Dobot AiStarter User manual

AiStarter User Guide
User Guide
Issue：V1
Date：2018-12-26
ShenZhen Yuejiang Technology Co., Ltd.

AiStarter User Guide
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Copyright © ShenZhen Yuejiang Technology Co., Ltd. 2018. All rights reserved.
No part of this document may be reproduced or transmitted in any form or by any means
without prior written consent of Yuejiang Technology Co., Ltd.
Disclaimer
To the maximum extent permitted by applicable law, the products described (including its
hardware, software and firmware, etc.) in this document are provided AS IS, which may have
flaws, errors or faults. Yuejiang makes no warranties of any kind, express or implied, including but
not limited to, merchantability, satisfaction of quality, fitness for a particular purpose and
non-infringement of third party rights. In no event will Yuejiang be liable for any special,
incidental, consequential or indirect damages resulting from the use of our products and
documents.
Before using our product, please thoroughly read and understand the contents of this
document and related technical documents that are published online, to ensure that the robotic arm
is used on the premise of fully understanding the robotic arm and related knowledge. Please use
this document with technical guidance from professionals. Even if follow this document or any
other related instructions, Damages or losses will be happen in the using process, Dobot shall not
be considered as a guarantee regarding to all security information contained in this document.
The user has the responsibility to make sure following the relevant practical laws and
regulations of the country, in order that there is no significant danger in the use of the robotic arm.
ShenZhen Yuejiang Technology Co., Ltd.
Address: 3F, Building NO.3, Tongfuyu Industrial Town, Nanshan District, Shenzhen, China
Website: https://www.dobot.cc/

AiStarter User Guide Preface
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Preface
Purpose
This manual describes the functions of the AiStart smart car, how to use the car and its API
functions to help users quickly understand and use the car.
IntendedAudience
This document is intended for:
Customer Engineer
Sales Engineer
Installation and Commissioning Engineer
Technical Support Engineer
Change History
Date
Change Description
2018/12/26
Add demo and update API
2018/04/27
The first release
Symbol Conventions
The symbols that may be founded in this document are defined as follows.
Symbol
Description
DANGER
Indicates a hazard with a high level of risk which, if
not avoided, could result in death or serious injury
WARNING
Indicates a hazard with a medium level or low level of
risk which, if not avoided, could result in minor or
moderate injury, robotic arm damage
NOTICE
Indicates a potentially hazardous situation which, if
not avoided, can result in robotic arm damage, data
loss, or unanticipated result
NOTE
Provides additional information to emphasize or
supplement important points in the main text

AiStarter User Guide Contents
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Contents
1. Safety Precautions....................................................................................................1
1.1 Service Security................................................................................................................1
1.2 After-sales Service Terms .................................................................................................1
1.2.1 Warranty Regulation............................................................................................1
2. Introduction..............................................................................................................3
2.1 Features.............................................................................................................................3
2.2 Parts List...........................................................................................................................3
2.3 Technical Parameters ........................................................................................................4
3. Feature Description .................................................................................................6
3.1 Aistarter Controller...........................................................................................................6
3.1.1 Overview .............................................................................................................6
3.1.2 AT Mega2560 Processor......................................................................................6
3.1.3 Button..................................................................................................................6
3.1.4 LED.....................................................................................................................7
3.1.5 USB.....................................................................................................................7
3.1.6 Interface Description ...........................................................................................8
3.2 Infrared Sensor..................................................................................................................9
3.3 Ultrasonic Sensor..............................................................................................................9
3.4 Color Sensor .....................................................................................................................9
4. Installation..............................................................................................................10
4.1 Mixly Installation............................................................................................................10
4.2 Arduino IDE ...................................................................................................................10
5. User Operation.......................................................................................................11
5.1 Mixly Introduction..........................................................................................................11
5.2 Arduino IDE Introduction...............................................................................................11
5.3 Blockly Description........................................................................................................12
5.3.1 Setting Direction and Speed..............................................................................12
5.3.2 Setting Direction\Speed\Time ...........................................................................13
5.3.3 Setting Motor Speed..........................................................................................13
5.3.4 Starting AiStarter Sonar.....................................................................................13
5.3.5 Detecting Barrier...............................................................................................14
5.3.6 Getting The Detection Distance of Sonar..........................................................14
5.3.7 DetectingAiStarter Track..................................................................................15
5.3.8 Getting Infrared Sensor Data.............................................................................15
5.3.9 Getting Geomagnetic Angle ..............................................................................16
5.3.10 Setting White Balance.......................................................................................16
5.3.11 Setting Color Sensor Status...............................................................................16
5.3.12 Getting RGB Value............................................................................................16
5.3.13 Detecting Color .................................................................................................17
5.3.14 Getting Switch Status........................................................................................17
5.3.15 Detecting Switch Status.....................................................................................17
5.3.16 Getting Photosensitive Value.............................................................................18

