Androbot Topo User manual

Торо
Owner's
Manual
Apple
I,
Apple
I
and
Apple
He
Computer
version
дпозозот inc

Contents
Copyright notice
Background
Introducing
Topo
and
a
new
age
What
do
I need
to
use
Topo?
How do I unpack Topo?
How do I charge Topo’s batteries?
How do I get Topo running for the
first time?
How can I make Topo operate on
his own?
How do I calibrate Topo?
What kinds of things can I make
Topo do?
What do I do if Topo doesn't
work?
What do І do if Topo gets into
mischief?
How should I take care of Topo?
What are Topo’s specifications?
ва
>
11
17
24
30
34
36
37
58

Limited Warranty 40
Details for advanced Topo аз
programmers
Glossary of BASIC Routines Si
Glossary of BASIC variables 55
Listing of BASIC Routines 57
Listing of Assembly language 66
Binary Routines
Assembly Program Memory Map 70
Index

SOFTWARE
DISCLAIMER:
Although
we
have
made
every
attempt
to
verify
the
accuracy
of
this
document
and
accompanying
software,
we
cannot
assume
any
liability
for
errors
ог
omissions.
No
warranty
or
other
guarantee
can
Бе
given
as
to
the
accuracy
or
suitability
of
this
software
for
а
particular
purpose,
nor
can
we
be
liable
for
any
1058
or
damage
arising
from
the
use
of
the
same.
COPYRIGHT
AND
PATENT
INFORMATION:
Copy-
right
(c)
Androbot,
Inc.,
1983.
All
rights
reserved.
No
part
of
this
publication
or
accompanying
software
packages
may
һе
reproduced
in
whole
or
in
part
except
for
the
making
of
backup
copies
of
the
software
for
the
sole
use
of
the
purchaser.
Unauthorized
copying
or
transmitting
of
this
copyrighted
software
in
or
оп
апу
medium
is
strictly
prohibited.
Androbot
products
may
be
the
subject
of
applications
for
Letters
and
Design
patents.
Infringement
of
the
rights
granted
under
these
patents
is
expressly
prohibited.
NOTE:
Androbot,
Inc.
copyrights
extend
to
the
appearance
of
Topo.
All
rights
reserved
including
display
rights.
Торо
may
not
be
publicly
displayed
without
the
prior
written
permission
of
Androbot,
Inc.
Apple,
Apple
II,
Apple
11+
and
Apple
Ile
are
registered
trademarks
of apple
Computer,
Inc.

In 1950, science fiction author Issac
Asimov published a collection of earlier
stories
in
a
book
called
I,
Robot.
In
the
introduction of this book, Asimov stated
that the major manufacturer of robots would
come into existence in 1982.
He was right about the date but not about
the
company's
name.
dur
name
is
Androbot,
Inc.,
and
like
Asimov’s
U.S.
Robot
апа
Mechanical
Men,
Inc.,
we
came
into
existence
in
1982.
There
is,
however,
а
major
difference
between
the
two
companies
--
we
are
real,
and
so
are
our
products.
Robots
are no longer
just science
fiction!
So
allow
us
to
welcome
you
to
a
new
era
--
the robotic
аде!
You
have
purchased
a
product
that
was
pure
science
fiction
a
few
short
years
адо
--
а
domestic
robot.
as
you
learn about
your
new
robot
(we
have
named
him
Topo
from
topography
or topology).
you will come to
realize
that
you
are
a
pioneeer
in
а
totally
new and exciting
field.
^ Whether
your
applications
are
practical
educational,
ог
purely
for
entertainment,
you will soon be making
Topo do things
that
no one else has made him do before.
Regardless of your applications for Торо,
we know one thing -- you will enjoy using
him. Торо will seem like a family member
as he scampers around the house. You сап

