ActivMedia Robotics AmigoBot User manual

WithActiv MediaRoboticsBasicSuiteSoftware
Navigator WorldLink Trainer Mapper Simulator WorldPass
AmigoBot
User’s Guide

AmigoBot Users Guide ActivMedia Robotics AmigoBot Users Guide
ii
Copyright 2001, ActivMedia Robotics, LLC. All rights reserved.
Under international copyright laws, this manual or any portion of it may
not be copied or in any way duplicated without expressed written
consent from ActivMedia Robotics, LLC.
The ActivMedia Robotics-licensed Saphira libraries that accompany the
robot and accessories and which are available for network download by
AmigoBot customers are solely owned and copyrighted by SRI Inter-
national, Inc. The ActivMedia Robotics Basic Suite software on disk or CD
and on the AmigoBot server FLASH ROM that accompany the robot and
accessories and which are available for network download by
ActivMedia Robotics customers are solely owned and copyrighted by
ActivMedia Robotics, LLC. AmigoBot developers and users are authorized
by revocable license to develop and operate custom software for
personal, research, and educational uses only. Duplication, distribution,
reverse-engineering, or commercial application of ActivMedia software or
hardware without the expressed written consent of ActivMedia Robotics is
explicitly forbidden.
ActivMedia Robotics software uses the Fast Light Tool Kit (FLTK) GUI, used
and distributed under the terms of the GNU Library General Public License
as published by the Free Software Foundation. Network audio uses the
GSM 06.10 speech compression implementation by Jutta Degener and
Carsten Bormann of the Technische Universitat Berlin (http://kbs.cs.tu
-berlin.de/~jutta/toast.html). ActivMedia Robotics software is
based in part on the work of the Independent JPEG Group
(http://www.ijg.org)
The various names and logos for products used in this manual are
registered trademarks or trademarks of their respective companies.
Mention of any third-party hardware or software constitutes neither an
endorsement nor a recommendation.
AmigoBot User’s Guide, Version 1.7, June, 2001.

AmigoBot Users Guide ActivMedia Robotics AmigoBot Users Guide
iii
Federal Communications Commission (FCC) Statement
This equipment has been tested and found to comply with the limits for a
class B digital device, pursuant to part 15 of the FCC rules. These limits are
designed to provide reasonable protection against harmful interference
when the equipment is operated in a commercial or residential
environment. This equipment generates, uses, and can radiate radio
frequency energy, and if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications. There is no guarantee that harmful interference will not
occur, in which case the user will be required to correct the interference
at their own expense. Some possible ways to reduce the interference
include:
! Reorient or relocate the receiving antenna
! Operate the equipment in a different location
! Connect the equipment to a different power outlet
! Consult with your local dealer or contact support online
Canadian Statement
This Class B digital apparatus meets all requirements of the Canadian
Interference-Causing Equipment Regulations.
Cet appareil numerique de la classe B respecte toutes les exigences du
Reglement sur le materiel brouilleur du Canada.
Warning
It is essential that only the supplied power and radio units be used.
Any changes or modifications to the equipment not expressly approved
by the parties responsible for compliance could void your authority to
operate the equipment.

AmigoBot Users Guide ActivMedia Robotics AmigoBot Users Guide
iv
Important Safety Instructions
! Read the installation and operations instructions before using the
equipment.
! Avoid using power extension cords.
! To prevent fire or shock hazard, do not expose the equipment to rain
or moisture.
! Refrain from opening the unit or any of its accessories.
! Keep wheels away from long hair or fur.
Inappropriate Operation
Inappropriate operation voids your warranty! Inappropriate operation
includes, but is not limited to:
! Dropping the robot, running it off a ledge, or otherwise operating it in
an irresponsible manner
! Overloading the robot above its payload capacity
! Getting the robot wet
! Continuing to run the robot after hair, yarn, string, or any other items
have become wound around the robot’s axles or wheels
! All other forms of inappropriate operation or care

