgrade” button to check if the firmware can be upgraded.

4. “Select firmware” can be achieved by selecting the latest firmware version

from the firmware file available on the computer.

5. If you want to change certain firmware version on your computer, click

“Browse” button to find and select the correct firmware file.

6. Click “Start to upgrade” button to download the new firmware to MC101
controller. The bottom progress bar of the dialog box of “Firmware upgrade” will
display firmware upgrade progress. Once completed, MC101 controller will restart
automatically.

If MC101 controller stops working during firmware upgrade, you will need to
follow the steps above to repeat the firmware upgrade operation (MC101 controller
also needs to connect to your computer using a USB cable).

II. Actuator and Sensor

Name

Figure

Related module

How to use

Closed-loo

p motor

Reverse motor

Motor

Stop motor

The new generation of

Closed-loop motor: small size,

high rotation speed and large
torque. It has two working
modes, open-loop and

closed-loop modes, which
allows to accurately control
rotation speed and rotating
cycles ultimately driving the
robot to complete various tasks.

Emotional

screen

LED

array-expressio

n

LED

array-symbol

LED

array-customiza

tion

It uses the dot-matrix LED
display technology, has a
variety of built-in robot
expressions and over 50 kinds
of symbols and is applicable to
a number of scenarios, greatly
enhancing the interest and
performance capability of the
robot.

Infrared

sensor

Infrared ranging

Infrared ranging sensor is a kind
of analog sensor, which can
detect the infrared light
reflected from solid objects to
achieve the purpose of detecting
range. By detecting the range of
objects, high-level path
planning applications such as
ranging and obstacle avoidance
are achieved.
Ranging range: 10-50cm
Corresponding range of value:
0-2300

Touch
sensor

Touch switch

Touch sensor is a kind of digital
sensor, which can be pressed down
and released, and avoid obstacles
by detecting the collision state of
the robot.
The corresponding value of touch
on/off state: 0/4000

Integrated

grayscale

sensor

Line patrol

The integrated grayscale sensor
is a detector with 5 grayscales.
Through the highly integrated
design and built-in
high-performance co-processor,
it simplifies the application
difficulty of the robot, and
cooperates with the controller to
achieve higher-performance line
patrol function.

Chapter 2 Software Introduction

I. Software Download and Installation

Please download WhalesBot Scratch software Standard Version, Setup.exe, from

the official website www.whalesbot.com. Follow the steps to complete installation.

II. Connection Controller and Downloader

Please make sure that the controller is fully charged, computer and controller is
also connected with USB cable when you connect with WhalesBot Scratch software.
When the controller is connected to the computer, the controller shall turn on
automatically under switch off mode followed with a tone “Hello! I am the Whale.”

After writing program, click the download icon “ ”, and following four

prompts will pop up:

When prompting successful download, you can unplug the USB cable to run the

program offline.

Attention: Please do not plug and unplug USB cable or press down the controller

button to run the program during download!

III. Flow Chart Programming

1、Introduction of flow chart interface

The flow chart program editing window is shown in the figure above. The left is
the module library, the middle is the program editing window, and the right is the C
or Python code bar that controls display function and content. All content of this bar is
automatically generated by the flow chart program, which cannot be changed (if you
need to change it, you can switch to C Language interface), allow you to learn the
structure of C Language and read the parameters of each module.

WhalesBot Scratch software has eight modules, which are action module library,
sensor module library, control module library, function module library, operation
module library, variable module library, advanced module library and line patrol
module library.

Menu bar

Module bar

Programediting terface

Code display area

Software information

2、Module instructions

Firstly define program function, then detect corresponding module, drag it to the
lower part of the main program and connect after blue bar prompt pops up, left click
the module to select parameters in the pop-up interface, download the program to the
controller, run the program and achieve the function.

Example:

Function: The motor at Port rotates forward at the speed of 80;

Corresponding module: Motor; drag the “motor” module to the lower part
of the main program, click the module “A”, set the motor to choose Port A, click
“power” to enter 80 and set the power of the motor to 80. Then connect the computer
and the controller through USB cable, download the program to the controller, run the
program and achieve the goal.