even
teach
Торо
to
do
some
tricks.
Unlike
most
new
pets,
however,
Topo
is
already
house-broken.
We
know
that
you
want
to
get
Topo
unpacked
and
on
his
way,
and
that
you
don't
want
to
read
this
whole
manual
first.
Fair
enough
--
we
want
you
to
learn
how
to
use
Topo
too.
In
order
to
help
make
this
process
as
practical
аз
possible,
we
divided
this
manual
into
sections.
Each
section
begins
with
а
question
(How
do
I
unpack
Торот).
You
may
want
to
look
for
the
section
that
deals
with
the
question
that
is
foremost
on
your
mind
апа
proceed
from
there.
This
way, you
will
have
Topo
up
and
running
in
no
time.
Опсе
Торо
is
connected
to
your
computer
and
is
operational,
we
encourage
you
to
read
this
еп
ге
manual.
Each
section
has
valuable
information.
There
is
one
last
comment
to be
made
before
you
unpack
Topo.
edge:
Topo
uses
industrial
grade
components
throughout,
ranging
from
the
highest
quality
rechargeable
batteries
and
а
professional
crystal
controlled
radio
link,
to
high
quality
motors
and
cast
aluminum
gearboxes,
a
fabricated
steel
framework,
and
a
high
impact
body.
With
proper
care,
Topo
will
provide
years
of
trouble-free
service.

And
that
matters
to
us
because
providing
service
to
humans
is
what
robots
are
all
about!
оро?
Your
Торо
robot
needs
а
computer
to
send
him
instructions.
The
version
you
have
purchased
is
designed
to
be
used
with
the
computers
made
by
Apple,
specifically
with
the Apple
II, II+, or Ile.
`
To use Topo, you should have an
Apple 11, 11+, or Ше computer
system. If you are using
cassette tape to store you
programs, you will need 16K of
RAM. If you have the disk
system, you will need ABK of RAM.
If you intend to use the Logo
language to control Topo, you
will need a full 64К of RAM.
To use the enclosed disk, you
need one disk drive (16 sector)
with the disk controller card
plugged into slot #6.
You should also have a pair of
paddle controllers ог a smooth
action joystick.
Your Торо robot system comes packed in two
boxes. ТЕ you have followed the directions
on
the
boxes,
the
only
one
you
have
opened

at
this time
is
the
smaller
box
marked
"Topo
Apple
Controller".
as
you
unpack
this
box
you
will
find:
this
manual
and
owner
registration
cards,
Topo’s
battery
charger
(the
black
box
with
the
built-in
wall
plug),
а
plastic
foam
block
to
prop
Торо
up
during
calibration,
the
Topo/Apple
transmitter
controller
саға
(this
is
the
printed
circuit
board
with
the
row
of
contacts
along
one
edge),
the
Topo
radio
transmitter
(а
plastic
case
with
a
rod
antenna
and
а
cable
coming
out
of
one
end),
and
a
floppy
disk
containing
the
TOPO
joystick
programs
and
a
set
of
BASIC
Тора
controller
routines.
Once
you
have
verified
that
you
have
all
these
items,
you
are
ready
to
open
the
larger
box
containing
Topo
itself.
Topo
has
been
very
securely
packed
to
avoid
damage
in
transit.
It
is
important
that
you
unpack
Topo
carefully
and
that
you
save
his
box
in
case
you
ever
want
to
ship
him
somewhere.
To
unpack
Topo,
carefully
open
the
top
flaps
of
the
box
and
slide
out
the
top
foam
E]

packing
insert.
You
should
be
able.
to
see
Topo
as
you
look
in
the
box.
In
lifting
Topo
out
of
the
box,
be
careful
to
not
lift
him
by
his
head.
Neither
robots
nor
human
beings should ever be lifted by their head!
Instead, reach down around both sides of
Topo. Midway down his body you will feel
two
flat
areas
under
which
you
can
hook
you
hands.
Gently
lift
Topo
from
the
carton
and
gently
set
him
on
the
floor.
Never
p
Торо
Even
though
he
can
take
a
lot
rough
and
tumble
action,
Торо
can
be
damaged
if
he
is
dropped
onto
a
hard
surface.
Once
Topo
is
out
of
his
box,
continue
to
lift
him
by
grabbing
him
underneath
the
shoulder
area with both hands
as shown
in
the
illustration.
Topo
can
also
be
lifted
from
underneath
his Базе.

