Pop-Bot XT - TH

XT 1
ArduinoPOP-BOT XT
Arduino compatible robot kit activity manual
XT
2
XT
... .. 2537
1.

2.
3.
--

108 . 101/2 . 10260
0-2747-7001-4
0-2747-7005
XT 3
XT
POP-BOT XT
Arduino
C/C++
Programmable Mobile Robot
1. POP-XT

2.
-
3.
C/C++ Arduino POP-BOT

XT

C Arduino POP-XT
-,
POP-BOT XT robot kit POP-BOT XT Lite robot kit

Arduino
C/C++

XT
4
XT 5
...........................................................7
POP-BOT XT

POP-BOT XT..............................................................................19
3 Arduino 1.0..................................................................................27
4 Arduino..................................................................................47
5
POP-BOT XT Arduino 1.0.....................75

6 POP-XT
POP-BOT XT.............................................................................................................. 83
7
POP-BOT XT..........................101
8

POP-BOT XT................................................................................131
9
POP-BOT XT ....................................145
10
POP-BOT XT ....................................................153
11
POP-BOT XT ...................................175
12
POP-BOT XT ................................................183
XT
6
XT 7
XT
POP-BOT XT
2

1. POP-BOT X T Lite kit
ATmega32U4 LCD ,
(sensor) , DC motor gearbox

POP-BOT XT Lite
C/
C++
2. POP-BOT XT Standard kit POP-BOT XT Lite
, 2 ( 4 ),
,
POP-BOT XT

1.1
POP-BOT XT
1. POP-XT AA 4
2. 2
3. LED 2
4. ZX-03 2 ( Lite) 4 (
Standard)
5. BO2 48:1 IDC 2
6. 2
7. 80x60 80x80 2
8. 1
9. / *
10. *
11.
12.

13. USB-miniB
14.
XT
8
15. C ()
16. GP2D120**
17. **
*
POP-BOT XT Standard kit
** POP-BOT XT Standard kit
1.2
1.2.1 POP-XT
POP-XT AVR
ATmega32U4 Atmel (www.atmel.com) USB

POP-XT

( : open source) Arduino (www.arduino.cc/en) Arduino Leonardo
Arduino1.0 Arduino1.0

POPXT

POP-XT 1-1
8 ATmega32U4 Atmel
10 12 32
10,000 1024 2.5 2560
16MHz
25 JST 3 12

RESET
USB

(DC INPUT)
4.8
7.2V -

+5V

8 A0 A7 ( Di18 Di23,
Di4 Di6)
XT 9
1-1 POP-XT
I2C 1 Di2 (SDA) Di3 (SCL)
UART 1 Di0 (RxD) Di1 (TxD)
2
3 Di30, Di12 Di13
( SV1, SV2 SV3)
Di11
ISP
ISP (
PX-400 PX-4000 inex)
128 x 160
() (5x7 ) 21 16
(21x16)
( OK) 1
(KNOB)
8
POP-XT 1-2
XT
10
PF1
A4 22
PF5
A2 20
+Vm
PF7
A0 18
SWITCH
ON
+5V
K3
BATT
4.8-7.2V
3
PF0
A5 23
PF4
A3 21
PF6
A1 19
L1
10 H
1
C6
100F
10V
C5
0.1F
44 43 42 41 40 39 38 37 36 35 34
1
33
32
2
31
3
4
UGnd
5
UCap
VBus
PB0
C1
1F
IC1
ATMega32U4
(TQFP44)
6
7
8
17
PB1 9
15
PB2 10
16
PB3
11
14
30
29
28
27
26
Pxx
C12
0.1F
4
G
GND
RST
+
R5
4k7
R6
4k7
0
1
4
23
22
21
30
12
6
20
19
18
PB4
+Vm
SW2
RESET
RST
11
+Vm
PWMA
AIN2
AIN1
Vcc
STB
GND
BIN1
BIN2
PWMB
+Vm
+Vm
A8
R3
4k7
ISP
CR1
16MHz
+Vm
24 23 22 21 20 19 18 17 16 15 14 13
IC2
TB6612FNG
+5V
SP1
PIEZO
Speaker
+Vm
A1
A1
PG
PG
A2
A2
B2
B2
PG
PG
B1
B1
1 2 3 4 5 6 7 8 9 10 11 12
GND
+Vm
PC6
3
SCL
PD0
RXD
PD2
A7
PD7
ADIR
R8
1k
R7
1k
PE6
7
APWM 9
TXD
PD3
-+
SDA
PD1
+3.3V
IC5
LM1117-3.3V
C14
10F
16V
25-character
16-line
C16
10F
16V
C15
0.1F
R11
4.7k
PB0
R13
4.7k
31
SV1
30
DC. MOTOR
OUTPUT
A6
PD4
GLCD
160x128 pixel
16
SV2
12
GND
+Vm
+5V
R12
4.7k
PB1
R15
4.7k
R14
4.7k
+5V
R11
1k
1 2 3 4 5 6 7 8 9 10 11 12 13 14
PB2
R17
4.7k
N/C
GND
CS
Vcc
Vcc
CLK
MISO
D/C
/RST
GND
LEDA
LEDK
GND
N/C
15
GND
+Vm
PB6
-+
BDIR
10 BPWM
PB5
17
SV3
13
C3
10F
16V
R16
4.7k
+3.3V
VR1
KNOB
SW5
OK
PE2
+3.3V
R18
4.7k
+3.3V
R10
4.7k
RST
C17
0.1F
1-2 POP-XT
D1
1N4148
C18
0.1F
PB4
R9
4.7
SW3
RESET
R11
1k
PE2
+5V
C9
0.1F
C2
0.01 F
+
7
GND
REF
31
13
5
C8
0.1 F
Q2
KRC102
17
15
16
14
3
2
+5V
+5V
Q1
KRC102
GND
31
C13
220 F
10V
11
10
9
PB7
RST
Vcc
GND
XTAL2
XTAL1
PD0
PD1
PD2
PD3
PD5
25
24
23
12 13 14 15 16 17 18 19 20 21 22
PE2
PC7
PC6
PB6
PB5
PB4
PD7
PD6
PD4
AVcc
GND
1,2,3
SPI
Ext.
PE6
UVcc
DD+
R1 R2
27 27
VUSB
DD+
ID
GND
AVcc
GND
AREF
PF0
PF1
PF4
PF5
PF6
PF7
GND
Vcc
C4
+5V 0.1F
+USB
R4
4k7
LED1
BLUE
IC4
NCP1450
- 5.0
xx
C7
0.1F
5,6,7,8
C11
470 F
16V
Q3
FDS6680A
+5V
K1
mini B-USB
USB port
IC3
2
KIA278R05
C10
470 F
16V
+5V
+5V
D1
MBRS340
XT 11
1.2
1.2.1
BO-2 48:1 2
+3 +9Vdc

130mA (
+6V )

170 250 (
+6V )
30

0.5 -

( x x ) 42 x 45 x 22.7
1.2.2 : ZX-LED
LED 8 1 1-3
LED1
R1
(Default = 510)
1-3 ZX-LED
Q1
KRC102
(DTC114)
XT
12
1.2.3 ( POP-BOT XT Standard kit)

3 (S)
(+V) (G)
1-10

+4.8 +6Vdc
60 (
+5V )

45

3.40 - 47 -
( x x ) 40.5 x 20 x 38 1.60 x 0.79 x 1.50
1.3
1.3.1 : ZX-01
1-4 0

LED1
Indicator
+V
R2
10k
R1
510
R3
220
DATA
Signal output
S1
GND
Switch
1-4

POP-BOT XT
XT 13
+V
TCRT5000
OUT
GND
10k
510
POP-BOT XT
1-5
1.3.2 : ZX-03
1-5

TCRT5000

LED TCRT5000

ZX-03
POP-BOT XT

XT
14
1.3.3 GP2D120
( POP-BOT XT Standard kit)
GP2D120 3
(Vcc),
(GND) (Vout) GP2D120

32.7 52.9 ( 1 0.001 )
1-6
GP2D120 30
+5V 0.25 0.55V
0.4V
4 2.25V 0.3V
LED
GP2D120
(V)
2.8
GP2D12
GP2D120
2.4
Vout
GND
2.0
Vcc
1.6
(L)

L F
A X
FA
X
1.2
0.8
0.4
0
12
16
20
24
28
32
(cm)
L
A
LED
GP2D120
1-6 GP2D120
XT 15
POP-BOT XT
1.4
1.4.1 JST3AA-8 :
JST3AA-8 POP-XT
3 8
JST 3
2
2 .
2 .
GND
S
+5V
1.4.2 USB-miniB
USB POP-XT
XT
16
POP-BOT XT
1.5
1.5.1
65
1.5.2
ABS 80x60 80x80 1
3 5
1.5.3
ABS

3
XT 17

1.5.4
3 ,
3 30 (60 POPBOT XT Standard kit)
1.5.5
3

3 3, 5
12 4
1.5.6
RBX-168

XT
18
1.5.7
7.5 3
3 1x2 , 2x2 2x5 4
1.5.8
2 (2 ), 3x8
(4 ), 3x10 (30 ), 3x15 (4 ), 3x40 (4 ), 3x8
(10 ) 3 (30 )
1.5.9
,
32 3 4
1.6.10
, ABS
3
3 (4 ), 10 (4 ), 15 (4 ) 25 (4 )
XT 19
XT
POP-BOT X T AVR
ATmega32U4
LCD

POP-BOT XT
POP-BOT XT
Arduino Leonardo compatible robot

ATmega32U4
,
,
LCD
RC 3
AA 4

USB
XT
20
x 1
x 2
3 , 5 12
POP-XT x1
x 2
ZX-03 x 2
x 1
33 . x 4
x 2
2 . x 2
2x2 x 2
XT 21
(1) 3 x 8 .
3x8
(2) 32 . 3 x 8 .
32 .
32 .
(3) 2 .
2 .
XT
22
(4) 3 x 6 .
(5) ZX-03 3 x 15 . 5 2

(6) (5)
3x10 .
ZX-03
ZX-03
XT 23
(7) 5
3x10 .

3x10 . 3 .

(8)

3 .