AmigoBot Users Guide ActivMedia Robotics AmigoBot Users Guide
v
Table of Contents
Table of ContentsTable of Contents
Table of Contents
CHAPTER 1 INTRODUCTION .................................................................1
WHAT IS AMIGOBOT?.................................................................................................1
AmigoBot Hardware...............................................................................................................2
AmigoBot Operating System Software.................................................................................. 3
AmigoBot Control Mode Software........................................................................................ 4
System Mode and Sounds...................................................................................................... 5
AMIGOBOT PACKAGE ................................................................................................6
Basic Components (all shipments) ........................................................................................ 6
Optional Components and Attachments............................................................................. 7
User-Supplied Components/System Requirements.............................................................. 7
ADDITIONAL RESOURCES.............................................................................................8
AmigoBot Server ..................................................................................................................... 8
Personal Robots Newsletter.................................................................................................... 8
AmigoBot Newsgroup ............................................................................................................ 8
Support .................................................................................................................................... 9
CHAPTER 2 INSTALLATION & SET-UP ..................................................10
SOFTWARE............................................................................................................... 10
Windows9x®.......................................................................................................................... 11
LINUX...................................................................................................................................... 11
GUIS AND DISPLAYS................................................................................................. 12
SERIAL PORTS AND CONNECTIONS............................................................................ 13
AmigoLeash........................................................................................................................... 13
AmigoWirefree...................................................................................................................... 14
INTERNET AND LAN CONNECTIONS .......................................................................... 15
ePRESENCE............................................................................................................................... 16
Networking Hardware and Software Basics ....................................................................... 17
WorldLink Network Address and Access............................................................................. 17
FRAMEGRABBERS AND SOUND CARDS ...................................................................... 19
JOYSTICK................................................................................................................. 20
CHAPTER 3 QUICK START ...................................................................21
QUICK START: SELF WANDER .................................................................................... 21
QUICK START 2: NAVIGATOR/WORLDLINK............................................................... 22
CHAPTER 4 OPERATIONS AND MODES .............................................26
CONTROLS, SWITCHES, INDICATORS, AND SOUNDS ................................................... 26

AmigoBot Users Guide ActivMedia Robotics AmigoBot Users Guide
vi
Recharge/Power/Battery..................................................................................................... 26
Reset, Motors/Test Buttons and System/User LED’s............................................................. 27
Sounds ................................................................................................................................... 28
MOTORS AND POSITION ENCODERS.......................................................................... 29
Sonar...................................................................................................................................... 29
Sonar Sensitivity..................................................................................................................... 30
SERIAL AND ACCESSORY PORTS................................................................................ 30
System Serial Port .................................................................................................................. 30
Control Serial Port.................................................................................................................. 31
Accessory Connector........................................................................................................... 31
MODES OF OPERATION............................................................................................ 31
Self-Test Mode....................................................................................................................... 31
Motors Test.......................................................................................................... 32
Sonar Test ............................................................................................................ 32
Wander Test......................................................................................................... 33
Control Mode........................................................................................................................ 33
System Mode......................................................................................................................... 34
SAFETY FEATURES...................................................................................................... 35
Pick It Up!............................................................................................................................... 35
Watchdog............................................................................................................................. 35
Low Battery............................................................................................................................ 36
CHAPTER 5 AMIGOBOT SOFTWARE...................................................37
ACTIVMEDIA ROBOTICS BASIC SUITE......................................................................... 37
OTHER AMIGOBOTSOFTWARE .................................................................................. 39
CHAPTER 6 MAINTENANCE & REPAIR................................................41
DRIVE LUBRICATION ................................................................................................. 41
AMIGOBOT BATTERIES.............................................................................................. 41
Manually Charging the Battery ........................................................................................... 42
FACTORY REPAIRS.................................................................................................... 42
APPENDIX .....................................................................................44
WARRANTY & LIABILITIES..............................................................46
INDEX............................................................................................47