Remember to never lift Торо by his head. If
you look near the bottom of Topo, you can
see that he moves with the aid of two large
wheels positioned at an angle to each
other. This is the proper orientation for
these wheels. Topo balances in an upright
position of his own accord, and if you give
him a slight push, you will see that Topo
roc back and forth a little bit without
falling over. This rocking motion is
normal and keeps Topo from damaging itself
or anything into which he might run by
accident.
Now check Торо over to be sure he hasn't
been damaged in transit. In the unlikely
event that Topo has been damaged,
immediately ^ contact | усыг authorized
Androbot dealer for instructions.
Gently move Topo closer to an electrical
outlet so you can charge his batteries.
While Topo’s batteries are being charged
overnight for the first time (as shown in
the next section), you should fill out and
mail the enclosed registration card (we
will send you а FREE Topo T-SHIRT in
exchange!), and use this time to read the
rest 0+ your manual and connect the radio
link to your Apple computer.

To
charge
Торо"
в
batteries,
you
should
plug
in
the
cable
for
the
battery
charger
in
the
connector
located
оп
Topo’s
back
control
panel.
This
panel
is
located
near
the
bottom
of
Topo
and
contains
а
power-on
button,
a
power-off
button
(which
should
be
pressed),
а
power-on
light,
а
battery
status
light,
and
the
battery
charger
connector.
After
connecting
the
charger
cable
to
Topo,
plug
the
charger housing
into
a
standard
115V
60
cycle
power
outlet.
When
Topo
is
operating,
the
battery
status
light
should
be
green.
indicating
that
the
batteries
are
still
charged.
If
this
light
turns
red,
Topos
batteries
are
low
and
Topo
should
be
plugged
into
his
charger.
The
batteries
can
be
completely
recharged
overnight.
Опсе
charged,
they
will
provide
many
hours
of
use
before
needing
recharging.
When
Topo
is
not
in
use,
we
suggest
that
you
leave
him
plugged
into
his
charger
to
keep
his
batteries
ready.
Your
Topo
has
special
battery
protection
circuitry.
The
overcharge
protection
circuit
allows
a
full
charge
to
be
maintained
by
leaving
the
charger
connected,
with
no
possibility
of
damage.
The
discharge
protection
circuit
prevents
the
batteries
from
being
damaged
by
fully
discharging.
If
you
continue
to
operate
Topo
after
the
battery
status
light
turns
red,
the
protection
circuit
will
engage
automatically
and
turn
him
off.
If
this
happens,
simply
charge
Topo
overnight.
10

1
сі
If this is the first time you аге using
Торо, you will have to insert the
transmitter controller card in the Apple
computer. This interface circuit is the
printed circuit board that was packed with
the transmitter.
To install this board, carefully remove the
lid from your Apple computer (BE SURE THE
POWER TO YOUR APPLE COMPUTER HAS BEEN
TURNED OFF FIRST). Ав you look inside the
Apple computer, you will see a series of
nnectors along the back part of the Apple
сігсиі% board. Sach connector has a number
printed next to, starting with O next to
the power supply (the long metal box) and
running to 7 ав you move from left to
right. If you are using the disk memory
system with the Apple, you should refer to
your Apple instruction manual and make sure
that the disk controller interface is
installed in connector #6. Next, you are
ready to install the transmitter controller
card. To do this, you must first connect
it to the cable from the transmitter unit.
This cable has a connector on its end that
should be plugged into the corresponding
socket on the rear edge of the transmitter
controller card. This connector will only
fit one way, and it will slip into place
without much force. If the connector
doesn't seem to fit, turn it around and try
again.
11

The
Topo/Apple
transmitter
controller
сага
should
be
inserted
in
the
Apple
computer
connector
#5
in
such
a
manner
that
the
circuit
components
on
the
card
are
facing
away from
the
power
supply
and
that
the
transmitter
cable
runs
out
the
back side
of
the
computer
through
one
of
the
available
slots.
If
the
card
is
inserted
backwards,
it
will
fail
to
work,
so
be
sure
tHat
you
insert
this
circuit
in
connector
45
with
the
components
|
facing
away
from
the
power
supply.
Be
sure
this
card
is
properly
seated
in
the
connector.
You
can
press
it
in
firmly
if
the
connector
is
stiff.
vou
won't break anything.
Once
you
have
completed
this
installation
procedure,
replace
the
lid
to
your
Apple
computer
and snap it into place.
t
аг.
You
should
locate
the
transmitter
module
іп
а
convenient
out-of-the-way
place
near
the
computer.
Не
sure
that
the
rod
antenna
is
»tended
fully,
and that the transmitter
sn't
located
in
a
place
where
it
сап
Бе
easily
bumped.
Тһе
antenna
should
point
straight
up,
and
should
not
be
blocked
by
any
large
metal
or
electronic
articles
such
as televisions,
etc.
To get maximum
range
for your Topo robot,
you will want to be
sure
that
the
transmitter
is
in
an
unobstructed
location.
The transmitter derives its power from the