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6. AI-Starter Demo.....................................................................................................19
6.1 Line Tracking Demo.......................................................................................................19
6.1.1 Description ........................................................................................................19
6.1.2 Procedure...........................................................................................................19
6.1.3 Code Description...............................................................................................19
6.2 ObstacleAvoiding Demo................................................................................................21
6.2.1 Description ........................................................................................................21
6.2.2 Procedure...........................................................................................................21
6.2.3 Code Description...............................................................................................21
6.3 White Balance Calibration Demo ...................................................................................23
6.3.1 Description ........................................................................................................24
6.3.2 Procedure...........................................................................................................24
6.3.3 Code Description...............................................................................................24
6.4 Color Recogition and Line Tracking Demo....................................................................24
6.4.1 Description ........................................................................................................24
6.4.2 Procedure...........................................................................................................24
6.4.3 Code Description...............................................................................................24
6.5 Cooperation Demo..........................................................................................................25
6.5.1 Description ........................................................................................................25
6.5.2 Procedure...........................................................................................................26
6.5.3 Code Description...............................................................................................26
7. API Function ..........................................................................................................29
7.1 Initialization....................................................................................................................29
7.2 Setting Direction and Speed............................................................................................29
7.3 Setting Direction\Speed\Time.........................................................................................29
7.4 Setting Motor Speed .......................................................................................................30
7.5 Setting Motor Parameter.................................................................................................30
7.6 Getting Motor Pose.........................................................................................................30
7.7 Initializing Ultrasonic Sensor..........................................................................................31
7.8 Getting the Detection Distance of Ultrasonic Sensor .....................................................31
7.9 Detecting obstacle...........................................................................................................31
7.10 Getting Infrared Sensor Data..........................................................................................32
7.11 Getting Geomagnetic Angle............................................................................................32
7.12 Geomagnetic Calibration................................................................................................32
7.13 Setting White Balance.....................................................................................................33
7.14 Setting Color Sensor Status.............................................................................................33
7.15 Detecting Color...............................................................................................................33
7.16 Getting RGB Value .........................................................................................................34
7.17 Initializing Switch...........................................................................................................35
7.18 Getting Switch Status......................................................................................................35
7.19 Setting LED Status..........................................................................................................35
7.20 Getting Photosensitive Value..........................................................................................36
7.21 Setting Ultrasonic Threshold ..........................................................................................36

AiStarter User Guide 1Safety Precautions
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1. Safety Precautions
1.1 Service Security
Users need to assemble the AiStarter by themselves. Please do not tighten screws hard
when install to avoid the treads stripping.
When put the batteries inside, please make sure that the polarity is not reversed. Only
the Li-ion rechargeable battery of 18650 type is supported.
Please keep an eye on the AiStarter when AiStarter works, to avoid motor stalling for a
long time, which could damage the control board and motor of the AiStarter.
1.2 After-sales Service Terms
1.2.1 Warranty Regulation
The warranty period of machine body shall be 6 months.
The battery is not included in warranty service. Only replacement of damage by default
is provided.
The battery does not enjoy the warranty service, only the factory damage replacement
The vulnerable parts such as package, giveaway, USB, screws, wrench, structure parts,
etc. shall be not covered by the warranty service. However, if there is any non-artificial
performance failure at the first time using after purchase
Please confirm the integrity of the package at the time of signing for acceptance of the
goods. Within 7 days upon purchase of the goods (inclusive, calculated from the date of
receipt of the goods), if the goods are found to be missing or damaged due to
transportation, or a non-artificial performance failure occurs to the goods or accessories,
please immediately contact the local after-sales service department for supplement or
replacement; any application for supplement or replacement beyond this time limit shall
be considered invalid.
During the validity period of three guarantees (for repair, replacement or compensation
of faulty products), where a product is in compliance with the replacement conditions
but the seller has no product of the same time or specification, and the customer requires
the return of goods as he or she is not willing to replace it with the product of a different
type or specification, the customer may return the goods.
The maintenance period of replacement parts within the warranty period is 2 months.
The detective parts replaced shall be owned by DOBOT.
NOTICE
The freight for any replacement or return that meets the above conditions shall be borne
by DOBOT officially, while the tariff at the destination which is required to be paid due
to its policy shall be borne by the customer.
To provide the free maintenance service, the following conditions shall be met:

AiStarter User Guide 1Safety Precautions
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The product is normal used within the specified warranty period and has any
non-artificial performance failure.
The valid purchase certificate, receipt and the number thereof are provided.
If additional package, accessories or translation are needed, our company will charge a
certain cost.
The free product maintenance service shall not be provided under any of the following
circumstances:
Damage caused by unauthorized maintenance, alteration and other acts.
Damage caused by non-standard operating environment, such as overload, high voltage,
high current, high temperature, etc
Appearance and function abnormality caused by man-made collision and dropping.
The abnormal function caused by wet environment, soak or burn.
Damage caused by improper use, installation and operation that are not in accordance
with the official instructions.
Damage caused by circuit redesign, improper installation of the battery, overcharge,
improper installation and connection, and improper use of the charger that are not in
accordance with the official instructions.
Damage caused by reliability and compatibility problems arising from simultaneous use
of third-party parts that are not certified by our company.
Spacial instructions
The related after-sales service is proved by the local agent
If you have questions about the related after-sale service, please contact the official
after-sales service department. We will help you to solve your problem without
delay

AiStarter User Guide 2Introduction
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2. Introduction
2.1 Features
AiStarter is a smart car aimed to education and competition. It is designed with no-soldering
assembly technique, using brass stubs to fix control board, and ribbon cables to connect each
board, of which the layer is clear. The control board is designed based on Arduino Mega2560,
compatible with Arduino, which is very easy to get started
Function features:
Intelligent obstacle avoidance
Automatic tracking
Identify scenes based on color and perform different tasks
Graphical programming, user can program by building blocks to controlAiStarter
2.2 Parts List
Table 2.1 Parts List
Part
Number
Chassis
1
Shell
1
Control Board
1
Ultrasonic Sensor
3
Infrared Sensor
1
Color Sensor
2
DC Gear Motor (with Encoder)
2
Universal Wheel
1
Coupling
2
Tire
2
18650 Li-ion Battery
2
18650 Battery Holder
1
Brass Stud M3*32+4
4
R2048 Nylon Rivet
10
M3*5 Cross Round Head Screw
30
M3*5 Cross Countersunk Screw
4
M3*6 Cross Round Head Screw
6

AiStarter User Guide 2Introduction
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Part
Number
M4*6 Cross Round Head Screw
3
4PIN Ultrasonic Sensor Cable
3
6PIN Color Sensor Cable
2
8PIN Tracking Module Cable
1
6PIN Motor Cable
2
USB Cable
1
Acrylic Plate A
1
Acrylic Plate B
1
Cross Screwdriver
1
User Guide
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2.3 Technical Parameters
Table 2.2 Technical Parameters
Parameters
Description
Operating Voltage
7.4V
Control Board
DuDuino Mega (compatible with Arduino Mega 2560)
MPU
ATmega2560
Battery
18650 Li-ion rechargeable battery
Ultrasonic Measurement Range
3mm~500mm
VTBOT Size
195mm*172mm*79mm
VRBOT Weight
810g
Maximum Load
500g
Tire Diameter
67mm
Operating Environment
0°C~40°C
Control Software
Arduino IDE or Mixly
Communication Interface
USB communication, Serial communication
Expansion Interface
4PIN general I/O interface *2
Sensor
Ultrasonic sensor *3
Color sensor*2
Infrared tracking model*1

AiStarter User Guide 2Introduction
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Parameters
Description
Geomagnetic sensor*1
Light sensor *1
Motor Parameters
Reduction ratio: 48 : 1
Voltage: 7V
No-load current: 150mA
Stall current: 700mA
Maximum rotate speed: 100r/m
Encoder resolution ratio: 585pulse/r

AiStarter User Guide 3Feature Description
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3. Feature Description
3.1 Aistarter Controller
3.1.1 Overview
AiStarter control board is designed based on Arduino Mega2560, compatible with Arduino,
not only integrate motor drive, geomagnetic sensor, light sensor, button module, LED module and
so on, but also integrate infrared tracking interface, ultrasonic sensor interface, USB, Xbee,
bluetooth, serial port and so on. The main control board of Aistarter, which is shown in Figure 3.1
presets two servo signal interfaces for user expansion.
Figure 3.1 AiStarter control board description
3.1.2 AT Mega2560 Processor
AiStarter processor is atmega2560, which compatible with arduino2560, you can develop by
arduinoIDE. Meanwhile we provide Mixly graphical programming environment.
3.1.3 Button
The end of AiStarter controller integrates four independence buttons, as shown in Figure 3.1,
the detail descriptions are shown in Table 3.1.
Table 3.1 Button description
No.
Description
1
AiStarter Switch button, start or stop AiStarter
When you stop AiStarter, you need to press and hold this button for about 3 seconds.
2
User-defined
User can set function in Mixly or Arduino IDE environment

