How To: Wheelmon Operation

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You may download a compression of the files needed here. A copy of this guide is available in document format here. An older version of this guide made for a non-flashed HC12 can is available here. A full folder of files, including this guide in "doc" file,can be downloaded here. Compressed files are compressed with Winrar.

The following is a guide to get sum robot Wheelmon up and running.  This guide will provide you with a list of requirements needed before starting.  This guide will then take you through the onboard menu.  Additional information not displayed on the onboard LCD display will be provided here (or on the computer terminal if robot is linked to PC serially).

Requirements:
Wheelmon Robot
2x 7.2V freshly charged batteries
1x 9V freshly charged battery
Optional:
PC with Windows Operating System (Windows XP used in creation of this document).
1x Serial connection OR USB to Serial adapter.  See Appendix A fig.1 for reference.
1x Special phone wire cable with serial adapter. See Appendix A fig.2 for reference.
AxIDE OR any IDE of your choice (AxIDE v3.85 is used for this document).

NOTE:  The Wheelmon user interface is done with the help of 2 press buttons.  These buttons are located on the microcontroller.  While holding the robot with the LCD screen facing the user, the button to the left moves the ‘^’ selection marker to the left; the button to the right moves the ‘^’ selection marker to the right.  To make a selection [Enter], press both buttons.

Instructions:

1. Flip microcontroller power switch on.  See Appendix A fig.3.
2. Press H-bridge motor power switch. See Appendix A fig.3.
3. Now look at the onboard LCD screen, located on the robot’s right side.
4. Select Mode.  This is the type of ring.
1. Normal- Black inside and white edge.
2. Inverted- White inside and black edge.
5. Select Strategy.  Select strategy to execute.
1. A- Original strategy.  Spin until object is detected.  Attack Object. Avoid line.
2. B- Enhanced version of A.  Spin until object is detected.  If object is not found within some time frame, robot moves in a random direction and repeats.  If object is found, robot attacks.  If the robot has been attacking for a certain time frame, robot backs away and goes back to searching.  Avoid line.
3. C- Robot goes forward. Avoids line and spins for a random time frame.  Repeat.
4. X- Robot goes forward. Avoids line and spins for really small time frame.  Creates ring edge sweeping behavior.
6. Calibrate sensors. 
1. Select digit place increments/decrements.  Press [Enter] and then use left/right to increment or decrement the number by the digit place you selected.  Press [Enter] again to select another digit place or ‘X’ to exit.
2. To exit the menu select the ‘X’ and press [Enter].
3. Lower number means less sensitive to detecting white.

The menu “exits” into the strategy execution.  After selecting ‘X’, you may press left, right, or reset button at any time to stop the strategy execution.  This also returns to the mode selection menu.

Appendix A
Fig.1

Fig.2

Fig.3

Fig.4

This website was developed by Elmar Palma. Last updated: 08/28/07.