ICHIBOT LF ULTIMATE 4S User manual

USER GUIDE
ICHIBOT ULTIMATE 4S
2019 Rev 2.1

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THANK YOU FOR PURCHASING ICHIBOT ULTIMATE 4S
Do you know ?
That to get one ream of A4 type paper, a 5-year-old tree is needed.
To get good paper quality, trees with type hard and soft wood are needed.
To save about 1 ton of paper, it is equivalent to not cutting down 13 large trees, and 400
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3 pieces of paper is equivalent to 1 liter of water, and to produce 1 kilogram of paper
requires about 324 liters of water.
If in the past the paper was used only for writing, now almost all of the packaging industry
uses 41% of all paper use in the world.
Therefore we do not include guidebook in the form of paper to support environmental
conservation programs. Instead we include a guidebook in the form of a softfile in a
flashdisk that is already included in the product packaging.
You can find information about how to assemble and programming your robot in this guide.
The material in this guide is for information purposes only. The products described are
subject to change without prior notice, because we will always carry out continuous
development with all ICHIBOT products.
ICHIBOT makes no representations or guarantees in connection with this guide or in
connection with the products described herein. ICHIBOT is not responsible for any damage,
loss, cost or expense, direct, indirect or incidental, consequential or special, arising from or
related to the use of this material or the product described herein.

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TABLE OF CONTENTS
SAFETY INFORMATION .................................................. ERROR! BOOKMARK NOT DEFINED.
WARNING ........................................................................................................................ 4
GENERAL INTRODUCTION ................................................................................................. 5
A PARTS OF ICHIBOT ULTIMATE 4S.................................................................................... 6
POWER SUPPLY ................................................................................................................ 7
TERMS THAT ARE IN ICHIBOT ............................................................................................ 7
HOME SCREEN .................................................................................................................. 9
BATTERY SETTINGS ........................................................................................................... 9
AUTOMATIC CALIBRATION OF SENSORS ......................................................................... 10
PLAN SETTINGS .............................................................................................................. 12
LOG IN TO THE SUB MENU .............................................................................................. 14
HIDDEN INDEX MENU ..................................................................................................... 14
INDEX DETERMINATION ................................................................................................. 15
CONCEPT OF MANAGING ICHIBOT MOVEMENTS ............................................................ 20

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SAFETY INFORMATION
Read and understand this manual carefully before playing the ichibot. This product can be
played by everyone with a note that they understand the dangers in the electronic field and
understand how to use so didn't happen things that are not desirable.
WARNING
1. Make sure the installation is not reversed, even though it is equipped with battery
protection but it is recommended to install the battery according to the polarity.
Position (+) of the battery on the outside of the robot and polarity (-) on the inside.
Look at Picture 1.
Picture 1. Battery Installation
2. Avoid ichibot from liquid materials and equipment containing metals so it does not
experience short circuit.
3. Pay attention to the battery voltage when playing ichibot, making sure to play at
voltage 11.8 - 12.6 volt to get maximum results and the ichibot setting to be more
accurate. Battery voltage observations can use a lippo checker
4. It is recommended to charge the battery using an original and trusted charger. Use
the balance mode on the charger so that the battery lasts longer, the cell does not die
and does not easily bloated.
5. Use the cover on the bottom of the MCU to make it more comfortable for holding the
ichibot.

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GENERAL INTRODUCTION
Ichibot Ultimate 4s is a line follower robot that is equipped with an operating system so users
can adjust the robot's path to the robot directly.
Specifications of Ichibot Ultimate 4s
Chips ATmega 1284p SMD Packages
CPU Speed 20Mhz
Flash Memory 128KB
EEPROM Memory 4KB
SRAM Memory 16KB
Motor 16mm DC motor Gearbox 1500 Rpm
Motor Encoder Support Yes
Communications USB to Serial CH340
Display Oled 0.96 Single Color
Sensor 14 Sensor White Photo Dioda
Button 6 Control Button and 1 Reset Button
Led Indicator 1 Led Indicator
External EEPROM 128Kb
Bootloader Arduino Bootloader
Chios Ichibot OS Yes, Chios 5+
Plan Instruction 8 Plan 99 Index
Arduino IDE Compatible Yes
Servo Gripper Yes (2 Pin Servo)
Fan Output Yes (5v or 12v support)
Voltage Regulator LM2596
Battery Recomendation Lithium Polymer 3s 450mah
Battery Protection Yes
Battery Sensor Yes
Buzzer No
Bluetooth No
Wifi No