3x10 .
XT
24
(9)

(10) POP-XT
XT 25
(11)

LED LED

LED
ZX-03 A1/19 ZX-03

(12)
A0/18 A5/23
A4/22
ZX-03 A1/19
ZX-03 A0/18
ZX-01 A5/23
ZX-01 A4/22
XT
26
(13)
POP-BOT XT

XT 27
Arduino1.0
POP-BOT XT Arduino1.0

XP ,
MAC OS Linux
Arduino
3.1
POP-BOT XT Arduino 1.0
POP-XT
POP-BOT XT
Arduino
Leomardo, POP-BOT XT popxt.h
( 7)
(3.1.1)
POP-BOT XT
Arduino1.0 POP-BOT XT Setup.exe Next
Next
XT
28
(3.1.2) Start Menu Next

Install
XT 29
(3.1.3)
USB
POP-XT
POP-BOT XT Next
(3.1.4)
Install this driver software anyway
XT
30
(3.1.5)

Arduino LLC Finish
(3.1.6) Arduino1.0 Start Menu

Start Menu Arduino
Arduino 1.0
XT 31
POP-BOT XT 7
3.2
POP-BOT XT

( 7 64 )
(3.2.1) POP-XT
AA 4
1800mAH
POP-XT
POP-BOT XT
(3.2.2)
POP-BOT XT
( 10 )

USB-miniB
USB USB
USB
XT
32
(3.2.3) POP-XT USB

My Computer Properties
(3.2.4) Control panel

Device Manager
(3.2.5) Ports Unicon@POP-XT (COMxx) COM
COM

POP-XT Arduino1.0
XT 33
(3.2.6) USB-miniB POP-XT

( 7 10 )

Click here for details

POP-XT Bootloader

Unicon Board & POP-XT (COMxx) Ready
to us COM Device Manager
(3.2.3)
(3.2.5)
XT
34
POP-BOT XT 7
3.3
3.2
7 64
3.2
(3.3.1) POP-BOT XT ( 10 )
USB-miniB USB
USB

7 10 USB
(3.3.2)
(3.3.4) My Computer > Properties

Device Manager
XT 35
(3.3.5) Device Manager Arduino Leonardo !

Update
Driver Software..
(3.3.6)
Browse my computer for driver software
XT
36
(3.3.7) C:\Arduino\Drivers
Next
(3.3.8)
Install this
driver software anyway
XT 37
(3.3.9)

Device Manager

Unicon Board & POP-XT (COMxx) COM

COM2
(3.3.10)
COM
(3.2.8) Arduino1.0 (
COM2)
POP-BOT X T

XT
38
POP-BOT XT XP
3.4
7
XP
(3.4.1) AA 4 POP-XT POP-XT
POP-BOT XT
(3.4.2)
POP-BOT XT
( 10 )

USB-miniB USB
USB USB
USB
100 F
ATMega32U4
220 F
100
TB6612
(3.4.3) USB
Install from a list or
specific location (Advanced)
Next
XT 39
(3.4.4) C:\Arduino\Drivers Next
(3.4.5) Finish
XT
40
(3.4.10) POP-XT
Control Panel > System
> Hardware > Device Manager
Ports Unicon Board & POP-XT (COM xx)

COM104
POP-XT
POP-BOT XT
XT 41
Arduino1.0 Macintosh
3.5
OSX 10.6
Arduino1.0 Macintosh
.ZIP
(3.5.1) Arduino1.0.zip www.inex.co.th

www.uniconboard.com Desktop
(3.5.2) Open With > Archive Utility
.zip
(3.5.3) Arduino
(3.5.4) Finder Arduino Applications
XT
42
(3.5.5) Arduino Tools Board POP-XT
(3.5.6) POP-XT

10
USB POP-XT USB Macintosh
(3.5.7) Tools Serial Port /dev/tty.usbmodemxxxx xxxx

POP-XT
POP-BOT XT
XT 43
3.6 Arduino1.0
3-1
(Menu)
(Toolbar)

(Tabs)
(

)
(Text editor)
C/C++
(Message area)

(Menu)
(Tools bar)
(Tab)

(Text Editor)
(Message area)
3-1 Arduino1.0
Serial Monitor

Arduino
XT
44
(Text area)
Serial Monitor

Arduino
Serial Monitor

Arduino

Serial.print Arduino
Send
(baud rate) Serial.begin Mcintosh
Linux Arduino Serial monitor
3.6.1
()
3.6.1.1 File
(Sketch)

Arduino
(Sketchbook)

--

New :
Open
Sketchbook :

Example :

Arduino1.0
XT 45
Save :
Save as :

Upload to I/O board : POP-XT POP-BOT XT
Arduino Leonardo
Page setup :

Print :

Preference :
Quit :
3.6.1.2 Edit

Undo :
Redo :
Cut :
Copy :
Paste :
Select All :
Comment/Uncomment : //
//
Find :
Find Next :
3.6.1.3 Sketch

Verify/Compile :
Stop :
Arduino
Add file :

Arduino IDE
Import Library :

#include
Show Sketch folder :

XT
46
3.6.1.4 Tools
,
Arduino,
POP-BOT XT
Auto Format :

Archive Sketch :

-510123.zip
Export Folder :

POP Board : Arduino POP-XT
POP-XT Unicon
BOT XT POP-XT Unicon Board
inex
Arduini Leomardo
Serial Port : Arduino
POP-XT Unicon Board
3.6.1.5 Help

( .html)

Arduino IDE
3.6.2 ( : Tools bar)

Arduino1.0

Verfy/Compile

Upload to I/O Board
Arduino

New ()
Open File Sketchbook ()
Save
XT 47
POP-XT POP-BOT XT
C/C++ Arduino (Arduino programming language) 1.0

Arduino
wiring Arduino 2
1. (structure)
2. (function)
Arduino C/C++ Arduino (
POP-MCU) Arduino

Arduino C
Arduino

C
Arduino
POP-BOT XT
4.1 Arduino
Arduino
void setup()
void loop()

setup()
loop()

loop()

XT
48
4.1.1 setup()

4-1
int buttonPin = 3;
void setup()
{
beginSerial(9600);
pinMode(buttonPin, INPUT);
}
void loop()
{
if (digitalRead(buttonPin) == HIGH)
serialWrite(H);
else
serialWrite(L);
delay(1000);
}
C
C AVR GCC ( C
GCC AVR)
int main(void)
{
init();
setup();
for (;;)
loop();
return ;
void
setup()
void
loop()
4.1.2 loop()
setup() loop()

4-2
int buttonPin = 3; // setup initializes serial and the button pin
void setup()
{
beginSerial(9600);
pinMode(buttonPin, INPUT);
}
// loop checks the button pin each time and will send serial if it is pressed
void loop()
{
if (digitalRead(buttonPin) == HIGH)
serialWrite(H);
else
serialWrite(L);
delay(1000);
}
XT 49
4.2
4.2.1 if

if (someVariable > 50)
{
// do something here
}
someVariable 50

x == y (x y)
x != y (x y)
x < y (x y)
x > y (x y)
x <= y (x y)
x >= y (x y)
== ( if (x==10) ) = ( if(x=10)

x 10
)
if if....else
XT
50
4.2.2
if...else
if
500
500
4-3
if (pinFiveInput < 500)
{
// do Thing A
}
else
{
// do Thing B
}
else if
if....else...if
4-4
if (pinFiveInput < 500)
{
// do Thing A
}
else if (pinFiveInput >= 1000)
{
// do Thing B
}
else
{
// do Thing C
}
else if ( switch case

if...else...if )
if...else
else
XT 51
4.2.3
for()

for

for() 3
for (initialization; condition; increment){
//statement(s);
}

initialization
condition

increment
4-5
for (int i=1; i <= 8; i++){
// statement using the value i;
}
for

for
for

initialization, condition increment for
4.2.4
switch-case
var

default

break case
switch-case break

break
4-6
switch (var)
{
case 1:
//do something when var == 1
break;
case 2:
//do something when var == 2
break;
default:
// if nothing else matches, do the default
}
XT
52
4.2.5 while

while()
while() while
while(expression){
// statement(s)
}
expression
()
4-7
var = 0;
while(var < 200){
// do something repetitive 200 times
var++;
}
XT 53
4.3
5 + (),- (), * (), / () % ()
4.4.1

9/4 2
9 4 (int)
(overflow)

( 9/4 = 2 9/4.0 = 2.25)
result = value1 + value2;

result = value1 - value2;
result = value1 * value2;
result = value1 / value2;
value1 :
value2:
4-8
y = y + 3;
x = x - 7;
i = j * 6;
r = r / 5;

(0 1)
(0 -32768)
float

cast (int)myfloat
XT
54
4.4.2 %
2
(float)
result = value1 % value2;
- byte,char,int long
value2 - byte,char,int long

4-9
value1
x = 7 % 5;
x = 9 % 5;
// x now contains 2
// x now contains 4
x = 5 % 5;
// x now contains 0
x = 4 % 5;
// x now contains 4
(roll over)
4-10
// check a sensor every 10 times through a loop
void loop()
{
i++;
if ((i % 10) == 0)
{
x = analogRead(sensPin);
// read sensor every ten times through loop
}
/ ...
}
// setup a buffer that averages the last five samples of a sensor
int senVal[5];
// create an array for sensor data
// counter variables
int i, j;
long average;
// variable to store average
...
void loop()
{
// input sensor data into oldest memory slot
sensVal[(i++) % 5] = analogRead(sensPin);
average = 0;
for (j=0; j<5; j++)
{
average += sensVal[j]; // add samples
}
average = average / 5;
// divide by total
XT 55
4.4

if()
()
x == y (x y)
x != y (x y)
x < y (x y)
x > y (x y)
x <= y (x y)
x >= y (x y)
4.5
if() 3 &&, || !
4.5.1 && ( )
4-11
if (x > 0 && x < 5)
{
// ...
}
x 0 5 ( 1 4)
4.5.2 && ( )

4-12
if (x > 0 || y > 0)
{
// ...
}
x y 0
4.5.3 ! ()

4-13
if (!x)
{
// ...
}
x ( x = 0 )
XT
56
4.5.4
&&
&

|| () | (
)
NOT (~) (!)