ActivMedia Robotics AmigoBot User’s Guide Introduction
1
Chapter 1 INTRODUCTION
Congratulations on your purchase of AmigoBot and welcome to the
rapidly growing community of Intelligent Mobile Robot enthusiasts.
This AmigoBot User’s Guide provides both the general and technical
details you need to operate your AmigoBot Intelligent Mobile Robot. We
encourage you also to use these companion resources:
! ActivMedia Robotics software and support services at
http://www.amigobot.com
! AmigoBot-users newsgroup
! 24-hour AmigoBot-support email service
! AmigoBot applications online Help
What is AmigoBot?
AmigoBot is an intelligent mobile robot: not a toy, but a powerfully smart
moving machine. Intelligent because it has an onboard microcontroller
with software (AmigOS) and sensors that enable the robot to sense what’s
around it and to safely drive in and around its environment. Combined
with state-of-the-art robotics software like Navigator from ActivMedia
Robotics Basic Suite running on your PC, AmigoBot can actually
determine where it is (localization) and find its way safely from one place
to the next, with your help (teleoperation) and without your help (self-
guided navigation), all the while going around obstacles, through doors,
over bumps, under tables…
AmigoBot is the culmination of many years of mobile-robotics research
and development by experts in artificial- and machine-intelligence from
around the world. Chief among these contributors is Dr. Kurt Konolige,
Consulting Professor with Stanford University and Senior Scientist with the
Artificial Intelligence Center at SRI International, Inc. Based on 15 years of
experience in robot design, Dr. Konolige developed the Pioneer robot in
1995. Pioneer was the first device to make intelligent mobile robotics
affordable for most colleges and universities. It quickly became the
leading off-the-shelf mobile robot for research and development

Introduction ActivMedia Robotics AmigoBot User’s Guide
2
institutions around the world. ActivMedia Robotics’ commercial Pioneer,
PeopleBot, and MonsterBot robots use the same basic sensing, drive
system, and robotics software architecture used by AmigoBot, ActivMedia
Robotics’ first personal robot.
AmigoBot Hardware
AmigoBot is intended for indoor use in wheelchair-accessible places,
including homes, schools, nursing homes, hospitals, offices, and research
labs. The small, lightweight, and highly maneuverable AmigoBot has two
solid 4-inch rubber tires, each driven by a reversible DC motor. Drive
power is differentially pulse-width-modulated for fine and independent
control of translational (forward and reverse) and rotational (clockwise
and counterclockwise) motion. AmigoBot’s drive system includes a
passive rear caster for balance, and, unlike many other robots, is
“holonomic”—it can turn in place so it doesn’t stuck in corners.
Each drive motor includes a high-resolution encoder that is used by
AmigoBot’s microcontroller to determine the robot’s immediate
translational and rotational speeds. Encoder readings also help deter-
mine how far the robot is traveling and the direction in which it is heading.
Figure 1: AmigoBot's features and dimensions

ActivMedia Robotics AmigoBot User’s Guide Introduction
3
The standard AmigoBot comes with eight sonar—the six perforated gold
discs around the front and the two in the rear. AmigoBot’s micro-
controller uses sonar like a bat to not only sense objects forward, side, and
aft, but also to determine how far away they are (“range finding”).
AmigoBot Operating System Software
The high-performance, I/O-rich 20-MHz Hitachi H8 microprocessor is the
brain of the AmigoBot microcontroller. It also comes with FLASH read-only
memory upon which we have permanently stored the robot’s operating
system software. AmigOS, as we call it, manages all the low-level systems
and electronics of the mobile robot, including running the sonar and
reading the wheel encoders, adjusting the motor speeds for turns and
Figure 2: AmigoBot's components and controls