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A PARTS OF ICHIBOT ULTIMATE 4S
Here are the parts of ichibot ultimate 4s and their functions:
Number Name Function
1 Restart Button Restarting the robot.
2 UP Left Button Moving the Menu Cursor.
3 DOWN Left Button Moving the Menu Cursor.
4 OK Left/Enter/OK Button Enter the submenu and the OK button.
5 UP Right Button Increasing number parameters or other
parameters.
6 DOWN Right Button Decreasing number parameters or other
parameters.
7 OK Right/Back/Start Button Return or Cancel. At the position of the
Homescreen this button is used to run the
robot (start).
8 ON/OFF Switch Turn off or turn on the robot.
9 LCD Display The viewer of the chios operating system
interface
10 Micro USB Socket Connectors to computers / laptops.
11 Battery Socket Lithium-polymer battery socket.

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POWER SUPPLY
Ichibot ultimate 4s uses a lithium Polymer (Lipo) 3 cell type battery. The safe limit of the
battery voltage used is 11.1 - 12.6 volts.
TERMS THAT ARE IN ICHIBOT
In playing ichibot there are several terms that need to be considered by users, namely:
TERM Explanation
PLAN (P) The plan is likened to a strategy folder that
stores all the logic of the action of the robot to
be executed in the order of the index number.
In 1 plan there are 99 indexes. The plan is
symbolized by the letter "P".
INDEX (i) Index is a sequence number of robotic actions
that are determined by the user according to
the path used. Index is symbolized by the
letter "i".
V Robot speed under normal conditions (when
the robot does not run SA or SB) the value is
between 0 - 255.
T (Trigger) Selection of sensor conditions so that robots
can turn or carry out actions. If the sensor
conditions are met, the robot will carry out
the action that has been set.
A (Action) Action is the choice of robot movement that
the user wants when it meets the
requirements, for example turning left,
turning right or turning on the fan, etc.
JUMP PLAN Move to a specific Plan and index.
L Left Motor Speed.
R Right Motor Speed.
B Break before taking action.
D (Delay) Duration The robot takes L / R action.
FAN Additional fire extinguishers that can be set to
on or off when performing an action.
PICK Command to position the Gripper to take
objects.
DROP Command To position the Gripper to place
objects.
SA (Speed A) is the speed after the robot takes
action. Usually used to increase speed after
taking action.

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TA (Timer A). The length of the robot runs SA.
When TA is active, the index reading system is
inactive (in lock).
SB (Speed B) is the speed of the robot after the
robot does SA during TA.
TB (Timer B). The duration of the robot runs SB.
CAL Calibration. The menu is used to calibrate the
sensor in order to distinguish between black
and white color.
STOP INDEX An index number where if the robot has
reached the specified index number, the
robot will stop.
CHECKPOINT Features for running robots starting from the
specified index number.
FLL (FL.LEFT) Follow Line Left. Feature to make the robot
always turn left when getting an intersection.
FLR (FL.RIGHT) Follow Line Right. Feature to make the robot
always turn right when getting an
intersection.
FLC (FL.CENTER) Follow Line Center. Feature to run the robot in
normal mode.
PID The algorithm control system used so that the
robot can follow the line.
BLACK/WHITE Selection of the track line color.
COPY Copying the index.
PASTE Pasting the index that was copied.
INSERT Add an index to a specific index number.
REMOVE Deleting certain indexes.
INVERS Reversing a certain logic index.
INVERSE PLAN Reversing the logic of each index referred to
in a particular Plan.