4-14
if (a >= 10 && a <= 20){}
// true if a is between 10 and 20
4.6

( Arduino) 6 & (bitwise AND), | (OR), ^
(Exclusive OR), ~ (NOT), << (
) >> (
)
4.6.1 AND (&)

AND &

1
1 0
0
0
0
1
1
0
1
1
Operand1
Operand2
Returned result

AND
Arduino int 16
16
4-15
int a =
92;
// in binary: 0000000001011100
int b = 101;
// in binary: 0000000001100101
int c = a & b; // result:
0000000001000100 or 68 in decimal.
16 a b
16 c
01000100 68
AND ()
int
masking
XT 57
4.6.2 OR (|)
|

OR
1 1 0

0
0
Operand1
0 1 0 1
Operand2
Returned result
4-16
OR
int a =
92;
// in binary: 0000000001011100
int b = 101;
// in binary: 0000000001100101
int c = a | b; // result:
0000000001111101 or 125 in decimal.
4-17
AND OR
AND OR Read-Modify-Write
on a port 8 8
8 8
0,1,2,3,4,5,6,7 1
PORTD
HIGH ( pinMode()
) PORTD = B00110001; 2,3 7 HIGH
0 1
Arduino
PORTD ( AND)
( OR)
PORTD
XT
58
int i;
// counter variable
int j;
void setup()
{
DDRD = DDRD | B11111100;
// set direction bits for pins 2 to 7,
// leave 0 and 1 untouched (xx | 00 == xx)
// same as pinMode(pin,OUTPUT) for pins 2 to 7
Serial.begin(9600);
}
void loop()
{
for (i=0; i<64; i++)
{
PORTD = PORTD & B00000011;
// clear out bits 2 - 7, leave pins 0
// and 1 untouched (xx & 11 == xx)
j = (i << 2);
// shift variable up to pins 2 - 7 to avoid pins 0 and 1
PORTD = PORTD | j;
// combine the port information with the new information for LED pins
Serial.println(PORTD, BIN);
delay(100);
// debug to show masking
}
}
4.6.3 Exclusive OR (^)

C/C++ exclusive OR ( XOR)
^ OR
1
0
0
Operand1
Operand2
0 1 1 0
Returned result
XOR 0
4-18
int x = 12;
int y = 10;
// binary: 1100
// binary: 1010
int z = x ^ y;
// binary: 0110, or decimal 6
XT 59
XOR int 0 1
1 0
XOR mask 1 mask 1

5 (Di 5)
4-19
// Blink_Pin_5
// demo for Exclusive OR
void setup()
{
DDRD = DDRD | B00100000;
Serial.begin(9600);
// set digital pin five as OUTPUT
}
void loop()
{
PORTD = PORTD ^ B00100000;
// invert bit 5 (digital pin 5),

// leave others untouched
delay(100);
}
4.6.4 NOT (~)

NOT ~
0 1 1 0
1 0
Operand1
~ operand1
int a = 103;
// binary: 0000000001100111
int b = ~a;
// binary: 1111111110011000
b -104 ()

() int 1
(2s complement)
int
signed int
XT
60
(<<)
(>>)
4.6.5
C/C++
<<
>>

variable << number_of_bits

variable >> number_of_bits
variable
32 (
byte, int long)

4-20
int a = 5;
// binary: 0000000000000101
int b = a << 3;
// binary: 0000000000101000 or 40 in decimal
int c = b >> 3;
// binary: 0000000000000101 or back to 5
4-21
x y (x

<< y
)
x y
// binary: 0000000000000101
int a = 5;
int b = a << 14; // binary: 0100000000000000

1 <<
==
1 <<
==
1 <<
1 <<
2
3
==
==
4
8
...
1 <<
==
256
1 <<
==
512
1 << 10
...
== 1024
x y (x >> y)
x int sign bit
1

sign bit

sign eXTension
4-22
int x = -16;
int y = x >> 3;
// binary: 1111111111110000
// binary: 1111111111111110
XT 61
0 (

unsigned int)
(typecast)

x
unsigned int
int x = -16;
int y = unsigned(x) >> 3;
// binary: 1111111111110000
// binary: 0001111111111110
sign eXTension
2
int x = 1000;
int y = x >> 3;
// integer division of 1000 by 8, causing y = 125.
4.7 Arduino
4.7.1
( - semicolon)

4-23
int a = 13;
4.7.2 {
( - curly brace)
{ }
Arduino IDE

BASIC C
RETURN subroutine
(function) ENDIF NEXT FOR
Enter
XT
62
(Function)
void myfunction(datatype argument){
statements(s)
}
(Loops)
while (boolean expression)
{
statement(s)
}
do
{
statement(s)
} while (boolean expression);
for (initialisation; termination condition; incrementing expr)
{
statement(s)
}
(condition)
if (boolean expression)
{
statement(s)
}
else if (boolean expression)
{
statement(s)
}
else
{
statement(s)
}
4.7.3 // /*...*

2
(1) // 2
(2) / *
/* blabla */
XT 63
4.7.4 #define

Arduino #define
#define constantName value
#
4-24
#define ledPin 3
ledPin 3
#define
4.7.5 #include
#include <file>
#include file
4-25
#include <stdio.h>
#include popxt.h
stdio.h
Arduino Arduino
2 popxt.h
XT
64
4.8

Arduino
4.8.1 char :
1 (8 ) C
A (
ABC) ASCII
A +1 66
ASCII A 65
char sign = ;
char var = x;
char

x
var
4.8.2 byte : 8 1
byte 8 0 - 255
4-26
byte b = B10010;
// B is the binary formatter (18 decimal)
4.8.3 int :
interger
int

2 -32,768 32,767 (
-215 (215- 1)
(2s complement)
sign bit 1
Arduino
(>>)
int var = val;
var
int
val

XT 65
4-27
int ledPin = 13;
(roll over)

4-28
int
x =
x =
x =
x =
x
-32,768;
x - 1;
// x now contains 32,767 - rolls over in neg. direction
32,767;
x + 1; // x now contains -32,768 - rolls over
4.8.4 unsigned int :
int
2
0 65,535 (216 -1)
unsigned int var = val;
var
int
val

4-29
unsigned int ledPin = 13;

4-30
unsigned int x
x = 0;
x = x - 1;
// x now contains 65535 - rolls over in neg direction
x = x + 1; // x now contains 0 - rolls over
XT
66
4.8.5 long : 32
int long

32 (4 ) -2,147,483,648 2,147,483,647
long var = val;
long
var

val
4-31
long time;
void setup(){
Serial.begin(9600);
}
void loop(){
Serial.print(Time: );
time = millis();
//prints time since program started
Serial.println(time);
// wait a second so as not to send
// massive amounts of data
delay(1000);
}
4.8.6 unsigned long : 32

32 (4 ) 0

4,294,967,295 232 -1
unsigned long var = val;
var
unsigned long
val

4-32
long time;
void setup(){
Serial.begin(9600);
}
void loop(){
Serial.print(Time: );
time = millis();
//prints time since program started
Serial.println(time);
// wait a second so as not to send
// massive amounts of data
delay(1000);
}
XT 67
4.8.7 float :

int float 4.4028235 x 1038 -4.4028235 x

1038

32 (4 )
float int
float

floating point
float var = val;
float
var

val
4-33
float myfloat;
float sensorCalbrate = 1.117;
4-34
int x;
int y;
float z;
x = 1;
y = x / 2;
// y now contains 0, integers cant hold fractions
z = (float)x / 2.0;
// z now contains .5 (you have to use 2.0, not 2)
XT
68
4.8.8 double :
8
1.7976931348623157 x 10308
Arduino
4.8.9 string :
char

4-35
char Str1[15];
char Str2[8] = {a,r,d,u,i,n,o};
char Str3[8] = {a,r,d,u,i,n, o,\0'};
char Str4[ ] = arduino;
char Str5[8] = arduino;
char Str6[15] = arduino;
Str2
null character
Str3 null
string
Str4
+ 1 null string
Str5
Str6
Str1
4.8.9.1
(null termination)
C (null string)

\0 () + 1
Str2 Str3 4-35 Arduino 7
[8]

4-35 Str1 Str6 14
4.8.9.2
Abc (char)
XT 69
4.8.10 (array)

Arduino C

int myInts[6];
int myPins[] = {2, 4, 8, 3, 6};
int mySensVals[6] = {2, 4, -8, 3, 2};
char message[6] = hello;
myInts
myPins

mySensVals
char
4.8.10.1
0
mySensVals
mySensVals[0] == 2, mySensVals[1] == 4 ,
mySensVals[0] = 10;
x = mySensVals[4];
4.8.10.2 for
for for
int i;
for (i = 0; i < 5; i = i + 1) {
Serial.println(myPins[i]);
}
KnightRider
Tutorials www.arduino.cc
XT
70
4.9
Arduino (scope)
BASIC
global
4.9.1

(global variable)

4-36
int gPWMval;
void setup(){
// any function will see this variable

// ...
}
void loop(){
int i;
float f;
}
// i is only visible inside of loop

// f is only visible inside of loop
4.9.2 (static)

(keyword)

()

static
4.10 (constants)

Arduino
4.10.1 HIGH, LOW :

2 HIGH LOW
HIGH
+5V +3V
HIGH
HIGH 1 (TRUE)
LOW
0V +2V
LOW LOW 0 (FALSE)
XT 71
4.10.2 INPUT, OUTPUT :
2
INPUT
OUTPUT
POP-Note
Arduino
Arduino 123
(decimal)

10 (decimal)
123
2 (binary)
B1111011
8 (octal)
0173
16 (hexadecimal)
0x7B
Decimal
101 == 101 decimal ((1 * 2^2) + (0 * 2^1) + 1)
Binary 0 1
B101 == 5 decimal ((1 * 2^2) + (0 * 2^1) + 1)
8 ( 1 ) 0 (B0) 255 (B11111111)
16 ( int)
myInt = (B11001100 * 256) + B10101010; // B11001100 is the high byte
Octal 0 7
0101 == 65 decimal ((1 * 8^2) + (0 * 8^1) + 1)
0
8
Hexadecimal (hex) 0 9 A 10, B 11
F 15
0x101 == 257 decimal ((1 * 16^2) + (0 * 16^1) + 1)
XT
72
4.11
4.11.1 cast :

cast
(type)variable
( int, float, long)

Variable
4-37
Type
int i;
float f;
f = 4.6;
i = (int) f; // now i is 3
float int
(int)4.2 (int)4.7
4.11.2 sizeof :

sizeof(variable)
sizeof variable
Variable (int, float, long)

4-38
sizeof ()

char myStr[] = this is a test;
int i;
void setup(){
Serial.begin(9600);
}
void loop() {
for (i = 0; i < sizeof(myStr) - 1; i++){
Serial.print(i, DEC);
Serial.print( = );
Serial.println(myStr[i], BYTE);
}
XT 73
4.12 Arduino

C Arduino

# Constants
# Datatypes
HIGH
LOW
INPUT
OUTPUT
SERIAL
DISPLAY
PI
HALF_PI
TWO_PI
LSBFIRST
MSBFIRST
CHANGE
FALLING
RISING
false
true
boolean
byte
char
class
default
do
double
int
long
private
protected
public
return
short
signed
static
switch
throw
try
unsigned
void
null
# Port Constants
DDRB
PINB
PORTB
DDRC
PINC
PORTC
DDRD
PIND
PORTD
# Other
abs
acos
+=
+
[]
asin
=
atan
atan2
&
&=
|
|=
boolean
byte
case
ceil
char
char
class
,
//
?:
constrain
cos
{}
default
delay
delayMicroseconds
/
/**
.
else
==
exp
false
float
float
floor
for
<
<=
HALF_PI
if
++
!=
int
<<
<
<=
log
&&
!
||
^
^=
loop
max
millis
min
%
/*
*
new
null
()
PII
return
>>
;
Serial
Setup
sin
sq
sqrt
=
switch
tan
this
true
TWO_PI
void
while
Serial
begin
read
print
write
println
available
digitalWrite
digitalRead
pinMode
analogRead
analogWrite
attachInterrupts
detachInterrupts
beginSerial
serialWrite
serialRead
serialAvailable
printString
printInteger
printByte
printHex
printOctal
printBinary
printNewline
pulseIn
shiftOut
XT
74
XT 75
XT
POP-BOT XT
C