3. Module introduction

3.1 Action module library

The action module library contains all actuator modules, including eight modules
such as reverse motor, motor, motor stop, display, indicator light, electromagnet and
tone.

Module
name

Module diagram

Control
port

Interpretation

Reverse

motor

Motor
ports
A~D

Invert the rotation of
subsequent motors
before placing it on the
motor module that needs
to be inverted.

Set the
motor

Motor
ports
A~D

Control motor rotation,
with the power range of

-100~100 (which can also
be controlled through
variables). The advanced
module can control the
time or movement
distance of the motor
(1600 means that the
motor rotates about 360°).

Turn off the
motor

Motor
ports
A~D

The motor of
corresponding port will
stop rotating after
checking.

Indicator
light

I/O
ports
1~5

Control the on/off state
of corresponding
(multiple choices)
indicator light.

Electromag
net

I/O
ports
1~5

Control the engagement
and disengagement of
corresponding
electromagnet (multiple
choices).

Tone

/

Sound corresponding
tones through
loudspeaker.

LED
array-expre
ssions

I/O 口
1~4
I/O
ports
1~4

Select and display
expressions, which
requires to connect two
LED arrays at the same
time.

Turn off
array-expre
ssions

I/O
ports
1~4

Turn of expression
display, which requires
to connect two LED
arrays at the same time.

LED
array-symb
ols

I/O
ports
1~4

Select and display
symbols.

LED
array-custo
mization

I/O
ports
1~4

Can display the symbols
you draw.

Turn off
LED array

I/O
ports
1~4

Turn off the display of
LED array.

Reading

I/O
ports
1~5
I/O
ports
1~5

Convert settings and
sensor states to values
and sound them through
loudspeaker.

3.2 Sensor module library

The sensor module library contains all modules that can be used to collect
external environmental data, and the physical access of corresponding sensor can
assign the data collected to corresponding variable. This module library contains 11
modules, including lightness and temperature.

Module

name

Module diagram

Control

port

Interpretation

Ambie
nt light

I/O

ports

1~5

Assign the
detection value of
lightness sensor at
corresponding port
to the lightness
variable.

Temper
ature

I/O

ports

1~4

Assign the
detection value of
temperature sensor
at corresponding
port to the
temperature
variable.

Humidi
ty

I/O

ports

1~4

Assign the
detection value of
humidity sensor at
corresponding port
to the humidity
variable.

Ground
graysca
le

I/O

ports

1~5

Assign the
detection value of
ground grayscale
sensor at
corresponding port
to the grayscale
variable.

Flame I/O

ports

1~5

Assign the
detection value of
flame sensor at
corresponding port
to the flame

variable.

Infrare
d
ranging

I/O

ports

1~5

Assign the
detection value of
infrared sensor at
corresponding port
to the infrared
ranging variable.

Touch
switch

I/O

ports

1~5

Assign the
detection value of
touch switch sensor
at corresponding
port to the switch
variable.

Magnet
ic
sensitiv
ity

I/O

ports

1~5

Assign the
detection value of
magneto-dependent
sensor at
corresponding port
to the
magneto-dependent
variable.

Integra
ted
graysc
ale

I/O port

5

Assign the
detection value of
certain channel of
the integrated
grayscale sensor at
corresponding port
to the grayscale
variable.

Timer /

Assign the current
system time (the
time from the start
to current running
for the program) to
the time variable.

Clock
reset

/

Set the current
system time to
zero.

3.3 Control module library

In user program, there are two purposes to read the return value of each port
sensor: storage and judgment, which is mainly used for judgment. The software
provides the flow chart module of three means of judgment, that is, while statement,

if...else...statement and for statement, which are in the control module library.

Module

name

Module diagram

Interpretation

Conditional
judgment

With regard to if (condition)...else statement in C
Language, user can control the conditions by setting
variables, sensors and parameters. If conditions are
met, execute upper statement, otherwise execute the
lower statement.

Condition
al
judgment

With regard to if (condition)...else statement in C
Language, user can control the conditions by setting
variables, sensors and parameters. If conditions are
met, execute internal statement.