Apple
computer
and
should
require
little
attention
on
your
part.
When
using
your
Apple
computer
for
tasks
that
don't
involve
Topo,
Бе
sure
the
switch
on
the
front
of
the
transmitter
unit
is
turned
off.
Topo
Now
that
you
have
installed
the
transmitter
controller
іп
your
computer
and
have
charged
Topo’s
batteries,
you
are
finally
ready
to
get
Topo
moving!
The
easiest
way
to
do
this
is
with
the
JOYSTICK
program
that
is
stored
on
the
diskette.
To
use
this
program
you
must
have
an
дрр1е-
compatible
joystick
or
a
pair
of
paddle
controllers
plugged
into
the
Apple
game
controller
port.
When
turning
Торо
on
for
the
first
time,
you will
want
to
prop
him
up
so
his
wheels
are
free
to
rotate
without
touching
the
floor.
There
is
a
foam
plastic
block
in
the
bottom
of
Topo's
shipping
box
that
is
designed
for
just
this
purpose.
Once
you
have
set
Topo
on
his
perch,
(and
are
sure
his
power
is
turned
off),
insert
the
TOPOBASIC
diskette
in
your
computer's
#1
disk
drive
(with
the
label
facing
upward
and
towards
the
front
of
the
drive)
and
turn
on
your
computer
system.
Іп
а
few
Seconds,
you
will
see
the
following
message
on
the
display:
13

ANDROBOT ТОРОВАЗТС VERSION 1.1
(С) COPYRIGHT 1983, ANDROBOT, INC. 2-1-83
(LOADING
TOPO
DRIVER
PROGRAM)
(LOADING TOFOBASIC PROGRAM»
When
the
BASIC
prompt
(1)
has
appeared
on
the screen.
enter:
GOSUB
5000
This
activates
the
transmitter
interface
card
and
enables
your
Apple
to
talk
to
the
transmitter
(for
the
beginner:
always
press
the
RETURN
key
after
entering
each
line
on
your
Apple
keyboard
to
tell
it
that
you
are
through
typing
the line).
Now type:
GOSUB 5000
When you press the RETURN key, the program
will run and vou will gain manual control
of Topo. The screen will display:
RUNNING JOYSTICK .....
PRESS ANY KEY TO STOF
Follow these instructions:
1. Locate the joystick handle near
the center position. 14 you are using the
paddle controllers instead, set both knobs
near the center setting.
14

Turn on the transmitter unit
(using the switch on the transmitter
cabinet).
Turn Topo on by depressing the
green button on the control panel (the red
button will turn him off).
4.
If
his
wheels
are
turning,
adjust
the
joystick
or paddle
controllers
so both
wheels
have
stopped.
5.
Now
you
can
take
Topo
off
his
perch
and
set
him
on
the
floor.
Place
Topo
in
an
area
where
he
will
be
able
to
travel
at
least
afew
feet
іп
any
direction.
As
you
slowly
push
the
joystick
handle
forward,
Topo
will
start
to
move
forward.
You
can
steer
Topo
by
pushing
the
handle
to
the
right
or
left.
То
make
Торо
go
backwards,
pull
the
handle
towards
you.
If you are using the paddle controllers,
you will find that one controller adjust
Topo’s forward and backward motion, апа
that you can steer with the other
controller.
Now
that
you
have
seen
how
to
make
Topo
move
and steer
with the joystick
or paddle
controllers,
you should
practice
moving
him
around
the room
to get the feeling
for his
motion
апа
control.
WHENEVER
| THE
TRANSMITTER
IS TURNED
OFF,
TOPO WILL STOP
MOVING.
There
is по harm in turning
the
transmitter
on or off whether
a program
is
running
or not.
Ву pressing
any key.
you
may enter
new commands
such as the Topo
15