5.1
POP-BOT XT
5.1.1 POP-XT
LCD
5.1.2 2
5.1.3
5.1.4
5.2
C/C++ AVR
(open source)
Arduino1.0 C/C++

( Arduino )
Arduino

Arduino www.arduino.cc POP-BOT XT
Arduino1.0
5.3 C POP-BOT XT
POP-BOT XT 5-1
XT
76
- Arduino1.0 C/C++
,

- POP-XT
Unicon Arduino Leonardo
C Arduino IDE
USB
USB
1. USB-miniB USB
POP-BOT XT
2. USB Serial port (COMx)
3. Unicon Board
POP-XT POP-BOT XT
Unicon
Arduino Leonardo
4.
RESET
POP-BOT XT
5-1
POP-BOT XT C
Arduino1.0
XT 77
POP-BOT XT
5.4
POP-XT
POP
BOT XT
3

POP-BOT XT
Arduino1.0 Start > Arduino1.0 > Arduino
Arduino
XT
78
POP-BOT XT
5.4.1
Arduino
5.4.1.1
Tools Board POP-XT Unicon Board ()
5.4.1.2

Arduino POP-BOT XT
Tools Serial Port

POP-BOT XT (virtual COM port)
COM 2
COM104
XT 79
5.4.2
Arduino

(Sketchbook)
New
(1) File > New
#include <popxt.h>
void setup()
{
glcd(1,0,"Hello World");
}
void loop()
{
}
//Include POP-XT library
//Show message on GLCD
(2) HelloWorld.ino
(3) Sketch Verify/Compile
XT
80
(4)

Done compiling
Binary sketch size: 11006 bytes (of a 30720 byte maximum)
11,006
30,720
5.4.3
POP-BOT XT
POP-BOT XT Arduino C
POP-BOTXT (upload)

(download)
10
(1) POP-BOT XT
USB
USB
USB-miniB
F
0
2
2
F
0
0
1
0
0
1
AT Mega32U 4
TB6612
POP-BOT XT
XT 81
(2) POP-BOT XT
File > Upload
(3) RESET
HelloWorld Hello World 1 0
LCD POP-BOT XT
C Arduino POP

BOT XT
C
Arduino
XT
82
XT 83

XT
C/C++ Arduino1.0
5

POP-XT
POP-BOT XT

POP-XT 4
1 LCD ( 3 )
2
3 KNOB OK POP-XT
4

Arduino1.0
POP-XT POP-BOT XT
POP-XT
10
POP-BOT XT
POP-XT
RESET
XT
84
(A1.1.1) Arduino1.0 A1-1

(A1.1.2) POP-XT USB
USB
USB-miniB
F
0
2
2
F
0
0
1
0
0
1
AT Mega32U 4
TB6612
POP-BOT XT
(A1.1.3)

Tools > Board > POP-XT Unicon Board
(
XT 85
//
#include <popxt.h>
void setup()
{
glcd(1,0,"Hello World");
//
}
void loop()
{
}
Hello World
1 0
void setup()
A1-1 HelloWorld.ino POP-XT
POP-BOT XT Tools
(A1.1.4) POP-XT
> Serial Port ()
(A1.1.5) POP-XT
File > Upload
LCD POP-XT Hello World

Hello
100 F
World
ATMega32U4
220 F
100
TB6612
XT
86

POP-XT 128 x 160 5 x 7
21 16
glcd

popxt.h
glcd
A1-2
(A1.2.1) Arduino1.0 A1-2
#include <popxt.h>
int i,j;
void setup()
{
glcdFillScreen(GLCD_WHITE);
setTextColor(GLCD_BLACK);
setTextBackgroundColor(GLCD_WHITE);
for (i=0;i<16;i++)
{glcd(i,0," Row %d ",i);
}
}
void loop()
{}
//
//

//
//

// 16
//

3

1. glcdFillScreen

2. setTextColor
3. setTextBackground
Row
i
i

Row0
2 Row 1
1 15 ( 16)
Row 15 15
A1-2 MultipleTextline.ino POP-XT
XT 87
(A1.2.2) POP-XT USB

(A1.2.3) POP-XT
File > Upload
LCD POP-XT Row 0 Row 15
100 F
ATMega32U4
Row00
Row01
RRRow02
RRRRow03
RRRRRow04
RRRRRRow05
RRRRRRRow06
RRRRRRRRow07
RRRRRRRRRow08
RRRRRRRRRRow09
RRRRRRRRRRRow010
RRRRRRRRRRRRow011
RRRRRRRRRRRRRow012
RRRRRRRRRRRRRRow013
RRRRRRRRRRRRRRRow014
RRRRRRRRRRRRRRRRow015
100
220 F
TB6612
XT
88
POP-XT

6 x 10 ( 5 x 7 )
setTextSize
setTextSize(2) 2 12 x 20 1
setTextSize(3) 3 18 x 30 1
21 16
10 8

glcdMode()
0 (glcdMode(0)
3 1, 2 3
90
1 90 , 2 180
3 270
(A1.3.1) Arduino1.0 A1-3
#include <popxt.h>
int x,m;
void setup()
{
setTextColor(GLCD_RED);
}
void loop()
{
for (x=1;x<6;x++)
{
setTextSize(x);
for(m=0;m<4;m++)
{
glcdClear();
glcdMode(m);
glcd(0,0,%dX,x);
glcd(1,0,M=%d,m);
sleep(500);
}
}
}
//
//
//
//
//
//
A1-3 SetText_FlipDisplay.ino
POP-XT
XT 89
(A1.3.2) POP-XT USB

(A1.3.3) POP-XT
File > Upload
LCD POP-XT

, ,
1X, 2X, 3X , 4X 5X 4 M
M = 0
3
M = 1 90
4
M = 2 180
M = 0
4
M = 3 270
5
XT
90

LCD
glcd

glcdRect(int x1,int y1,int width,int height,uint color)

glcdFillRect(int x1,int y1,int width,int height,uint color)
glcdLine(int x1, int y1, int x2, int y2,uint color)

glcdCircle(int x, int y, int radius,uint color)

glcdFillCircle(int x, int y, int radius,uint color)

glcdClear(uint color)
A1-4
POPXT
XT 91
#include <popxt.h>
int i,j;
void setup()
{}
void loop()
{
glcdClear;
sleep(300);
for (i=0;i<160;i+=4)
{
glcdLine(0,0,128,i,GLCD_WHITE);
}
for (i=0;i<128;i+=4)
{
glcdLine(0,0,i,160,GLCD_RED);
}
sleep(2000);
glcdRect(32,40,64,80,GLCD_BLUE);
sleep(300);
glcdFillCircle(32,40,31,GLCD_GREEN);
glcdFillCircle(96,40,31,GLCD_YELLOW);
glcdFillCircle(32,120,31,GLCD_MAGENTA);
glcdFillCircle(96,120,31,GLCD_SKY);
sleep(1000);
glcdCircle(64,40,31,GLCD_GREEN);
glcdCircle(32,80,31,GLCD_BLUE);
glcdCircle(64,120,31,GLCD_YELLOW);
glcdCircle(96,80,31,GLCD_SKY);
sleep(1000);
glcdFillRect(0,0,128,160,GLCD_YELLOW);
sleep(1000);
}
//
//

// 0,0
// 0,0
//
//
//
//
//
//
//
//
//
//

A1-4 Simplegraphic.ino POP-XT
XT
92
POP-XT glcdArc()

7
popxt.h
(A1.5.1) Arduino1.0 A1-5

(A1.5.2) POP-XT USB
(A1.5.3) POP-XT
File > Upload
#include <popxt.h>
int i;
//

void face()
{
glcdFillCircle(64,70,50,GLCD_WHITE);
glcdArc(48,60,16,30,150,GLCD_RED);
glcdFillCircle(64,70,7,GLCD_YELLOW);
}
void setup()
{}
void loop()
{
for(i=0;i<4;i++)
{
glcdClear();
glcdMode(i);
//

face();
sleep(1000);
}
}
A1-5 SmileFace_ArcTest.ino POP-XT
XT 93
(A1.5.4) POP-XT
1 90
XT
94

POP-XT
300 3,000Hz popxt.h

2 beep() sound()
A2-1 beep()
1
A2-2 sound()

Arduino1.0
A2-1 A2-2
POP-XT
RESET 10
POP-XT
#include <popxt.h>
void setup()
{}
void loop()
{
beep();
sleep(1000);
}
//
//
A2-1 BeepTest.ino POP-XT
XT 95
#include <popxt.h>
void setup()
{}
void loop()
{
sound(500,500);
sound(2500,500);
}
//
// 500Hz 0.5
// 2500Hz 0.5
A2-2 SoundTest.ino POP-XT
XT
96

POP-XT
KNOB OK
100 F
ATMega32U4
220 F
100
TB6612
A3-1 KnobSwitchTest.ino
POP-XT
POP-XT
Press OK ( 2x)
OK
1
Knob value ( 2x)
XXXX ( 3x)
xxxx
80 1023
KNOB POP-XT
Knob KNOB
OK
500Hz 0.5 POP-XT
OK
XT 97
#include <popxt.h>
void setup()
{
glcdClear;
setTextSize(2);
glcd(1,1,"Press OK");
sw_ok_press();
beep();
glcdClear;
}
void loop()
{
if (sw_ok())
{
sound(500,500);
}
glcd(1,0,"Knob value");
setTextSize(3);
glcd(2,2,"%d ",knob());
setTextSize(2);
}
//
//
// 2
//
//
OK
//
//
// OK
// 500 Hz 0.5
//
// 3
// KNOB

// 2
A3-1 KnobSwitchTest.ino KNOB OK
XT
98

popxt.h out(int num,int _dat)
0 1
POP-XT POP-BOT XT
LED
ZX-LED LED
1 0 POP-XT
(A4.1) ZX-LED 1 6 /A7 2 4/A6
ZX-LED
(A4.2) A4-1 LEDTest.ino

(A4.3) POP-XT 10
USB
(A4.4) POP-XT POP-BOT XT
(A4.5) ZX-LED
POP-XT
Press OK
OK LED ZX-LED
XT 99
#include <popxt.h>
void setup()
{
setTextSize(2);
sw_ok_press();
}
void loop()
{
out(4,1);
out(6,0);
sleep(400);
out(4,0);
out(6,1);
sleep(400);
}
//
// 2
// GLCD
// OK
// LED 4 (Di 4)
// LED 6 (Di 6)
// LED 4 (Di 4)
// LED 6 (Di 6)
A4-1 LEDTest.ino
XT 101
XT
C/C++ Arduino POP-BOT XT
popxt.h