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HOME SCREEN
1. PLAN number that is currently active
2. Robot name
3. Battery indicator
4. Sensor indicator
5. The main speed value used
6. The selected checkpoint value and the value of the first index that will be run
7. Track line color
8. Line sensor calibration
BATTERY SETTINGS
Hover over the battery indicator and press the OK Button to display the battery menu
LIMIT : select 11.1 for the 3 Cell battery or 7.2 for 2 Cell
CALIB : add or subtract if the battery voltage reading is not in accordance with the
appointment of the measuring instrument.
1
2 3
4
5
6
8
7

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AUTOMATIC CALIBRATION OF SENSORS
Before running the robot, the sensor must be calibrated so that the robot can distinguish
between black and white color. The simplest calibration method is automatic calibration by:
1. Select the CAL menu on the homescreen.
2. Place the robot behind a horizontal line. When scanning the sensor make sure the
robot is always on the floor (don't lift it). Then Press OK Left (enter).
3. Make the robot move forward and backward at least five times until all sensors pass
the black line. Then Press OK Left (enter).

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4. Select the sensor sensitivity value. The greater the sensitivity of the sensor, the more
sensitive the robot will be to detect dark colors, and vice versa if the sensitivity value
is low, the sensitivity of the robot to dark colors will be lower. Then Press OK Left
(enter).
5. Select the memory calibration location for the sensor scan results. Ichibot has 3
memory calibration sensors. The memory calibration sensor can be used in a
particular index (in the step "I" run with control in each index setting), this memory is
usually used if there are tracks with different line colors such as red, green or brown
or on tracks that have different brightness levels. By default the memory calibration
index used is 00. So make sure to save the sensor calibration results to the black line
on memory calibration 00. Then Press OK Left (enter).
MANUAL SENSORS CALIBRATION
Manual calibration is used to manually set sensors on each sensor.
READ : real time sensor reading value
LIMT : sensitivity value limit to determine which sensor detects a line. Set below HIGH and
above LOW
HIGH : highest sensor reading value
LOW : lowest sensor reading value

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PLAN SETTINGS
Hover over the home screen in the plan position then press the menu button, it will go to the
plan menu.
The PLAN is likened to a strategy folder that stores all the logic of the action of the robot to
be executed in the order of the index number. In ichibot ultimate 4s there are a maximum of
8 plans that can be used. Plan is symbolized by the letter P followed by its sequence number.
For example P1 is used for the allowance path, P2 is used for the big 32 trajectory, P3 for the
big 16 trajectory and P4 is used for the final trajectory or for trajectories that have different
starting positions e.g. P1 for start A and P2 for start B.
Note :
 Each plan can store different indexes.
 A plan can be copied and pasted to another plan with the copy plan feature.
 The plan can be cleaned or returned to its default settings with the reset plan
feature.
 T (trigger) and A (action) at index 0 cannot be changed.
Here is the display in a plan on CHIOS. The example used is P1 :
INDEX NUMBER
TRIGGER or
REQUIREMENTS FOR
ACTION
ROBOT ACTION
BRAKE BEFORE THE ACTION
SPEED OF RIGHT MOTORS
WHEN ACTION
SPEED OF LEFT MOTORS
WHEN ACTION
DURATION
(DELAY) ROBOT
DOING ACTION
LINE COLOR THAT
WILL BE USED

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CHANGE OF SPEED
AFTER THE ROBOT
DOING ACTION
Timer A (TA)
Duration of SA
Speed A (SA)
CHANGE OF SPEED
AFTER SA SPEED Timer B (TB)
Duration of SB
Speed B (SB)
mS (TA / TB Unit)
mS = millisecond
encL = Left Encoder
encR = Right Encoder
FIRE EXTINGUISHER
FAN SET
SERVO GRIPPER SET
(ITEM CLAMP)
MODE ROBOT
WHEN DOING
ACTION SA
CONTROL MODE OF
ROBOT WHEN THIS
INDEX POSITION
PID = PID CONTROL
CAL = CALIBRATION
SENSOR MEMORY

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LOG IN TO THE SUB MENU
By pressing the menu button (OKL) it will enter the sub menu setting mode in each setting
step.
HIDDEN INDEX MENU
By pressing and holding the menu button (OKL) for a few seconds it will enter the hidden
menu in the index settings
COPY : To save index data in memory copy.
PASTE : Paste the index copied in the selected index position.
INVRS : Flipping the index settings from turning left to right or vice versa.
INSERT : Insert a new index in the selected index position.
REMOVE : Delete or eliminate the selected index position.
SAVE AS DFT : Save settings in the action sub menu selected as the default value.