Introduction ActivMedia Robotics AmigoBot User’s Guide
4
Figure 3. Control AmigoBot from your PC
through AmigoLeash or AmigoWirefree
radio modems.
when going up and down ramps and over bumps, playing pre-recorded
sounds, and so on. Like many operating systems, AmigOS is invisible to
most users, doing its job behind the scenes. However, it is an “open”
technology: its interface is freely available for command and control by
your own software.
AmigOS also comes with self-contained programs that operate the robot
autonomously, without the need for other computers or intelligent
devices. These programs exercise the onboard motors and sonar and
have the robot intelligently wander about on its own, navigating around
obstacles while performing a simple routine of motions and sounds (see
“Self-Test Mode” in Chapter 4). Future versions of AmigOS also may let
expert users program their own standalone routines for autonomous
performance by AmigoBot.
AmigoBot Control Mode Software
We don't recommend that
you learn H8 machine
language programming just
yet. Rather, AmigoBot prefers
to operate by a higher
intelligence (you, for example)
by teleoperating the robot
with a joystick from a smart
program like Navigator on
your PC or with WorldPass
connected and in control of
the robot across the Internet
with ActivMedia’s WorldLink.
Our smart software also drives
the robot without your help–-
navigating to a goal that you
select with a click of the
mouse.
Most people prefer to operate AmigoBot from their PC because it gives
them quick, easy access to the robot’s functionalities while working with

ActivMedia Robotics AmigoBot User’s Guide Introduction
5
high-level software on a familiar host computer. Control Mode employs
the power and speed of your PC to perform complex robotics tasks such
as processing the raw sensor and position information from the robot,
determining where it is in its operating space, and safely guiding the robot
from place to place, room to room.
Control-mode software applications like Navigator and WorldLink
communicate with AmigoBot through a serial interface, either directly
tethered via AmigoLeash or wirelessly with the AmigoWirefree accessory.
And with WorldLink, you may connect with AmigoBot or other ActivMedia
robot from across the network, including the global Internet.
We make several software-development environments available so that
you, too, may create your own programs like Navigator for AmigoBot and
other Pioneer-compatible intelligent mobile robots. Colbert, for instance,
comes with Trainer in the ActivMedia Robotics Basic Suite. It is a simple,
ASCII text-based interpreted language for finite state-based control of the
mobile robot. In other words, the Colbert-based Trainer program helps
beginners develop simple programs without the complication, delay, and
expense of other language compilers, libraries, and so on.
For the advanced software developer, there are C/C++ language-based
development environments for AmigoBot, including Saphira from SRI
International, our own Ayllu robotics subsumption-like environment that
excels for multi-agent cooperative tasks, and ARIA, our new multi-
threaded programming system.
System Mode and Sounds
Besides self-test and control modes, you may also operate AmigoBot in
System Mode. This special feature is done through the AmigoBot’s system
serial port beneath the robot. System-mode software utilities running on
an attached PC (serial ports connected via AmigoLeash) let you modify
AmigOS, the robot’s operating parameters, and its onboard sounds. For
instance, with AmigoSounds, you download new sound themes that give
personality to your robot, as well as provide useful aural cues to its working
status, such as when its motors stall or when its battery is low.

Introduction ActivMedia Robotics AmigoBot User’s Guide
6
Other AmigOS utilities let you modify the operating parameters of your
robot, upgrade AmigOS, and many other types of system-related tasks.
Some system-mode tools like AmigoSounds come with the basic robot.
We provide others, such as an AmigOS download tool, at our AmigoBot
support website along with new AmigOS software as it becomes
available. We also provide a selection of system tools, such as the
AmigoConfigurator, with the AmigoBot Technical Manual.
All generally available tools and updates will be available at AmigoBot’s
support website (see “AmigoBot Server” below) as announced over the
amigobot-users email news list (see “AmigoBot Newsgroup” below).
AmigoBot Package
Our experienced manufacturing staff put your AmigoBot Intelligent Mobile
Robot and its accessories through a “burn in” period and carefully tested
them before shipping the package to you. In addition to the companion
resources listed above, we warranty the robot and our manufactured
accessories against mechanical, electronic, and labor defects for six
months. All of these precautions ensure that you have many years to
enjoy your new AmigoBot Intelligent Mobile Robot.
Even though we’ve made every effort to make your AmigoBot package
complete, please check the components again after you unpack them
from the shipping box.
Basic Components (all shipments)
! One fully assembled AmigoBot Intelligent Mobile Robot
! CD-ROM containing licensed ActivMedia software and manuals
! Battery charger (may include socket and 110-220 VAC adapters)
! AmigoBot User’s Guide
! AmigoLeash cable and serial adapter
! $10 Off Coupon for the AmigoBot Store (http://www.amigobot.com)