POP-BOT
XT
popxt.h
XT
102
7.1 popxt.h
,
LCD POP-BOT XT ()
sleep
in_out
analog

sound
motor
servo
serial
USB
TxD RxD POP-XT
POP-BOT XT
popbot.h
glcd
#include <popxt.h>
popxt.h
XT 103
popxt.h
7.2
7.2.1
LCD
7.2.1.1 glcd
LCD 21
16
void glcd(unsigned char x, unsigned char y ,char *p,...)
x 0 15
y 0 20
*p

%c %C - 1
%d %D - -32,768 32,767
%l %L - -2,147,483,648 2,147,483,647
%f %F -
( 3 )
7-1
glcd(2,0,Hello World); // Hello World 2 ( 3)
100 F
HelloRWorld
RRRRow03
RRRRRow04
RRRRRRow05
RRRRRRRow06
RRRRRRRRow07
7-2
int x=20;
glcd(1,2,Value = %d,x);
Row00
RRValueR=R20
RRRow02
RRRRow03
RRRRRow04
RRRRRRow05
RRRRRRRow06
RRRRRRRRow07
//
// 2 1 ( 2)
100 F
XT
104
7.2.1.2 colorRGB
RGB (
) 16
5 6
5
unsigned int colorRGB(uint red,uint green,uint blue)
red - 0 31 31 31
green - 0 63 63 63
blue - 0 31 31 31
7-3
#include <popxt.h>
int colors;
void setup()
{
int colors;
colors=colorRGB(31,0,0);
// 16 colors
glcdFillScreen(colors);
//
}
void loop()
{}
100 F
ATMega32U4
Row00
RRValueR=R20
RRRow02
RRRRow03
RRRRRow04
RRRRRRow05
RRRRRRRow06
RRRRRRRRow07
RRRRRRRRRow08
RRRRRRRRRRow09
RRRRRRRRRRRow010
RRRRRRRRRRRRow011
RRRRRRRRRRRRRow012
RRRRRRRRRRRRRRow013
RRRRRRRRRRRRRRRow014
RRRRRRRRRRRRRRRRow015
100
220 F
TB6612
XT 105
7.2.1.3 color[ ]
8
color[]
unsigned int color[]= { GLCD_RED,

GLCD_GREEN,
GLCD_BLUE,
GLCD_YELLOW,
GLCD_BLACK,
GLCD_WHITE,
GLCD_SKY,
GLCD_MAGENTA};
GLCD_RED -
GLCD_GREEN -
GLCD_BLUE -
GLCD_YELLOW -
GLCD_BLACK -
GLCD_WHITE -
GLCD_SKY -
GLCD_MAGENTA -
7-4
glcdFillScreen(color[5])
//

7-5

glcdFillScreen(GLCD_BLUE) //
XT
106
7.2.1.4 setTextColor
glcd()

void setTextColor(unsigned int newColor)
newColor 16 color[]
7-6
//
setTextColor(GLCD_YELLOW);
7.2.1.5 setTextBackgroundColor

(screen background)
glcdFillScreen
void setTextBackgroundColor(unsigned int newColor)
newColor 16 color[]
7-7

setTextBackgroundColor(GLCD_GREEN); //
100 F
ATMega32U4
Hello World
RRValueR=R20
RRRow02
RRRRow03
RRRRRow04
RRRRRRow05
RRRRRRRow06
RRRRRRR Row07
RRRRRRRRRow08
RRRRRRRRR Row09
RRRRRRRRRR Row010
RRRRRRRRRRR Row011
RRRRRRRRRRRR Row012
RRRRRRRRRRRRR Row013
RRRRRRRRRRRRRR Row014
RRRRRRRRRRRRRRR Row015
100
220 F
TB6612
XT 107
7.2.1.6 glcdClear

setTextBackGroundColor()
glcdClear()
void glcdClear()
7-8
glcdClear();
//
7.2.1.7 glcdFillScreen

void glcdFillScreen(unsigned int color)
color 16 color[]
7-9
glcdFillScreen(GLCD_BLUE); //

XT
108
7.2.1.8 glcdMode

( 0), 90 ( 1), 180 ( 2) 270 ( 3)
glcdMode(unsigned int modeset)
modeset 0 3 0 90 180
270
0
7-10
#include <popxt.h>
void setup()
{
setTextSize(2);
}
void loop()
{
glcdClear();
glcdMode(0);
glcd(0,0,POP-BOTXT);
sw_ok_press();
glcdClear();
glcdMode(1);
sw_ok_press();
glcdClear();
glcdMode(2);
sw_ok_press();
glcdClear();
glcdMode(3);
sw_ok_press();
}
// 2
//
// 0
//
//
XT 109
7.2.1.9 setTextSize

6x10 1 21 16
setTextSize(unsigned int newSize)
newSize 1 16

7-11
#include <popxt.h>
void setup()
{
setTextSize(1);
// 1
setTextColor(GLCD_GREEN); //
glcd(0,0,Size1);
//
setTextSize(2);
glcd(1,0,Size2);
// 2
setTextSize(3);
glcd(2,0,Size3);
// 3
setTextSize(4);
glcd(3,0,Size4);
// 4
}
void loop()
{}
XT
110
7.2.1.10 getTextColor
unsigned int getTextColor()
textColor 16 colorRGB()
7-12
unsigned int color;
color=getTextColor();
// color
7.2.1.11 getTextBackgroundColor
unsigned int getTextBackgroundColor()
textBackgroundColor 16 colorRGB()
7-13
unsigned int color;
color=getTextBackgroundColor(); //
color
7.2.1.12 getTextSize
unsigned int getTextSize()
textSize
7-14
unsigned int textSize;
textSize=getTextSize();
// textSize
XT 111
7.2.1.13 glcdGetMode
unsigned int glcdGetMode()
mode 0 3
0 , 90
, 180 270
7-15
unsigned int Mode;
Mode=glcdGetMode(); // GLCD
7.2.1.14 glcdPixel
128 x 160
void glcdPixel(unsigned int x,unsigned int y,unsigned int color)
x x 0 127
y y 0 159
color 16 color[]
7-16
#include <popxt.h>
int i;
void setup()
{
for (i=0;i<128;i+=4)
{
glcdPixel(i,80,GLCD_RED);
// 4 x
}
for (i=0;i<160;i+=4)
{
glcdPixel(64,i,GLCD_RED);
// 4 y
}
}
void loop()
{}
XT
112
7.2.1.18 glcdRect

void glcdRect(unsigned int x1,unsigned int y1,unsigned int width,unsigned int

height,unsigned int color)
x1
x 0 127
y1
y 0 159
width
() 1 128
height
() 1 158
color 16 color[]
7-17
#include <popxt.h>
void setup()
{
glcdRect(32,40,64,80,GLCD_RED); //
64 x 80
}
void loop()
{}
XT 113
7.2.1.19 glcdFillRect

glcdRect

void glcdFillRect(unsigned int x1, unsigned int y1, unsigned int width, unsigned int
height,unsigned int color)
x1
x 0 127
y1
y 0 159
width
() 1 128
height
() 1 158
color 16 color[]
7-18
#include <popxt.h>
void setup()
{
glcdFillRect(32,40,64,80,GLCD_RED); //
64 x 80
}
void loop()
{}
XT
114
7.2.1.20 glcdLine
void glcdLine(unsigned int x1, unsigned int y1, unsigned int x2, unsigned int
y2,unsigned int color)
x1 x 0 127
y1 y 0 159
x2 x 0 127
y2 y 0 159
color 16 color[]
7-19
#include <popxt.h>
void setup()
{
glcdLine(0,0,127,159,GLCD_RED); //
}
void loop()
{}
XT 115
7.2.1.21 glcdCircle
void glcdCircle(unsgined int x, unsgined int y, unsgined int radius,unsgined int color)
x x 0 127
y y 0 159
radius
color 16 color[]
7-20
#include <popxt.h>
void setup()
{
glcdCircle(32,120,31,GLCD_MAGENTA); // 31
}
void loop()
{}
XT
116
7.2.1.22 glcdFillCircle
glcdCircle

void glcdFillCircle(unsigned int x, unsigned int y, unsigned int radius,unsigned int color)
x x 0 127
y y 0 159
radius
color
16 color[]
7-21
#include <popxt.h>
void setup()
{
glcdFillCircle(32,120,31,GLCD_MAGENTA); // 31
}
void loop()
{}
XT 117
7.2.1.23 glcdArc

void glcdArc(unsigned int x,unsigned int y,unsigned int r,int start_angle,int

end_angle,uint color)
x x
y y
r
start_angle
end_angle
color
7-22
#include <popxt.h>
void setup()
{
glcdFillCircle(64,90,7,GLCD_GREEN);
glcdArc(64,100,30,220,320,GLCD_RED);
}
void loop()
{}
XT
118

7.2.2
7.2.2.1 sleep delay
void sleep(unsigned int ms)

void delay(unsigned int ms)
ms - 0 65,535
7-23
// 20
sleep(20);
delay(1000);
// 1
7.2.2.2 delay_us
void delay_us(unsigned int us)
us - 0 65,535
7-24
// 100
delay_us(100);

7.2.3
7.2.3.1 beep

500Hz 100
POP-BOT XT
void beep()
7-25
beep();
// 500Hz 100
7.2.3.2 sound
void sound(int freq,int time)
freq - 0 32,767
time - 1 0 32,767
7-26
sound(1200,500); // 1200Hz 500
XT 119

7.2.4
7.2.4.1 in

POP-BOT XT
char in(x)
x -
0 1
7-27
char x;
// x
x = in(2);
// 2 (Di2) x
7.2.4.2 out
out(char _bit,char _dat)
_bit -
7-28
out(4,1);
// 4/A6 1
out(6,0);
// 6/A7 0
XT
120

7.2.5
7.2.5.1 analog

A0 A7
0 +5V
unsigned int analog(unsigned char channel)
channel - 0 7
A0 A7

10 0 1,023
7.2.5.2 knob
KNOB POP-XT
analog(8) 80 1023
OK
POP-XT
unsigned int knob()
KNOB POP-XT 80 1023

7-29
int val=0;
//
val=knob(); // KNOB POP-XT val
7.2.5.3 sw_ok()
OK POP-XT

unsigned char sw_ok()
1 ()
0 ()
OK Knob 0
XT 121
7-30
if(sw_ok())
{
beep(); // OK
}
7.2.5.4 sw_ok_press()
OK POP-XT
7-31
........
//
OK
sw_ok_press();
......
7.2.6

7.2.6.1 motor
void motor(char _channel,int _power)
_channel -
POP-BOT XT 1 2
_power - -100 100
_power (1 100)
_power (-1 -100)
_power 0 0
motor_stop
7-32
// A 60%
motor(1,60);
motor(1,-60);
// A 60%

7-33
// B 100%
motor(2,100);
XT
122
7.2.6.2 motor_stop
void motor_stop(char _channel)
_channel - 1, 2 ALL ALL 2
7-34
// A
motor_stop(1);
motor_stop(2);
// B
7-35
motor_stop(ALL);
// 2
7.2.6.3 fd
forward POP-BOT XT

fd(unsigned int speed)
speed 0 100
7-36

60
fd(60); //
7.2.6.4 fd2

forward2 POP-BOT XT

fd2(unsigned int speed1 ,unsigned int speed2)
speed1 A 0 100%
speed2 B 0 100%
7-37
//