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INDEX DETERMINATION
Index is a sequence number of robot actions that we set according to the track used. The
settings in the index number are used to change the speed of the robot or adjust the direction
of movement (bending) of the robot according to the track. If Trigger (T) or Action
requirements are fulfilled, the robot will execute the Action that we can set in the index
settings menu. Triggers can be in the form of line sensor readings or additional sensors (Fire
Sensor or Distance Sensor). After the Action from Step A, B, D ... until Step I is run, the index
number will increase and the robot will follow the line and waiting until the Trigger Index
is then fulfilled. Triggers can be selected regardless of the condition of the sensor (Motion)
and the robot will immediately take action. At index 0 T (trigger) and A (action) cannot be
changed.
Mode Trigger Index
Motion
When the index position is fulfilled, the action will be
immediately executed without seeing any conditions.
Line Sensor
Trigger robot action uses line sensor conditions when
the selected line sensor conditions are met, the robot
will take action.
Position the cursor
on the Index
Number to set the
Index Value
Scroll position
T = TRIGGER
A = ACTION

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Fire Sensor
Trigger robot action using fire sensors (additional
sensors installed in servo pins) if the sensor condition
is less than the set value then the action will be
executed.
Distance Sensor
Trigger robot action using distance sensors (additional
sensors installed in servo pins) if the sensor condition
is less than the set value then the action will be
executed.
CHOICE OF ROBOT ACTION DURATION
Delay based on Time
Delay based on Sensor Reference
The duration of the robot takes action can be selected based on time or based on the
position of the sensor.
In the START or i: 00 position the default is Forward, we can add the D value to a few
milliSecond so that the robot moves a few moments out of the START position black box.
At i: 00 trigger settings and actions cannot be changed.

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An illustration of the index can be seen in the picture below:
Description of Index in the picture above:
NUMBER INDEX ROBOT ACTION
INDEX 0 START POSITION – BLACK LINE
INDEX 1 TURN RIGHT – BLACK LINE
INDEX 2 TURN RIGHT – BLACK LINE
INDEX 3 TURN RIGHT – BLACK LINE
INDEX 4 TURN RIGHT – BLACK LINE
INDEX 5 TURN LEFT – BLACK LINE
Index 0

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The second case example can be seen in the picture below:
Description of Index in the picture above:
NUMBER INDEX ROBOT ACTION
INDEX 0 START POSITION – BLACK LINE
INDEX 1 TURN RIGHT – BLACK LINE
INDEX 2 TURN RIGHT – BLACK LINE
INDEX 3 FORWARD – WHITE LINE
INDEX 4 TURN RIGHT – WHITE LINE
INDEX 5 TURN RIGHT – WHITE LINE
INDEX 6 FORWARD – BLACK LINE
INDEX 7 TURN LEFT – BLACK LINE
In concept, Ichibot can turn automatically without index on a track with an angle of more than
90o from the direction of the arrival of the robot.
 The robot will follow the line & walk straight when the center sensor still detects the
line.
 When the center sensor does not detect the line, the robot will try to move towards
the center sensor.
 When the robot loses the line and the last one hit the line is the middle sensor part,
the robot will still move straight.
Index 0

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If the robot passes through the intersection like in the image below without setting the index,
the robot will run following the line according to the normal algorithm.

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CONCEPT OF MANAGING ICHIBOT MOVEMENTS
Example of the First Track
For ease understanding to running the ichibot, here is an example of the path will try to finish.
1. START POSITION ( INDEX 0)
At the start position there is a black box,
for that we need to add the TA value so
that the robot can walk a few moments
out of the start box.
When TA is active, the reading of the next
index will be disabled until TA runs out.
The active TA indicator is the robot
running at speed V in SA and the Indicator
LED in front of the LCD lights up.
If the TA value is not added, it is likely that
the next Trigger index will be detected at
the start point as well.
SA during TA