ActivMedia Robotics AmigoBot User’s Guide Introduction
7
Optional Components and Attachments1
! AmigoWirefree radio modems: One mounted to AmigoBot and
another—the “host”—radio modem with power module and serial cable
for connection to your PC
! Replacement battery
! High-speed battery charger
! AmigoBot ePresence system with WorldLink network software, color
camera and microphone, onboard A/V transmitter with desktop receiver,
and video framegrabber for your desktop or portable PC
! AmigoBot-compatible PCMCIA framegrabber for your subnotebook
computer (Vision AmigoBot only)
! AmigoDock for unattended, automated recharging
! PC joystick
! AmigoBot Technical Manual and software utilities
User-Supplied Components/System Requirements
! 586-class or later, preferably 300MHz or faster, PC or subnotebook with
Microsoft Windows® 95-2000/NT or RedHat Linux® version 6.x or later
operating system.
! Color monitor or subnotebook screen capable of 800 x 600 pixel, 16-bit
color display
! One available RS232-compatible serial port on PC or subnotebook
! CD-ROM drive
! Vision AmigoBots may be purchased with or without PCMCIA
framegrabbers; if you do not have the proper framegrabber for your
subnotebook used with Vision AmigoBot, you will not be able to run
ActivMedia Color-Tracking Software (ACTS).
! Internet connection for access to AmigoBot through WorldLink.
Hardware may include a network interface card, typically Ethernet,
and/or a high-speed modem, either DSL or a 56KB standard unit.
1This is just a partial list of options and accessories; new ones appear regularly. Sign up for
amigobot-users to receive automatic notification or browse the AmigoBot website for
details.

Introduction ActivMedia Robotics AmigoBot User’s Guide
8
Additional Resources
Every AmigoBot customer may take advantage of four additional and
valuable resources:
! Access to the AmigoBot Support Web server for downloading
software, updates, and manuals
! Access to the amigobot-users newsgroups
! Direct access to the AmigoBot technical support team
! Free subscription to ActivMedia’s Personal Robots Newsletter
AmigoBot Server
We maintain a 24-hour, seven-day per week (24/7) World Wide Web
server where customers may obtain AmigoBot software and support
materials:
http://www.amigobot.com
Personal Robots Newsletter
You may join ActivMedia’s bi-monthly Personal Robots Newsletter to keep
up to date on new accessories, news, and special offers for AmigoBot.
To: [email protected]
From: <your return e-mail address goes here>
Subject: subscribe
AmigoBot Newsgroup
We maintain an email-based newsgroup through which AmigoBot owners
share ideas, software, and questions about the robot. To sign up, send an
email message to our automated newsgroup server:
To: [email protected]
From: <your return e-mail address goes here>
Subject: subscribe

ActivMedia Robotics AmigoBot User’s Guide Introduction
9
Our SmartList-based email listserver will respond automatically. After you
subscribe, send your email comments, suggestions, and questions
intended for the worldwide community of AmigoBot users:
To: [email protected]
From: <your return e-mail address goes here>
Subject: <something of interest to amigobot-users>
Access to the amigobot-users newslist is limited to subscribers, so your
address is safe from spam. However, the list currently is unmoderated, so
please confine your comments and inquiries to issues concerning the
operation and programming of AmigoBot.
Support
Having a problem? Can’t find the answer in this guide or any of the other
manuals? Do you know a way that we might improve AmigoBot? First
consult this guide and check into our online Frequently Asked Questions
(FAQ) section on the http://www.amigobot.com server.
If you can’t find the solution, then contact us:
[email protected]
Please include your robot's serial number—look for it on the underside of
your robot. We need the serial number to understand your AmigoBot's
configuration so we can best answer your questions.
Your amigobot-support message goes directly to the AmigoBot
technical support team. A team member will help you or point you to a
place where you can find help.
Because this is a support option, not a general-interest newsgroup like
amigobot-users, we reserve the right to reply only to questions about
problems with AmigoBot through amigobot-support.
(See Chapter 6, “Maintenance & Repair” for more detail.)