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No.
Description
3
User-defined
User can set function in Mixly orArduino IDE environment
4
User-defined
User can set function in Mixly orArduino IDE environment
3.1.4 LED
The end of AiStarter controller integrates four LED indicators, as shown in Figure 3.1, the
detail descriptions are shown in Table 3.2.
Table 3.2 LED indicators description
No.
Color
description
A
Blue
User-defined
User can set function in Mixly orArduino IDE environment
B
Red
Off: Indicate that the AiStarter is uncharged.
Steady Red is always on: Indicates that theAiStarter is charging.
C
Red
Off: Indicates that the AiStarter battery voltage is normal.
Steady Red: Indicates that the AiStarter battery has a low voltage
D
Blue
User-defined
User can set function in Mixly orArduino IDE environment
3.1.5 USB
AiStarter intergrates USB download function, you can download program to AiStarter by
USB, and make AiStarter run by program. Meanwhile, USB charging function are supported by
Aistarter, you can charge AiStarter by connecting AiStarter to computer with USB cable when
AiStarter battery has a low voltage.
Operating systems are supported by USB driver:
Win7
Win8
Win10
NOTICE
When you install Mixly or Arduino IDE, the Arduino USB drive will be installed
automatically. After connecting AiStarter to computer by USB cable and starting
computer, you can find the corresponding COM port on device manager, as shown in
Figure 3.2. If the corresponding COM port is not found, you need to install Arduino

AiStarter User Guide 3Feature Description
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USB drive again in Arduino-X/drivers path, X is the Arduino version, please replace it
according to the actual situation.
Figure 3.2 USB drive
3.1.6 Interface Description
Figure 3.3 AiStarter main control board interface description

AiStarter User Guide 3Feature Description
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Table 3.3 Interface description
No.
Description
1
Encoder interface, connect to the right motor on the AiStarter chassis
2
Motor interface, connect to the right motor on the AiStarter chassis
3
Motor interface, connect to the left motor on the AiStarter chassis
4
Encoder interface, connect to the left motor on the AiStarter chassis
5
infrared sensor interface, connect to AiStarter infrared tracking sensor
6
Color sensor interface, connect to the right color sensor on the AiStarter chassis
7
The left color sensor interface, connect to the left color sensor on the AiStarter chassis
8
Ultrasonic sensor interface, connect to the ultrasonic sensor on the right side of AiStarter
9
Ultrasonic sensor interface, connect to the ultrasonic sensor on the front of AiStarter
10
Ultrasonic sensor interface, connect to the ultrasonic sensor on the left side of AiStarter
11
Xbee interface,
12
Reserved servo interface
13
Bluetooth interface, which is UART interface.
14
Reserved servo interface
15
Reserved serial interface, which is UART interface
16
Wifi interface, which is UART interface
17
USB interface, which is standard Micro-USB interface
18
Power interface, connected to battery on the AiStarter chassis
3.2 Infrared Sensor
An infrared sensor is built into the bottom of AiStarter, which can recognize black line by
judging ground color for automatic patrol. 6-channel high-precision infrared pair tubes and 6
adjustable potentiometers are built into infrared sensor, which are used to adjust the distance
detected by infrared pair tube. Infrared sensor can detect track black line accurately, the detection
range is 3cm, and the accuracy is 0.1cm.
3.3 Ultrasonic Sensor
Three ultrasonic sensors are built into the head of AiStarter, which can detect obstacle
distance in the range of 3mm to 500mm in front ofAiStarter.
3.4 Color Sensor
Two color sensors are built into the bottom of AiStarter, which can recognize the color on the
ground to execute different task according to different color.