Condition
al loop

With regard to while (condition) statement in C
Language, user can control the conditions by setting
variables, sensors and parameters. If conditions are
met, execute loop body statement, otherwise jump
out of the current loop body.

Execute
for
multiple
times

With regard to for statement in C Language, user can
set the loop count through parameters or reference
variables. The loop count refers to the number that
the statement is repeatedly executed in the current
loop body.

Loop until

With regard to while (condition) statement in C
Language, user can control the conditions by setting
variables, sensors and parameters. If conditions are
met, execute loop body statement, otherwise jump
out of the current loop body.

Repetitive
execution

The while (true) statement in C Language means that
the statement is repeatedly executed in the current
loop body.

Cyclic
interrupt

The break statement in C Language is located in the
loop body. When the statement in the loop body is
executed to this module, jump out of the current loop
body.

Wait until

Execute next program only after the wait
conditions are met, otherwise it will always be
waiting.

Wait

User can maintain the current program state for a
certain period of time by setting time.

3.4 Program module library

Module

name

Module diagram

Interpretation

New task

Add a process to user program, which is equivalent
to the fact that the controller do multiple tasks
simultaneously, and these tasks are executed in
parallel.

New
function

Package the programs of multiple modules into one
module to reduce the length of the main program.
The module can be used to call subroutines of other
programs, and internal parameters of subroutines
can be modified by changing parameters or
reference variables.

3.5 Operation module library

Module

name

Module diagram

Interpretation

Addition

Assign the results of the addition
operation of the parameters filled in
or referenced by the user to integer
variable or other variables.

Subtracti
on

Assign the results of the subtraction
operation of the parameters filled in
or referenced by the user to integer
variable or other variables.

Multiplic
ation

Assign the results of the
multiplication operation of the
parameters filled in or referenced by
the user to integer variable or other
variables.

Division

Assign the results of the division
operation of the parameters filled in
or referenced by the user to integer
variable or other variables.

Comparis
on-greate
r than

Assign the results of the greater
than comparison operation of the
parameters filled in or referenced by
the user to integer variable or other
variables.

Comparis
on-less
than

Assign the results of the less than
comparison operation of the
parameters filled in or referenced by
the user to integer variable or other
variables.

Comparis
on-equal
to

Assign the results of the equal to
comparison operation of the
parameters filled in or referenced by
the user to integer variable or other
variables.

Comparis
on-not
equal to

Assign the results of the not equal to
comparison operation of the
parameters filled in or referenced by
the user to integer variable or other
variables.

Logical
operation

-and

Perform the logical operation on
two logical variables. When “&&”
operation is performed, it means
that the logic is tenable when two
logical variables are established.

Logical
operation

-or

Perform the logical operation on
two logical variables. When “‖”
operation is performed, it means
that the logic is tenable when at
least one of these two logical
variables is established.

Logical
operation

-not

Perform the logical operation on the
logical variables. When “!”
operation is performed, it is to
assign the reverse logical variables.

Remainde
r after
division

Assign the results of the parameters
filled in or referenced by the user
after the operation of dividing input
parameters or referencing variable
to integer variable or other
variables.

Rounding
off

Assign the results of the rounding
off operation of the parameters
filled in or referenced by the user to
integer variable or other variables.

Mathemat
ical
operation

Assign the results of the
mathematical function operation of
the parameters filled in or
referenced by the user to integer
variable or other variables.

Random
number

Define the variable random number.
The parameters are the generation
interval of random number, ranging
from 0 to 99999. It does not

correspond to any actuator object.

3.6 Variable module library

Variable is one of the two representations of data. Variable represents a named
storage unit with specific attributes, which is used to store data. For example, the
detection value of the ground grayscale sensor is assigned to the grayscale variable.

Module

name

Module diagram

Interpretation

Digital
input

Assign the detection value of digital
sensor at corresponding port to digital
variable, and all digital quantity sensors
can be replaced by this module.