B A
fd2(30,80);
XT 123
7.2.6.5 bk
backward POP-BOT XT

bk(unsigned int speed)
speed 0 100
7-38
//
POP-BOT XT 90
bk(90);
7.2.6.6 bk2
POP-BOT XT
backward2

bk2(unsigned int speed1 ,unsigned int speed2)
speed1 A 0 100
speed2 B 0 100
7-39
//

bk()
bk2(80,80);
fd2() bk2()
2
POP-BOT
XT
speed1 speed2
7.2.6.7 tl tr

turn left turn right
tl(unsigned int speed) tr(unsigned int speed)
speed 0 100
7-40
//
60
tl(60);
tr(100);
//
100
XT
124
7.2.6.8 sl sr
spin left spin right

sl(unsigned int speed) sr(unsigned int speed)
speed 0 100%
7-41
//
70%
sl(70);
sr(100);
//
100%
7.2.6.9 ao
all motor off
motor_stop(ALL);
ao()
7-42
void setup()
{
fd(100);
sleep(2000);
ao();
}
//
// 2
//
7.2.7

1
servo

3
void servo(unsigned char _ch, int _pos)
_ch - 8 13
_pos - 0 180 -1
-1
XT 125

7.2.8
(UART)
7.2.8.1
UART0
USB POP-XT ()
USB
UART1
RXD1 ( 2) TXD1 ( 3)
7.2.8.2 uart
UART0 4,800
void uart(char *p,...)
p - UART0
%c %C 1
%d %D -32,768 +32,767
%l %L -2,147,483,648 +2,147,483,647
%f %F ( 3 )
\r
\n
7.2.8.3 uart_set_baud
UART0
void uart_set_baud(unsigned int baud)
baud -
UART0 2400 115,200

7-43
uart_set_baud(4800); // 4,800
XT
126
7.2.8.4 uart_available
UART0
unsigned char uart_available(void)
- 0
- 0
7-44
char x =uart_available();
// UART0 x 0
// uart_getkey
7.2.8.5 uart_getkey
UART0
char uart_getkey(void)
- 0 UART
-
7-45
#include <popxt.h>
//

void setup()
{
glcdClear();
//
setTextSize(2);
// 2
glcdMode(1);
//
}
void loop()
//
{
if(uart_available())
//
{
if(uart_getkey()==a)
// a
{
glcd(1,0,Key a Active!); //
a
sleep(1000);
// 1
}
else
{
glcdClear;
//
}
}
}
XT 127
Serial Monitor Arduino1.0

No line ending 115200 Autoscroll a
Send
POP-XT USB
USB Serial port
POP-XT a Key a Active!

uart
UART uart_getkey
115,200 8

uart_set_baud

XT
128
7.2.8.6 uart1
UART1
9,600
void uart1(char *p,...)
p - UART1
uart
7.2.8.7 uart1_set_baud
UART1
void uart1_set_baud(unsigned int baud)
baud - UART1 2400 115,200

7-46
uart1_set_baud(19200);
// 19,200
7.2.8.8 uart1_available
UART1
unsigned char uart1_available(void)
- 0
- 0
7-47
char x =uart1_available();
// UART1
// x 0 uart1_getkey
7.2.8.9 uart1_getkey
UART1
char uart1_getkey(void)
- 0
-
XT 129
GP2D120
7.3

popbot.h
POP-BOT XT POP-BOT XT
popxt.h

POP-BOT XT 1 GP2D120
GP2D120 gp2d120_lib.h
GP2D120
gp2d120_lib.h

#include <gp2d120_lib.h>
GP2D120
POP-BOT XT
A0 A7
7.3.1 getdist
GP2D120
unsigned int getdist(char adc_ch)
adc_ch 0 7
7-48
dist = getdist(3);
// GP2D120 A3
XT
130
XT 131
XT

POP-BOT X T
POP-XT
TB6612

8.1
, ,

(motor
driver)

20mA (
ATmega32U4)
8.2

(PWM)

8-1 () 50% 50%

(50 x 4.8) /100 = 2.4V 8-1 () ()

75% 25%
XT
132
(V)
(V)
4.8V
4.8V
50%
2.4V
()
(V)
75%
4.8V
()
(V)
25 %
4.8V
3.6V
1.2V
()
()
8-1

PWM ()
() PWM
50% () PWM 75% () PWM 25%
8.3 PWM Arduino

Arduino analogWrite()
PWM (Pulse Width Modulation)

0
255
0

0V
255
+5V
0 255
0 5V
5V
51 +5V 20%
0V 80% 20%
127 +5V 0V
50%
191
+5V
0V

75%
8-2 PWM
XT 133
20%
tW
50%
T
t
D w 100%
T
75%
tw
T
1

8-2 PWM
Output_voltage = (on_time / off_time) * max_voltage
PWM analogWrite()
LED

PWM a na logWrite
digitalRead digitalWrite
Arduino Leonardo ( POP-XT )
5 3, 5, 9, 10 11 POP-XT 5, 9 10
3 SDA 11

PWM analogWrite()
analogWrite(pin,value);
pin (3, 5, 9 11)

0 255
value
XT
134
8.4
C/C++ POP-BOT XT
popxt.h
motor(_channel,_power);
motor_stop(_channel);

fd(speed);

bk(speed);
tl(speed);
tr(speed);
sl(speed);
sr(speed);
ao();
8.4.1 motor
void motor(char _channel,int _power)
_channel -
POP-BOT XT 1 2
_power - -100 100
_power (1 100)
_power (-1 -100)
_power 0 0
motor_stop
8-1
motor(1,60);
// A 60%
motor(1,-60);
// A 60%

8-2
motor(2,100);
// B 100%
XT 135
8.4.2 motor_stop
void motor_stop(char _channel)
_channel - 1, 2 ALL ALL 2
8-3
// 1
motor_stop(1);
motor_stop(2);
// 2
8-4
motor_stop(ALL);
// 2
8.4.3 fd
forward POP-BOT XT

fd(unsigned int speed)
speed 0 100
8-5

60
fd(60); //
8.4.4 fd2

forward2 POP-BOT XT

fd2(unsigned int speed1 ,unsigned int speed2)
speed1 A 0 100%
speed2 B 0 100%
8-6

B A
fd2(30,80); //
XT
136
8.4.5 bk
backward POP-BOT XT

bk(unsigned int speed)
speed 0 100
8-7
//
POP-BOT XT
bk(90);
90
8.4.6 bk2
backward2

POP-BOT XT
bk2(unsigned int speed1 ,unsigned int speed2)
speed1 A 0 100
speed2 B 0 100
8-8
bk2(80,80);
//

bk()
fd2() bk2() 2 POPBOT XT

speed1 speed2
8.4.7 tl tr
turn left turn right

tl(unsigned int speed) tr(unsigned int speed)
speed 0 100
8-9
tl(60);
//
60
tr(100);
//
100
XT 137
8.4.8 sl sr
spin left spin right

sl(unsigned int speed) sr(unsigned int speed)
speed 0 100%
8-10
sl(70);
//
70%
sr(100);
//
100%
8.4.9 ao
all motor off
motor_stop(ALL);
ao()
8-7
void setup()
{
fd(100);
//
sleep(2000); // 2
ao();
//
XT
138
XT
A5-1

Arduino IDE
POP-BOT XT
USB

LED

1 LED

#include <popxt.h>
void setup()
{}
void loop()
{
fd(80);
sleep(1000);
bk(80);
sleep(1000);
}
A5-1 ForwardBackward.ino C Arduino1.0
POP-BOT XT

XT 139

A1-2
OK
#include <popxt.h>
void setup()
{
fd2(30,90);
sw_ok_press();
ao();
}
void loop()
{}
A5-2 CircleMove.ino C Arduino1.0
POP-BOT XT

XT
140

A5-3
OK POP-XT
#include <popxt.h>
void setup()
{
setTextSize(2);
glcd(1,1,Press OK);
glcd(2,1,to Start);
sw_ok_press();
glcdClear();
glcd(1,1,Moving...);
}
void loop()
{
fd(80);
sleep(900);
tr(80);
sleep(400);
}
//
// 2
//
// OK
//
// 80%
// 80%
A5-3 Rectangle_Running.pde C Arduino
POP-BOT XT

XT 141

A5-4
0.6
0.4 0.6 0.3 0.6
0.3

#include <popxt.h>
//
void setup()
{
glcdClear();
// GLCD
setTextSize(2);
// 2
glcd(1,1,Press OK);
//
glcd(2,1,to Start);
sw_ok_press();
//
beep();
//
glcdClear();
// GLCD
}
void loop()
{
glcdFillScreen(GLCD_RED);
// GLCD
fd(80);
// 80
sleep(600);
// 0.6
glcdFillScreen(GLCD_GREEN); // GLCD

tl(60);
// 60
sleep(400);
// 0.4
glcdFillScreen(GLCD_BLUE); // GLCD
bk(80);
// 80
sleep(600);
// 0.6
glcdFillScreen(GLCD_YELLOW); // GLCD

sr(60);
// 60
sleep(300);
// 0.3
glcdFillScreen(GLCD_MAGENTA); // GLCD

bk(80);
// 80
sleep(600);
// 0.6
glcdFillScreen(GLCD_WHITE); // GLCD
sl(60);
// 60
sleep(300);
// 0.3
}
A5-4 MultiDirectionMove.ino C Arduino
POP-BOT XT
XT
142
USB
POP-BOT XT

Press OK
to Start
OK POP-BOT XT
fd2(speed1,speed2) bk2(speed1,speed2)
fd() bk() fd2() bk2()
2 A B
POP-BOT XT
POP-BOT XT 2
A5-5
fd2 bk2

XT 143
#include <popxt.h>
void setup()
{
setTextSize(2);
glcd(1,1,Press OK);
glcd(2,1,to Start);
sw_ok_press();
glcdClear();
glcd(1,1,Moving...);
fd2(70,70);
}
void loop()
{}
//
// 2
//
// OK
//
//
70%
A5-5 MoveAlignment.ino C Arduino
POP-BOT XT

fd

speed1 fd2

speed2 fd2
XT 145
XT

(switch)

POP-BOT XT

POP-BOT XT

ZX-01 9-1

1 0

POP
POP-BOT XT

BOT XT

LED1
Indicator
+V
R2
10k
:
0
LED
1
LED
R1
510
R3
220
DATA
Signal output
S1
GND
Switch
9-1 ZX-01

POP-BOT XT
XT
146

ZX-01 0
1

(A6.1) ZX-01 22/A4 23/A5
Press OK to Start
ATMega32U4
100
TB6612
(A6.2) Arduino1.0 A6-1 TouchSwitchTest.ino

