ICHIBOT LF ULTIMATE 4S User manual

ICHIBOT LF ULTIMATE 4S
USER MANUAL REV.02
www.team-ichibot.id
7/24/18
User manual

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Name
Function
Name
Function
Power Switch
Turn ON / Off Robot
Button Enter / Menu
Enter menu
LCD Display
Show Menu Panel
Button UP L
Next Menu
Servo Lift
Connector to Servo Gripper
Button Down L
Prev. Menu
Servo Grip
Connector to Servo Gripper
Button ESC / Start
Back to Prev. Menu /
Runnig Robot
USB Connector
Update Firmware /
Programming
Button UP R
Increase Value
Driver Motor
Motor Controller
Button Down R
decrease Value
Battery
Robot Power Supply
Button Re-Start
Restart Robot
ICHIBOT LINE FOLLOWER ULTIMATE 4S
OVERVIEW

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DISPLAY MENU IN LCD PANEL
No.
DISPLAY
FUNCTION
INFO
1
Loading page
The opening image display, Wait
until loading is complete.
2
Screen saver
Display Screen Saver to save
power, press any key to return to
the main menu, this view can be
replaced with another image via
Serial Menu
3
Notifications
Robot notification if not already
registered, free registration follow
the instructions at the following
link: www.team-ichibot.id
4
Home Screen
Display the main menu, press the
navigation key to move the menu,
press the left button to set the
pointed value. Press enter key to
enter sub menu.
Menu: Control panel
Menu: Set PID
Menu: Advance Panel
Menu: Gripper
In main menu, just press START BUTTON
to running robot.
V : Robot Speed ( 0 –255)
Press enter when cursor in V position to
enter Control Panel.
STOP AT i: stop the robot in the position
of the selected index and P: Number.
Clear P: return all setup in selected Plan
to default
Clear Set: return all setup in Control
Panel to default
Set PID (3): (3) is the memory number of
the pid settings (there are 1-5) that can
be set by themselves.
Kp: Proportional
Kd: Derivative
Ki: Integral
DT: Time Sampling
MAX: Maximum Speed
MIN: Minimum Speed
COPY: to copy the selected plan to
another plan. (N) copy as normal, (I)
inverse robot movement directions.
Lost Mem : Activate or Deactivate
Memory for last edge sensor detected
Inverse P: set custom inverse Plan Menu
Gripper : menu to set the DROP and PICK
positions

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No.
DISPLAY
FUNCTION
INFO
Menu: Blower
Blower : menu to set the Fan / Fire
Extinguisher Speed
If use Active LOW fan extinguisher mode,
inverse Speed Value
5
Battery indicator
Battery indicator.
Button “UP-R” :
Mode Persentage
Mode Voltage
Button “DOWN-R” :
to Select cell Battery used.
6
Auto maze solving
Ichibot is default name of the
robot, you can replace it with
another name through the Serial
Menu. Press button OKL (MENU)
to see auto maze configuration.
Press button UPR/DOWN R to
change to MAZE R run mode or
MAZE L run mode
Run with data in P: (Number)
Run with Maze Left Rule
Run with Maze Right Rule
Booster: Booster Speed
Slower : Slower Speed after booster
LW: Line Width
Back Home : return to start position
after find finish block.
7
Plan Setting
Plan Robot settings. menu to set
the direction of robot motion,
each plan contains 99 index
settings. Press the "MENU" button
to enter the other page views.
Menu: Set Plan Page 1
Menu: Set Plan Page 2
i: Index Number ( there is 0-99) each
index contains setting for:
Set Plan Page 1
M: Mode Sensor
BLACK / WHITE / LEFT / RIGHT /
FORWARD / PICK / DROP / BLOW /
UNBLOW/P01-I00 : robot action if it
detects lines according to sensor mode.
B: Brake delay before do Action
L: Speed Motor Left
R: Speed Motor Right
D: Duration of action, its can use D
(Delay) or E(Motor Encoder)
Set Plan Page 2
SA: Speed A, first speed change after the
action.
TA: Duration of SA, its can use D (Delay)
or E(Motor Encoder)