3.7 Advanced module library

Module

name

Module diagram

Interpretation

Digital
input

Assign the detection value of
digital sensor at corresponding
port to digital variable, and all
digital quantity sensors can be
replaced by this module.

Analog
input

Assign the detection value of
analog sensor at corresponding
port to analog variable, and all
analog quantity sensors can be
replaced by this module.

Digital
output

Control on/off state of
corresponding digital actuator
(multiple choices). All switch
quantity actuators can be replaced
by this module.

Read
EEPROM

Read the value of certain address
(0~99) of EEPROM in the
controller and assign it to
EEPROM variable.

Write
EEPROM

Write the required parameters or
referenced variables to an address
in the controller EEPROM (0~99)

3. 8 Line patrol module library

See Chapter 5 Introduction of Line Patrol for details.

IV. Introduction of C Language and Python Editing Interface

Under the flow chart editing interface, click “Switch to C code editing” in the code conversion
interface as shown in the figure.

Under the flow chart editing interface, click “Switch to Python code editing” in the code
conversion interface as shown in the figure.

I Introduction of C Language interface

Function
and variable

Multi-function
prompt window

Program editing
window

Menu bar

C Language editing interface is as shown in the figure above, mainly including 4
windows: Menu bar, function and variable display, program editing and
multi-function prompt window. The program editing window is the larger one at
upper right corner.

II Introduction of Python Language interface

Python editing interface is as shown in the figure above, mainly including 3
windows: Menu bar, program editing and multi-function prompt window. The middle
one is the program editing window.

Program

editing

Menu bar

Multi-function

prompt window

Chapter 4 Programming Example

I Control Motor Stop and Rotation by Touching the Sensor

Connect touch sensor and motor to controller, use conditional loop to control
motor stop and rotation, and need to use motor, touch sensor, repetitive execution,
judgment, operation-less than, motor stop and cyclic interrupt module, and the
program is as shown in the figure above. Note: Ground grayscale sensor module and
external sensor shall select consistent port, variables used in loop condition are
corresponding variables of touch sensor, and the port checked in motor stop and
motor stop module shall be consistent with the external port of the motor.

II Infrared Sensor Detection

Connect infrared sensor and motor to controller, use conditional loop to reverse
the motor for 2s and then stop the motor, and need to use motor, infrared sensor,
repetitive execution, judgment, operation-less than, reverse motor, wait, motor stop
and cyclic interrupt module, and the program is as shown in the figure above. Note:
Ground grayscale sensor module and external sensor shall select consistent port,
variables used in loop condition are corresponding variables of touch sensor, and the
port checked in motor stop and motor stop module shall be consistent with the
external port of the motor.

Chapter 5 Introduction to Line Patrol

The line patrol module library is a specific
module library developed for line patrol robot
competition. This module library uses the PID
algorithm to enable the robot to accurately
patrol, locate intersections and make precise
turns, which can meet the needs of most line
patrol competitions. The line patrol module
library includes nine modules of initialization,
black and white detection, line patrol
intersections, line patrol timing, turns, timing
start motor, distance starter motor, grayscale
channel starter motor and button. Next, a brief introduction will be given (the trolley
wiring is as shown in the right figure, and details are given in the product manual).

1. Initialization:

Set corresponding interfaces and related parameters of motor and sensor of the
line patrol trolley.

Module interpretation: The initial setup module of the whole line patrol module
library shall be placed in the initial position of the line patrol program, which is
usually placed after the main program.

Motor attribute: The left motor is defaulted to connect motor channel A while the
right motor is defaulted to connect motor channel B; power value represents the
percentage, the actual running speed of the trolley is multiplied by the percentage with
the line patrol speed and the power can be adjusted according to actual running
condition of the trolley, so that the trolley can move in a straight line when the left and
right motors have the same speed; if the trolley rotates on the spot during line patrol,
the power of the motor on the side of the rotation direction of the trolley shall be set to
negative (for example, the power of the left motor shall be set to negative if the trolley
turns left).

Ground grayscale channel: The integrated grayscale sensor shall be connected to
No. 5 I/O interface, and the ground grayscale sensors are defaulted to correspond to

channels 1-5 of the integrated grayscale sensor from left to right, respectively.