(A6.3) POP-XT
POP-BOT XT 10

USB
(A6.4) POP-XT
POP-BOT XT
(A6.5)
Press OK To Start
OK POP-XT POP-BOT XT
ZX-01 22/A4
1kHz 0.3

ZX-01 23/A5
2kHz () 0.3

XT 147
#include <popxt.h>
void setup()
{
setTextSize(2);
glcd(1,1,Press OK);
glcd(2,1,to Start);
sw_ok_press();
glcdClear();
glcd(1,1,Lets go!);
}
void loop()
{
if(in(22)==0)
{
sound(1000,300);
}
if(in(23)==0)
{
sound(2000,300);
glcdFillScrren(GLCD_YELLOW);
}
}
//
// 2
//
// OK
//
// 22
// 1kHz
//
// 23
// 2kHz
//
A6-1 TouchSwitchTest.ino C Arduino1.0
POP-BOT XT
XT
148
XT
2
1. :
POP-BOT XT
2. :
POP-BOT XT
3. 22/A4 :
POP-BOT XT

4. 23/A5 :
POP-BOT XT
#include <popxt.h>
//
void setup()
{
setTextSize(2);
// 2
glcd(1,1,Press OK);
//
glcd(2,1,to Start);
sw_ok_press();
// OK
glcdClear();
glcd(1,1,Lets go!);
//
}
void loop()
{
if(in(22)==0&&in(23)==0)
//
{
fd(60);
//
}
else if(in(22)==0)
//
22
{
tl(60);
//
}
else if(in(23)==0)
//
23
{
tr(60);
//
}
else
{
ao();
//
}
}

&&

2

if
A7-1 RemoteSwitch.ino C Arduino1.0
POP-BOT XT
XT 149
POPBOT XT A7-1
(A7.1) ZX-01
POP-XT
POP-BOT XT
ZX-01
POP-BOT XT
(A7.2) A7-1 POP-BOT XT
POP-BOT XT
(A7.3)
XT
150
POP-BOT XT

POP-BOT X T
POP-BOT XT
POP-BOT XT
POP-BOT XT
XT 151
POP-BOT XT
A8-1
(A8.2) USB

Press OK
to Start
POP-BOT XT
POP-BOT XT
OK

XT
152
//
#include <popxt.h>
void setup()
{
setTextSize(2);
// 2
glcd(1,1,Press OK);
//
glcd(2,1,to Start);
sw_ok_press();
// OK
glcdClear();
glcd(1,1,Lets go!);
//
}
void loop()
{
fd(70);
if(in(22)==0)
//
{
bk(80);
//
sleep(300);
sr(80);
//
sleep(200);
}
if(in(23)==0)
//
{
bk(80);
//
sleep(400);
sl(80);
//
sleep(400);
}
}

Sleep()

A8-1 ObjectAvoider.ino C Arduino1.0

POP-BOT XT

XT 153
XT
POP-BOT XT
POP-BOT XT
10.1
TCRT5000
10-1

LED TCRT5000

510
10k
+V
TCRT5000
OUT
510
GND
LED
10k
TCRT5000
+V
OUT
GND
LED
10-1

XT
154
10.2
10.2.1

(

)
1. (

) 90 x 60
1

POP-BOT XT

2. 1 2 3M
3.
10.2.2

C Arduino
POP-BOT XT analog
0 1023
0
1023 9

POP-BOT XT

XT 155
ZX-03
(A9.1) Arduino1.0 C A9-1

(A9.2)

POP-BOT XT USB
(A9.3)
30x30 .
ZX-03
ZX-03
(A9.4)
18/A0 ZX-03 19/A1
#include <popxt.h>
//
void setup()
{
setTextSize(3);
glcdMode(3);
//
sw_ok_press();
//
OK
}
void loop()
{
glcd(1,0,"L=%d ",analog(0)); // ZX-03
glcd(3,0,"R=%d ",analog(1)); // ZX-03
sleep(100);
}
A9-1 SurfaceRead.pde C Arduino1.0

LCD
POP-BOT XT
XT
156
TB6612
R=100
100
L=100
(A9.5)
POP-BOT XT
(A9.3)

80 250
100
TB6612
TB6612
R=900
100
L=900
POP-BOT XT

(A9.6)
700 1000
100
TB6612
700 1000
80 250
(700+250) /2 = 500
30
XT 157
(
) ZX-03

()

(A10.1) Arduino1.0 C A10-1
(A10.2)

POP-BOT XT USB
(A10.3)
(A10.4)
#include <popxt.h>
void setup()
{}
void loop()
{
if(analog(0)<20)
{
sound(2500,500);
}
else
{
glcdClear();
}
}
//
// ZX-03
//
//
//
A10-1 AlarmBOT.ino C Arduino1.0
POP-BOT XT
XT
158

10
POP-BOT XT

POP-BOT XT

POP-BOT XT
ZX-03
ZX-03

POP-BOT XT
(A11.1) Arduino1.0 C A11-1

#include <popxt.h>
int L,R;
void setup()
{
setTextSize(2);
glcd(2,1,"to Start");
sw_ok_press();
glcdClear();
glcd(1,1,"Moving...");
}
//
// 2
//
// OK
//
XT 159
void loop()
{
fd(60);
//
L=analog(0);
// A0
R=analog(1);
// A1
if (L<500&&R<500)
//
{
bk(80);
//
sound(1000,100);
//
sleep(500);
sr(60);
//

sleep(300);
}
else if(L<500)
//
{
bk(80);
//
sound(1500,100);
//
sleep(400);
sr(60);
//

sleep(300);
}
else if(R<500)
//
{
bk(80);
//
sound(1500,100);
//
sleep(300);
sl(60);
//

sleep(500);
}
}
2 L R
ZX-03
IF

sound
(bk();)
sound

A11-1 EdgeDetect.ino C
POP-BOT XT
XT
160
(A11.2)

POP-BOT XT USB
(A11.3)
OK

ZX-03

ZX-03
2
1 00
1 00
100
TB 66 12
TB 66 12
TB 66
12
100
10
0
TB 66
12
100
TB 661
2
TB6
61 2
100
10
0
TB6
61
2
100
TB 661
2
TB6
61
2
100
61
10
T B6
TB6 612
TB
66
12
10
0
XT 161
XT
9
POP-BOT XT
500 ZX03 500

POP-BOT XT

POP-BOT XT
(A12.1) Arduino1.0 C A12-1

(A12.2)

POP-BOT XT USB
(A12.3) 30 .
(A12.4)
60 .
OK
ZX-03
(A12.5) A12-1
ao();

A12 -2
(A12.7)
(A11.4)
OK

ZX-03

A12-1
XT
162
//
#include <popxt.h>
void setup()
{
setTextSize(2);
// 2
//
sw_ok_press();
// OK
//
fd(60);
//
while(analog(0)>500);
// A0

ao();
//
}
void loop()
{}
OK
ZX-03 A0 (
) 500
ao();
A12-1 BlackLineDetect.ino C Arduino1.0
POP-BOT XT
#include <popxt.h>
void setup()
{
setTextSize(2);
sw_ok_press();
fd(60);
while(analog(0)>500);
bk(100);
sleep(100);
ao();
}
void loop()
{}
//
// 2
//
// OK
//
// A0

//

//
A12-2 BlackLineDetect2.ino C Arduino1.0
POP-BOT XT

bk();
XT 163
XT
100
TB 6612
100
TB66
12
XT
164
10
12
TB 66
100
TB6612
(A13.1) Arduino1.0 C A12-1

(A13.2)

POP-BOT XT USB
XT 165
(A13.3) 90 x 60 (
POP-BOT XT
OK

(A13.4)
POP-BOT XT

(A13.5)
POP-BOT XT

1.
ZX-03
A0/18
A1/19
2. A B
A ( 1) B ( 2)
3.
5 10
4.
9

XT
166
#include <popxt.h>
int L,R;
void setup()
{
setTextSize(2);
sw_ok_press();
}
void loop()
{
L=analog(0);
R=analog(1);
if (L<500&&R<500)
{
fd(60);
sound(2000,200);
}
else if(L>500&&R>500)
{
fd(60);
}
else if(L<500)
{
sl(60);
sleep(20);
}
else if(R<500)
{
sr(60);
sleep(20);
//
// 2
//
// OK
//
//
//
//
//

//
//
//
//
//

//
//
//

A13-1 SimpleLineTracking.ino C Arduino1.0
POP-BOT XT

XT 167
Maze Solving

90x60 (

90

R90()
90

ZX-03

A14-1
R90()
POP-BOT XT
XT
168
A14-1
R90()

(A14.1) Arduino1.0 C A14-1

(A14.2)

POP-BOT XT USB
(A14.3)
POP-BOT XT
OK

POP-BOT XT
XT 169
#include <popxt.h>
//
int L,R;
/* */
void R90()
{
fd(60);
//
sound(1500,100);
while(analog(1)>500)
//

{
sr(60);
}
while(analog(1)<500)
//

{
sr(60);
}
}
void setup()
{
setTextSize(2);
// 2
//
sw_ok_press();
// OK
//
}
void loop()
{
L=analog(0);
//
R=analog(1);
//
if (L<500&&R<500)
//
{
R90();
// 90
}
else if(L>500&&R>500)
//
{
fd(60);
//
}
else if(L<500)
//
{
sl(60);
//

sleep(20);
}
else if(R<500)
//
{
sr(60);
//

sleep(20);
}
}
A14-1 SimpleMaze.ino C Arduino1.0

POP-BOT XT

XT
170
XT

1 2 3
4
(A15.1)
90x120 .