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No.
DISPLAY
FUNCTION
INFO
Hidden index menu
in menu Set Plan Page 1 select
the pointer on “i:“ then press and
hold the menu button.
Menu: Hidden index menu
SB: Speed B, Second speed change after
the SA done, after SB done speed back
according to V.
TB: Duration of SB, its can use D (Delay)
or E(Motor Encoder)
After SB done Speed robot will
back to normal speed (V)
8
Calibrate sensor
Sensor calibration menu. to adjust
the sensor values, in order to
detect light and dark lines.
Press Button OK L to show :
Menu: Auto Calibrate sensor
Press Button UP R to show :
Menu: Manual Calibrate sensor
Calibrate Memory : there is 0-2 memory
space to save sensor calibration results.
Sensor Sensivity: percentage of sensor
sensitivity
CALMEM : Calibrate Memory
WHITE / BLACK : line Color Mode
Read : sensor value real time
Limit : Limit Calibrate Value
Min : Minimum sensor value
Max : Maximum sensor Value
9
Line Color mode
Menu to instantly change line
color mode
Black: dark colored lines with bright
backgrounds.
White: bright colored lines with dark
backgrounds.
10
Check point
Menu to set start position point
through checkpoint.
Menu: Checkpoint
CP: Checkpoin Number
I: Index Value in this CP
Black / white : line color in this CP
SA: Speed A in this CP
SB: Speed B in this CP
TA: Timer A in this CP
TB: Timer B in this CP

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No.
DISPLAY
FUNCTION
INFO
11
Factory Reset
1. Turn OFF robot
2. Press UPL and UPR
3. Turn ON Robot
4. Wait until lcd display show this
5. Release button UPL and UPR
6. Press START button
7. Wait until Reset Completed.
Clear all control panel setting and plan
setting to default.

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EXAMPLE SIMPLE TRACK SETTING
instructions on how to hold the robot.
Becareful do not touch the controller chip
because it will cause the work process is
interrupted.
START
POSITION
look at the picture, if the robot is run in the start position and
without setting then the robot will follow the circle line
continuously and will not turn to the finish line.

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EXAMPLE SIMPLE TRACK SETTING
START
POSITION
1
2
3
4
if we choose the fastest path from the start point to the finish
point the robot will be faced at the 3-position branching lines and
a condition for stopping the robot at the finish point.
CASE 1
Robot Must turn left
CASE 2
Robot Must turn left
CASE 3
Robot Must turn left
CASE 4
Robot Must Stop

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EXAMPLE SIMPLE TRACK SETTING
CASE
SETTING MENU
EXPLANATION
Case 0 (start Position)
In i:00 or start position, sensor mode
(M:00) can not be replaced so leave it
default.
Select Action BLACK because we start
on the black line.
let the other settings default because
in this case we do not set the
direction of motion in the start
position.
select menu in the index setting (i:
00) and increase the value to (i: 01)
then we will setup for the next case
(case 1).
Case 1
in this case the robot must turn left
when the left sensor touches the
line.
then we select the sensor mode on
M: xx, we select the middle sensor
and the left sensor. because if we
choose a mode that uses the left
sensor only, it is feared when the
robot runs from the starting point
and the left robot sensor will touch
the line in the middle of the road so
that the robot will perform the action
is not in the proper position. by
selecting the sensor mode conditions
on the two sensor positions then it
will be safer.
Next select the action: LEFT because
the robot must turn left.
set the L, R and D values by default,
or adjust according to the values you
get for your robot. see the
explanation below.
To solve this case, In Main Menu Select pointer to “P:”and adjust “P”
Value to 01 then press Enter Button, so LCD display will show Plan
Menu. You can make many Plan just choose the menu plan number.
:01

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CASE
SETTING MENU
EXPLANATION
select menu in the index setting
(i:01) and increase the value to (i:02)
then we will setup for the next case
(case 2).
Case 2
in this case the robot must turn left
when the left sensor or the right
sensor touches the line.
we select the M: xx sensor mode that
uses the left and right sensors. You
may choose either just left or right
sensor only for robot requirements
to perform the action.
Next select the action: LEFT because
the robot must turn left.
set the L, R and D values by default,
or adjust according to the values you
get for your robot next select menu
in the index setting (i: 00) and
increase the value to (i: 02) then we
will setup for the next case (case 3).
Case 3
in this case the robot faces the same
case as the previous case. so setting
as before.
increase the value to (i: 03) then we
will setup for the next case (case 4).
Case 4 ( Finish Position)
at the finishing point there is no line
for the reference to stop so setting
the sensor mode at M: 14 where no
sensor touches the line.
select the FORWARD action and
empty the L and R values. then back
to the main menu and go to the
control panel.
Set Stop index
setting the value of stop index at
position i: 04, so that robot stop after
doing action i: 04.
go back to the main menu and put
the robot on the start line then press
the start button to run the robot.