2. Black and white detection:

Calibrate the black lines and white background on the site.

Module interpretation: Constitute a complete program with the initialization
module and download it to the controller, and it is necessary to conduct black and
white detection if the site or ambient light is changed.

Detection method: Running program shall be detected according to the prompt
(when BLACK LINE or WHITE GROUND is prompted, the grayscale sensors shall
be placed on the black lines or white background). After the detection, the controller
display will display the detection values, of which the corresponding value of black
lines is greater than 2,000 and that of white background is less than 400. If the
detection value is not within the scope, it shall be re-detected.

3. Line patrol intersection:

Pass through certain type of intersection at a certain speed of line patrol, then
continue to advance for a period of time before stop.

Intersection type:

or Check the left one, or Check the right one

or Check T-junction/intersection

Check the left or right one, and cannot check T-junction/intersection

Module interpretation: The line patrol intersection module is mostly used before
the turning module, and the trolley stops after running to a certain intersection to
prepare for turning; it shall be used after the initialization module.

Line patrol speed: Actual speed=Line patrol speed x power (%) (initial module
setup)

Time of passing through the intersection: It refers to the time for the grayscale
sensor of the trolley to continue to advance after passing through corresponding
intersection (black lines); the length of the time of passing through the intersection
directly affects its position relationship with black lines after the trolley turns.

4. Line patrol timing:

It stops after a period of time at a certain speed of line patrol.

Module interpretation: It is mostly used in the position where there is no
intersection when the trolley advances for line patrol. It is greatly affected by friction
and cannot be controlled accurately.

5. Turn:

The trolley rotates in a certain direction at a certain speed and stops until the

checked grayscale sensor detects black lines.

Module interpretation: It is used to change the current direction of the trolley; the
three options of the end position represent the three grayscale sensors in the middle of
the front of the trolley, check an option and the trolley stops when the grayscale
sensor in corresponding position during turning detects black lines; when the speed of
motor on one side is set to negative, the trolley rotates towards the side.

6. Starter motor-time:

Control motor operation based on time to make the trolley displace.

Module interpretation: It is mostly used for the displacement of the trolley in the
area without black lines;

Time control: The left and right wheels of the trolley move at a certain speed for
a certain period of time.

7. Starter motor-distance:

Control motor operation based on distance to make the trolley displace.

Module interpretation: It is mostly used for the displacement of the trolley in the
area without black lines;

Distance control: The left and right wheels of the trolley move at a certain speed
for a certain period of time (The displacement distance shall be subject to the motor
wheel with faster speed).

8. Starter motor-sensor control:

Control motor operation based on sensor to make the trolley displace.

Module interpretation: It is mostly used for the displacement of the trolley in the
area without black lines;

Sensor control: The left and right wheels of the trolley move at a certain speed,
and the trolley stops until the feedback value of the sensor selected meets conditions.

9. Button start:

When the program is executed to this module, it enters a loop until the controller
key is pressed down; after the program jumps out of the loop, continue to execute
backwards.

Button start is mostly used after the initialization module, so that the trolley will
not start immediately after running the program and adjust the time for competitors.

Chapter 6 Epilogue

I Maintenance

1. In case of low battery during use, please replace the battery in time, so as not

to affect use.

2. If the controller is not used for a long time, please take the battery out.

3. Since there are a large number of precision circuits in the controller, please

place the controller in a cool and dry place when not using the controller.

4. After each use, it is recommended to separate parts for next use.

II. System Upgrade

We will upgrade the controller system from time to time. Please download the
latest software version available on our official website in time. When the controller is
connected to the computer through USB cable, it will automatically prompt to
upgrade. You may check upgrade version from the pop-up interface of software
firmware upgrade.

III. Contact Us

Our team strive to provide the best customer service. We will constantly upgrade
to improve the controller system and enhance software functions. Please always check
and download the latest software available on our official website.

Should you please contact us for any problems or suggestions.

Website： http://www.whalesbot.com

TEL:[phone]
Email：[email protected]