(A15.2) Arduino1.0 C A15-1

(A15.3)

POP-BOT XT USB
XT 171
#include <popxt.h>
int L,R,x=0;
//
/*
*/
void R90()
{
fd(60);
//
sound(1500,100);
//

{
sr(60);
}
//

{
sr(60);
}
}
/* */
void L90()
{
fd(60);
//
sound(1500,100);
//

{
sl(60);
}
//

{
sl(60);
}
}
void setup()
{
setTextSize(2);
sw_ok_press();
}
void loop()
{
L=analog(0);
R=analog(1);
// 2
//
// OK
//
//
//
XT
172
if (L<500&&R<500)
{
if(x==6)
{
x=0;
}
x++;
if (x==3)
{
R90();
}
else
{
L90();
}
}
else if(L>500&&R>500)
{
fd(60);
}
else if(L<500)
{
sl(60);
sleep(20);
}
else if(R<500)
{
sr(60);
sleep(20);
}
// ()
// 1
//
//
x

// 3
// 3
// 3
//
//
//
//

//
//

[R90()]
[L90()]
A15-1 MultipleCrossingTrack.ino C Arduino1.0
POP-BOT XT

XT 173
(A15.4)
POP-BOT XT
OK

POP-BOT XT 1, 2, 4, 5, 6, 7 8
XT
174
XT 175
XT
POP-XT

Arduino

GP2D120
GP2D120

GP2D120 POP-BOT XT (contact
less)

11.1 GP2D120
4 30

4.5 5V 33 mA
0.4 2.4V

+5V
LED
GP2D120
(V)
2.8
GP2D120
2.4
Vout GND
Vcc
2.0
1.6
1.2
0.8
38.39.6
0.4
1 2
5
12
16
20
24
28
32
(cm)
* R-27 Kodak
90%
11-1 GP2D120
XT
176
GP2D120 3
(Vcc),
(GND) (Vout) GP2D120

32.7 52.9

10-1
GP2D120 30
+5V 0.25 0.55V
0.4V
4 2.25V 0.3V
11.2 GP2D120
GPD120

POP-BOT
XT
GP2D120

GP2D120
11.3 GP2D120
Vout 0.5V
GP2D120
26 Vout 2V 6
Vout 11-1

GP2D120
GP2D120

gp2d120_lib.h
GP2D120
POP-BOT XT
A0 A7
GP2D120 getdist()
unsigned int getdist(char adc_ch)
adc_ch 0 7

11-1
dist = getdist(3); // GP2D120 An3
XT 177
11-1 Vout GP2D120

()
XT
178
XT
XT
3x10 . 3 .
(A16.1.1) 2x3 GP2D120
(A16.1.2) GP2D120
3x10 . 3 .
XT 179
(A16.1.3) GP2D120 20/A2
20/A2
POP-BOT XT

GP2D120
POP-BOT XT

POP-BOT XT
GP2D120 gp2d120_lib.h
(A16.2.1) Arduino1.0 C A16-1
#include <popxt.h>
int raw,dist;
void setup()
{
setTextSize(2);
glcdMode(1);
glcd(1,1,Press OK);
sw_ok_press();
glcdClear();
}
void loop()
{
raw=analog(20);
dist=getdist(20);
glcd(2,1,RAW Data = %d ,raw);
glcd(3,1,Distance = %d CM,dist);
sleep(100);
}
//
// GLCD
//
//
//
//
//
A16-1 GP2D120_Reading.ino C Arduino1.0

GP2D120
POP-BOT XT
XT
180
(A16.2.2)

POP-BOT XT

(A16.2.3) POP-BOT XT
GP2D120
100 F
A
TM
e
g
a
3
2
U
4
220 F
TB
6
6
1
2
100
4 32
XT 181
XT
A16-1 GP2D120
4 30

10
POP-BOT XT

(A17.1) Arduino1.0 C A17-1
(A17.2)

POP-BOT XT
(A17.3)
POP-BOT XT
POP-BOT XT
#include <popxt.h>
//
void setup()
{
setTextSize(2);
// 2
//
sw_ok_press();
// OK
glcdClear();
glcd(1,1,"Lets go!");
//
}
void loop()
{
fd(70);
if(analog(20)>250)
// 10
{
bk(80);
//
glcdFillScreen(color[random(8)]); //
sleep(300);
sl(70);
//

sleep(600);
}
}
A17-1 TouchlessObjectAvoider.ino C Arduino1.0
POP-BOT XT
XT
182
(A17.4)
POP-BOT XT 10 ()
0.3
8 , ,
, , , ,
0.6
100
100
100
TB66 12
TB66 12
TB661 2
5
0
10
0
10
TB
2
1
66
TB
12
66
XT 183
XT

POP-BOT XT POP-XT
3 30 (SV1), 12 (SV2) 13 (SV3)

12.1
POP-BOT XT

R/C R/C Radio Control
,
R/C

(actuator)

0 90 0 180 0
180 360 3
(S),
(+V) (G) 12-1
12-1
STANDARD
SERVO MOTOR
XT
184

12-2
2
12.1.1

2
12-2
S J
Futaba J
12.1.2
12-3 ,
, (POT : Potentiometer)

P = kwg
P
k
w (rpm : round per minute)
g (torque)

XT 185
12-3
POT
0 180
POT
2 POT
(spline)

(horn)

, , ,
Hitec 24 Futaba 25
12.1.3

12-4
20 1
1.5

2

1.5 2
1.5

2
1 1.5

1
XT
186
STANDARD
SERVO MOTOR
STANDARD
SERVO MOTOR
12-4

STANDARD
SERVO MOTOR
XT 187
12.1.4
0 180
12-5

0 1 H-

H- 1%
50%
12-5
XT
188
12.1.5
3
(1) :

(2) :

(3) (Karbonite) :

Hitec

12.1.6
2 (speed) (torque)
0.15 60

60 0.15
- (ounce-inches : oz-in) - (kg-cm)

1 ( 1
0.028 1 35.274 )

4.8 6V

POP-BOT XT
12.2
popxt.h
POP-BOT XT
servo
3
void servo(unsigned char _ch, int _pos)
_ch - 1 3
_pos - 0 180 -1
-1
XT 189
KNOB
POP-XT
(A18.1) Arduino IDE C A18-1
(A18.2) POP-XT
POP-BOT XT

(A18.3) SV1 POP-XT

,
(S)
(A18.4) POP-XT OK
KNOB
POP-XT
KNOB
KNOB
KNOB
XT
190
#include <popxt.h>
int x;
void setup()
{
glcdMode(1);
setTextSize(2);
sw_ok_press();
glcdClear();
}
void loop()
{
x=map(knob(),80,1023,0,180);
glcd(2,1,"Servo = %d ",x);
servo(1,x);
}
//
// 1
// 2
//
// OK
// KNOB 0 180 x
//

// SV1
A18-1 ServoKnob.ino C Arduino1.0

POP-XT
XT 191
XT
(A20.1.1) 2x3 2 3x6 . 3 .
(A20.1.2)
3x10 .
XT
192
(A20.1.3)
() 3x10 .
2 3 .
(A20.1.4) 12
(A20.1.2)
1 SV1
ObjectHitter-BOT
XT 193
POP-BOT XT ObjectHitter-BOT
(A20.2.1) Arduino IDE C A20-1

(A20.2.2) POP-XT
POP-BOT XT
(A20.2.3)

30 .
(A20.2.4) OK

POP-BOT XT

180
0
#include <popxt.h>
int L,R,x=0;
void setup()
{
setTextSize(2);
sw_ok_press();
glcdClear();
servo(1,0);
sleep(1000);
fd(60);
}
void loop()
{
if(analog(0)<500)
{
ao();
servo(1,180);
sleep(1000);
servo(1,0);
while(1);
}
}
//
// 2
//
// OK
//
// 0
//
//
// 180
//
// 0
//
A20-1 ServoHitting.ino C Arduino
XT
194
START
STOP
START
4
1.

L90()
2.
R90()
3.
FF()
4.
hit()

4 4
(y) (x)
1

XT 195
1.

2.

3.
4.

5.
(A20.3.1) Arduino IDE C A20-2

(A20.3.2) POP-XT
POP-BOT XT

XT
196
#include <popxt.h>
//
int L,R,x=0,y=0;
/*
*/
void FF()
{
fd(60);
sleep(300);
}
/*
*/
void R90()
{
fd(60);
//
sound(1500,100);
//
{
sr(60);
}
//
{
sr(60);
}
}
/*
*/
void L90()
{
fd(60);
//
sound(1500,100);
//
{
sl(60);
}
//
{
sl(60);
}
}
/*
*/
void hit()
{
bk(100);
//
sleep(50);
ao();
//
servo(1,180);
// 180
sleep(1000);
servo(1,0);
bk(60);
// 0
sleep(200);
R90();
// 90
}
XT 197
void setup()
{
setTextSize(2);
sw_ok_press();
glcdClear();
}
void loop()
{
L=analog(0);
R=analog(1);
if (L<500&&R<500)
{
if(x==5)
{
x=0;
y++;
if (y==4)
{
ao();
servo (1,-1);
while(1);
}
}
x++;
if (x==1)
{
L90();
}
else if(x==2||x==4)
{
hit();
}
else if (x==3)
{
FF();
}
else if (x==5)
{
R90();
}
}
// 2
//
// OK
//
//
//
//
// 1
//
//

// 4
//
//
//
x

// 1
// 2 4
// 3

// 5
XT
198
else if(L>500&&R>500)
{
fd(60);
}
else if(L<500)
{
sl(60);
sleep(20);
}
else if(R<500)
{
sr(60);
sleep(20);
}
//
//
//
//

//
//

A20-1 ObjectHitterBOT.ino C Arduino


(A20.3.4) OK

STOP

Pop-Bot XT - TH

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XT 1

Arduino compatible robot kit activity manual

Programmable Mobile Robot

C/C++ Arduino POP-BOT

POP-BOT XT Arduino 1.0.....................75

1.2.3 ( POP-BOT XT Standard kit)

( x x ) 40.5 x 20 x 38 1.60 x 0.79 x 1.50

ZX-03 A1/19 ZX-03

(3.1.2) Start Menu Next

(3.1.6) Arduino1.0 Start Menu

(3.2.3) POP-XT USB

(3.2.4) Control panel

(3.2.5) Ports Unicon@POP-XT (COMxx) COM

(3.2.6) USB-miniB POP-XT

Click here for details

(3.3.4) My Computer > Properties

(3.3.5) Device Manager Arduino Leonardo !

(3.4.4) C:\Arduino\Drivers Next

Ports Unicon Board & POP-XT (COM xx)

(3.5.1) Arduino1.0.zip www.inex.co.th

(3.5.4) Finder Arduino Applications

(3.5.5) Arduino Tools Board POP-XT

Linux Arduino Serial monitor

POP Board : Arduino POP-XT

3.6.2 ( : Tools bar)

else if ( switch case

( 9/4 = 2 9/4.0 = 2.25)

result = value1 + value2;

result = value1 % value2;

NOT (~) (!)

4.6.1 AND (&)

int c = a & b; // result:

// debug to show masking

4.6.3 Exclusive OR (^)

// binary: 0110, or decimal 6

// set digital pin five as OUTPUT

// invert bit 5 (digital pin 5),

4.6.4 NOT (~)

variable << number_of_bits

byte, int long)

// binary: 0000000000101000 or 40 in decimal

// binary: 0000000000000101 or back to 5

// integer division of 1000 by 8, causing y = 125.

#define constantName value

// B is the binary formatter (18 decimal)

int var = val;

4.8.4 unsigned int :

unsigned int var = val;

long var = val;

4.8.6 unsigned long : 32

unsigned long var = val;

int float 4.4028235 x 1038 -4.4028235 x

float var = val;

// y now contains 0, integers cant hold fractions

// z now contains .5 (you have to use 2.0, not 2)

4-35 Str1 Str6 14

// any function will see this variable

// i is only visible inside of loop

4.10.1 HIGH, LOW :

4.10.2 INPUT, OUTPUT :

( int, float, long)

Variable (int, float, long)

Tools Serial Port