commands described in the next section or
return to the joystick mode by typing in
again:
GOSUB 5000
The program is written in such a way that
one main direction of the joystick handle
will make Topo go forward and backwards and
the other direction will make it go left
and right. If your joystick responds in a
reverse manner, that is, it switches left
for
right,
you
can
swap
the
sides
by
typing
in:
5050 DI = 255
To revert to the original mode, use the
statement:
5050 DI = 0
Operating
Topo
with
a
joystick
is
a
fine
way
to
get
started,
but
an
even
more
powerful
way
is
to
write
your
own
programs
that
teach
Topo
some
complete
routines
to
follow.
The
next
section
shows
some
ways
of
doing
this
using
some
programs
we
provided
on
the
diskette
and
the
Applesoft
Basic
language
іп
your
Apple
computer.
You
should
now
make
a
copy
of
your
diskette
for
daily
use
and
store
the
original
in
a
safe
place.
16

The
disk
that
was
packed
with
your
Торо
Apple
controller
card
contains
all
the
BASIC
subroutines
you
will
need
for
creating
your
own
robot
control
programs.
When
you
first
turn
on
your
Apple
computer
and
the
screen
displays
the
title
lines
all
the
necessary
routines
to
run
Торо
under
program
or
joystick
control
аге
loaded
іп.
The
machine
language
routines
are
not
visible
but
do
reside
in
memory.
The
BASIC
routines
start
at
statement
number
5000
and
extend
to
numbers
past
7300.
You
can
see
them
all
by
typing:
LIST
Your
Apple
will
respond
by
scrolling
the
program
on
the
screen.
To
temporarily
stop
the
scrolling,
type
CTRL
5
(for
the
beginner:
that
means
you
hold
down
the
CTRL
key
and
press
the
S
key).
To
continue,
use
CTRL
S
again.
If
you
want
to
stop
the
listing
process
completely,
type
CTRL
C
and
you
get
the
BASIC
prompt
back.
The
system
contains
the
following
routines:

Line
number
Function
5000
JOYSTICK
Makes
joystick
run
Topo
5100
TFD:
Moves
Topo
forward
5200
ТВК:
Moves
Торо
back
S300
TLT:
Turns
Topo
left
5400
TRT:
Turns
Topo
right
5500
TSTOF:
Stops
Topo
5600
TSTEP:
Makes
Topo
step
5700
TSTEPSTOP:
Makes
Topo
step,
stop
5800
TCOUNT:
Generates
a
delay
5900
TSET:
Sets
all
channels
6000
TRESET:
Resets
all
channels
6300
HOLD:
Stores
channel
values
6450
STORESTP:
Stores
step
value
4500
TFD
Extended
forward
move
6600
ТВК
Extended
back
move
6700
TLT
Extended
left
turn
6800
СТ
Extended
right
turn
7000
INT
Sets
initial
values
7200
CALIBRATE
NEUTRAL
VALUES
7300
CALIBRATE
LINEAR
MOTION
Remember
:
You
need
to
activate
the
transmitter
interface
card
after
you
run
on
the
computer
before
you
can
already,
type
GOSUB
6000.
^
Now
you
can
use
typed-in
commands
to
run
Topo.
For
example,
to go
forward
200
steps.
enter
the
following:
N - 200
GOSUB 5100
To
turn
90
degrees
to
the
right,
type:
N
=
90
GOSUB 5400
18

Try the other two motion commands, at lines
5200 and 5300 too. 14 you want to stop
Topo while he is executing a command, hit
any key with the joystick routine. Your
Topo may not go very straight or turn very
precise corners at this point, but don't
worry, you can fix that later when we get
Жо the calibration procedures. For now,
just have some fun with him!
Writing Topo programs
Remember, in order for the Apple to talk to
the transmitter after power-up, you have to
type in the following line once:
GOSUB 6000
Now you are ready to write a program that
can combine many of the commands that we
have entered one by one in the immediate
mode. А program to control Topo always has
to start with a call to the INIT
subroutine. You will find that writing
programs for Topo is a snap. Let's start
with something quite simple -- making Topo
move forward and backwards by 50
centimeters The program to do this is
shown beloi
10 GOSUB 7000: REM INIT
20 М = 50
GOSUB 5100: REM TFD
40 GOSUB 5200: REM ТВК
50 END
Turn оп Topo and the transmitter and type
RUN. There will be a slight pause and then
19