AiStarter User Guide 4Installation
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4. Installation
4.1 Mixly Installation
Mixly is an open Arduino graphical programming software based on Google Blockly
graphical programming frame. AiStarter adds wrapper function on Mixly, user can call wrapper
function by building blocks and upload it to AiStarter to control AiStarter.
You can use Mixly directly after download without complicated installation. The download
path is http://mixly.org/explore/software/mixly-arduino
NOTE
At present, AiStarter only support Mixly 0.995, the other versions are not supported.
4.2 Arduino IDE
AiStarter supports Arduino C programming language. Arduino is a convenient and flexible
open source electronic platform, which includes Arduino develop tools Arduino IDE and core
library.
The Arduino IDE package is nested in the Mixly package and can be used directly after
extracting the Mixly installation package. The Arduino IDE software path is Installation
path/Dobot_Mixly/arduino-XXX. XXX is Arduino version, please replace it according to the
actual situation.

AiStarter User Guide 5User Operation
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5. User Operation
5.1 Mixly Introduction
Mixly page is shown in Figure 5.1. When you use Mixly, you need to select
Arduino\Genuino Mega or Mega 2560[atmega2560] Development board and choose the
corresponding serial port, as shown in Figure 5.1.
User can drag the programming blocks on the left of Mixly page, and upload program to
AiStarter after compiling, AiStarter will work according to the program. For the Blockly details,
please see Blockly Description. For the API function details, please seeAPI Function.
Figure 5.1 The page of Mixly
NOTICE
If you can not get the corresponding serial port of AiStarter when you open Mixly,
please ensure the Arduino USB drive has been installed. If you still can not get serial
port information after installing, please open Mixly as an administrator.
Mixly instructions are not described in detail in this manual. For the detail about Mixly,
please see the related manual on Mixly official website.
5.2 Arduino IDE Introduction
The page ofArduino IDE is shown in Figure 5.2.

AiStarter User Guide 5User Operation
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Figure 5.2 The page of Arduino IDE
After opening Arduino IDE, select Arduino/Genuino Mega or Mega 2560 on the Tools >
Borad page, select ATmega2560 (Mega 2560) in Tools > Processor path, select the
corresponding serial port in Tools > Port path.
User can select example on the File > Examples > AiStarter page, click to upload
example to AiStarter, which will make AiStarter work according to the example. You can also refer
to API Function to upload program to AiStarter by calling API function, which will make AiStarter
work according to the program.
5.3 Blockly Description
5.3.1 Setting Direction and Speed
Table 5.1 Set direction and speed
Blockly

AiStarter User Guide 5User Operation
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Description
This module is used to set direction and speed
Parameter
Direction:
Ahead
Back
Turn left
Turn right
Speed: Set running speed. Value range: 0r/m –100r/m
Return
None
5.3.2 Setting Direction\Speed\Time
Table 5.2 Set direction\speed\time
Blockly
Description
This module is used to set direction\speed\time
Parameter
Direction:
Ahead
Back
Turn left
Turn right
Speed: Set running speed ,value range: 0r/m –100r/m
Motion Time: Set running time
Return
None
5.3.3 Setting Motor Speed
Table 5.3 Set motor speed
Blockly
Description
This module is used to set the motor speed
Paramater
Motor: Select the motor (the left motor or the right motor)
Speed: Set the motor speed. Value range: 0r/m –100r/m
Return
None
5.3.4 Starting AiStarter Sonar

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Table 5.4 Start AiStarter sonar
Blockly
Description
This module is used to start AiStarter sonar
Paramater
Sonar position:
Right Front
Front
Left Front
Return
None
5.3.5 Detecting Barrier
Table 5.5 Detect barrier
Blockly
Description
This module is used to detect whether a barrier is exist in front of AiStarter, before calling this
module, please start the corresponding sonar
Paramater
Obstacle position:
Right front
Front
Left front
Return
Return 1: There is a barrier
Return 0: There is no barrier
5.3.6 Getting The Detection Distance of Sonar
Table 5.6 Get the detection distance of sonar
Blockly
Description
This module is used to get the detection distance of sonar, which is the distance between
AiStarter and barrier.
Paramater
Sonar position:
Right front
Front
Left front

AiStarter User Guide 5User Operation
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Return
Return detection distance
5.3.7 Detecting AiStarter Track
Table 5.7 Detect AiStarter track
Blockly
Description
This module is used to detect whether tracking line is black or white
Paramater
Select infrared tracking sensor ports:
IR1
IR2
IR3
IR4
IR5
IR6
Tracking line color: select color, black or white
Return
Return 1: There is a line
Return 0: There is no line
5.3.8 Getting Infrared Sensor Data
Table 5.8 Get infrared tracking sensor data
Blockly
Description
This module is used to get infrared sensor data
Paramater
Infrared sensor ports:
IR1
IR2
IR3
IR4
IR5
IR6
Return
Return 0: It is black line
Return 1: It is white line