Installation & Set-up ActivMedia Robotics AmigoBot User’s Guide
10
Chapter 2 INSTALLATION & SET-UP
AmigoBot comes pre-assembled for out-of-
the-box operation. All you need to do to
prepare the robot for operation is twist up
and position the camera, if you have the e-
Presence surveillance hardware. That’s all
there is to it!
Software
Typical operation of your
AmigoBot Intelligent Mobile Robot
requires that you install software
and hardware on your PC. We
assume that you know how to
operate your PC, attach
accessories to it, and install
software on its hard drive. Please
consult your computer and
operating system manuals for
details.
ActivMedia Robotics Basic Suite
of robot-control software is
available for both RedHat Linux®-
and Microsoft Windows9x®-based
PCs. Choose the software that
matches your PC’s operating
system.
Figure 4: AmigoBot needs little
s
etu
p
out of the box.
Figure 5: ActivMedia Robotics’
Basic Suite

ActivMedia Robotics AmigoBot User’s Guide Installation & Set-up
11
Figure 6. ActivMedia
Robotics Basic Suite
installation program
icon
Windows9x®
The ActivMedia Robotics Basic Suite software
installation program should execute
automatically when you insert the disc into your
PC’s CD-ROM drive (Windows9x® already
running, of course).2If not, double-click the
ActivMedia Robot’s CD-ROM icon in My
Computer. If that still doesn’t work, Explore the
CD-ROM and double-click ActivMediaBasic-
Suite.exe icon in the Win32 directory manually
to start the installation.
Follow the online installation instructions. The default installation places
the software in your boot drive’s (typically C:) Program Files directory in
a new folder called ActivMedia. Therein is a folder named bin, where
you may find the various programs.
The ActivMedia.exe startup program executes immediately after you
complete the installation. Thereafter, you should usually start up with that
same bin\ActivMedia.exe program. Look for its program icon on your
Desktop, too. There also is an ActivMedia item in the Programs directory
of the Start menu.
Unlike many other installations, you should not have to restart your PC
after installing the ActivMedia Robotics Basic Suite. But from our
experience with Windows, re-booting the computer is the first remedy to
try if the software doesn’t operate properly.
LINUX
To run, the LINUX-based ActivMedia Robotics Basic Suite software requires
that you have X-Windows installed, configured, and running with the
desktop environment of your choice.
2ActivMedia Robotics Basic Suite software may install and run fine with other Microsoft
operating systems, including Windows®2000, but the many differences in accessory drivers
limits our support. You’re on your own with the alternative OSes.

Installation & Set-up ActivMedia Robotics AmigoBot User’s Guide
12
Insert the ActivMedia Robot CD-ROM into your PC’s drive and mount it if
your system does not automount the disc. The installation software comes
as an RPM archive; you will need to have root privileges to install it on
your system. We also assume that the CD device is installed and
described in /etc/fstab and that the /mnt/cdrom directory exists:
# mount /dev/cdrom /mnt/cdrom
# cd /mnt/cdrom/Linux
# rpm –ihv ActivMediaBasicSuite-1.2-1.i386.rpm
Most of the ActivMedia Robotics Basic Suite software gets put into
/usr/local/ActivMedia. The program executables reside in
/usr/local/ActivMedia/bin. Some libraries and tools get put into
/usr/local/bin and /usr/local/lib.
You need read, write, and execution permissions to operate AmigoBot
through your LINUX PC’s serial port and to operate the Simulator through a
special robot file that gets put into /tmp:
# chgrp users /dev/ttyS0 // Use ttyS0-Sn, depending on actual port
# chmod g+rwx /dev/ttyS0 // ditto
# chgrp users /tmp
# chmod g+rwx /tmp
We assume that the serial device and the /tmp directory already exist
(they usually do when you install LINUX) and that you and others who wish
to operate AmigoBot and the Simulator are members of the users group.
Indicate the alternate serial port name if you have AmigoLeash or the
AmigoWirefree host modem attached to a different port: /dev/ttyS2, for
example.
GUIs and Displays
ActivMedia Robotics Basic Suite Software make use of the Fast Light Tool
Kit (FLTK) for the Graphical User Interface with both the RedHat Linux® and
Windows9x® versions. We include the latest FLTK libraries, so you need to
install only the ActivMedia software.
However, for those interested, source code and complete distributions of
FLTK may be obtained from:

ActivMedia Robotics AmigoBot User’s Guide Installation & Set-up
13
http://fltk.easysw.com/software.html
Please be careful. Versions of FLTK other than that which accompanies
your ActivMedia Robotics Basic Suite may not work.
ActivMedia software graphics look best in 24-bit color video-display
mode; 8-bit and 16-bit modes work fine, but they won't look quite as nice.
ActivMedia software also requires a minimum 800 x 600 pixel screen area.
Serial Ports and Connections
Software that runs AmigoBot from your PC communicates with and
controls the robot through a serial connection. Use the AmigoLeash that
came with your robot to tether the robot to one of your computer’s serial
ports. Use the AmigoWirefree radio modem accessory to operate
AmigoBot without a tether.
AmigoLeash
AmigoLeash comes in two parts: an adapter
containing both a 9-pin DSUB and an RJ-
11/12 socket, and a long cable terminated
on each end with an RJ-11/12 plug (a
common telephone cable). Plug one end of
the AmigoLeash cable into the adaptor, and
then plug the adaptor into one of the serial
ports on the back of your PC.
Adaptors (9-pin to 25-pin) are available for
the less common 25-pin serial port con-
nectors that are on some of the older PCs.
However, don’t confuse that uncommon
serial port connector with the common 25-
pin socket to which you typically attach a
printer. One quick way to tell the difference
is that serial ports are plugs (male) and the
parallel port usually is a socket (female).
Figure 7: Use AmigoLeash
to connect AmigoBot with
your PC.

Installation & Set-up ActivMedia Robotics AmigoBot User’s Guide
14
If you plan to operate your robot tethered to your PC and do not have
AmigoWirefree installed, plug the other end of the AmigoLeash into the
RJ-11/12 receptacle (Control Port) that comes out of the top of the robot.
The similar RJ-11/12 receptacle on the bottom of AmigoBot next to the
charger port and power switch also is a serial port connection, but to a
different part of the robot’s controller. You’ll eventually use AmigoLeash in
that port, too, but not to operate AmigoBot. Rather, the alternate
“System” serial port is for special tools like AmigoSounds. More about this
in the separate ActivMedia Robotics Basic Suite Software Guide.
AmigoWirefree
AmigoWirefree is a popular AmigoBot
accessory that allows tetherless remote
control of your robot with ActivMedia
software and other applications.
AmigoWirefree transmits and receives
serial communications by radio (900
MHz in the US), thereby eliminating the
wire tangles and limited range of travel
when the robot is connected to your
PC with a serial tether like AmigoLeash.
One AmigoWirefree modem is
mounted to the underside of the robot.
With your computer turned off, attach
the “host” modem to a serial port on
your PC using the serial cable that came with the accessory, possibly
replacing the AmigoLeash that you may have installed earlier.
BE VERY CAREFUL!
USE ONLY the AmigoWirefree power adaptor
to operate the host AmigoWirefree.
Otherwise, you may cause irreparable harm to the modem
and void the warranty.
Figure 8: Use AmigoWirefree
radios for tetherless control of
A
mi
g
oBot.