Download mOway User Manual

MOWAY
Title: mOway User Manual
Rev: v2.1.0 – June 2010
Page 3 of 137
Index
Index ................................................................................................................................. 3
1. Prologue .................................................................................................................... 5
2. What is mOway? ...................................................................................................... 7
3. Robot mOway ........................................................................................................... 8
3.1. Processor ............................................................................................................ 8
3.2. Drive system ...................................................................................................... 9
3.3. Sensor and indicators group ............................................................................. 11
3.3.1. Line sensors .................................................................................................. 13
3.3.2. Obstacle detection sensors ........................................................................... 15
3.3.3. Light sensor .................................................................................................. 16
3.3.4. Expansion connector .................................................................................... 16
3.3.5. Temperature sensor ...................................................................................... 17
3.3.6. Speaker ......................................................................................................... 17
3.3.7. Microphone .................................................................................................. 17
3.3.8. Accelerometer .............................................................................................. 18
3.3.9. Battery level ................................................................................................. 18
3.3.10.
Front LED ................................................................................................. 19
3.3.11.
Top two-color LED .................................................................................. 19
3.3.12.
Brake LED ................................................................................................ 19
3.3.13.
Free Pad .................................................................................................... 20
3.4. Power Supply System ...................................................................................... 20
3.5. RF module and RFUsb .................................................................................... 21
3.5.1. Technical specifications ............................................................................... 22
4. First Steps ............................................................................................................... 24
4.1. mOway Pack installation ................................................................................. 24
4.2. Download a program to mOway ...................................................................... 25
4.3. RFUsb instalation ............................................................................................ 26
4.4. RF modules ...................................................................................................... 27
5. Programming mOway in assembler ....................................................................... 29
5.1. Creating a project ............................................................................................. 29
5.2. First program in assembler .............................................................................. 33
5.3. Libraries ........................................................................................................... 37
5.3.1. mOway´s sensors library in assembly language .......................................... 37
5.3.1.1.
Description ............................................................................................... 38
5.3.1.2.
Variables ................................................................................................... 38
5.3.1.3.
Functions .................................................................................................. 41
5.3.2. mOway´s motor library in assembly language ............................................. 50
5.3.2.1.
Description ............................................................................................... 51
5.3.2.2.
Variables ................................................................................................... 51
5.3.2.3.
Functions .................................................................................................. 53
5.3.3. BZI-RF2GH4 library in assembly language ................................................ 61
5.3.3.1.
Description ............................................................................................... 61
5.3.3.2.
Variables ................................................................................................... 61
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