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when faced with the choice of where the direction of robot motion we must
determine the condition of the sensor first on the PLAN index settings. then
determine the direction of robot movement. the sensor condition has been
determined by the sensor mode selection (from M: 0 to M: 14). wherever
the sensor position from which the sensor mode condition is fulfilled robot
will perform the ACTION and will increase the INDEX value.
ROBOT ACTION
Sensor Mode
MODE
SENSOR
DISPLAY
EXPLANATION
0
not using the sensor, the robot performs the action
immediately without seeing the condition of the
sensor.
1
if one of the left active sensor blocks detects the line,
and one of the right sensor blocks also detects the
line then the robot will perform the action.
2
if one of the left active sensor blocks detects the line,
and one of the right sensor blocks also detects the
line then the robot will perform the action.
3
if one of the blocks activated left sensor detects the
line, then the robot will take action.
4
if one of the blocks activated left sensor detects the
line, then the robot will take action.
5
if one of the blocks activated left sensor detects the
line, then the robot will take action.
6
if one of the left sensor blocks is activated and one of
the middle sensor blocks detects the line, then the
robot will perform the action.
7
if one of the left sensor blocks is activated and one of
the middle sensor blocks detects the line, then the
robot will perform the action.
8
if one of the right activated sensor blocks detects the
line, then the robot will perform the action.
9
if one of the right activated sensor blocks detects the
line, then the robot will perform the action.
10
if one of the right activated sensor blocks detects the
line, then the robot will perform the action.

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Robot Action
MODE
SENSOR
DISPLAY
EXPLANATION
11
if one of the right sensor blocks is activated and one
of the middle sensor blocks detects the line, then the
robot will perform the action.
12
if one of the right sensor blocks is activated and one
of the middle sensor blocks detects the line, then the
robot will perform the action.
13
if all the sensors detect the line, then the robot will
do the action.
14
if all the sensors do not detect the line, then the
robot will do the action.
No.
ACTION
EXPLANATION
1
NOT SET
action not yet selected.
2
FORWARD
instant settings to choose straight ahead
3
LEFT
instant settings to perform the action turn left
4
RIGHT
instant settings to perform the action turn right
5
PICK
Instant settings for action take items in griper mode.
6
DROP
instant setting for action put items on griper mode.
7
BLOW
instant setting for the action to turn on the fan if
the added fire extinguisher fan. Its automatic turn
off when finish do ACTION.
8
BLACK
instant setting to change the line color mode to a
black (dark) line with a white (light) track
background.
9
WHITE
instant setting to change the line color mode to a
white (light) line with a black (dark) track
background.
10
P01-i00
Jump to P:(Target) - i:(target), press enter to change
target Number
Robot movement during action is based on the values of L, R, D and B not
based on the ACTION text. so you can choose LEFT or RIGHT but use it to
stop.
B: BRAKE
L: LEFT
MOTOR
SPEED
R: RIGHT
MOTOR
SPEED
D: DURATION
OF ACTION
Sensor
representative

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HOW TO CALIBRATE SENSOR
calibration is required before starting to play the ichibot LF 4s robot, so the
sensor can adjust to the light of the room. on the main menu select CAL then
push the robot forward and backward across the transverse line in front of it
at least 5 times. press enter button to save calibration result. do not lift the
robot before it is saved. the default calibration result is stored in memory 0.
You can calibrate the sensor in the position of the other line and save it to
another memory. in the settings menu of the index action you can specify the
calibration memory option that will be used in the index action.
:01

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MANUAL CALIBRATE SENSOR
Button
UP R
if there is an error sensor you can confirm it with the manual calibration
menu. "Read" value is the value of sensor readings in realtime. the "limit",
"max" and "min" values are the values of the automatic calibration results,
you can change the value with the button settings. to shift the position of the
sensor use the menu button (enter)

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Slow Speed
SET THE SPEED CHANGE
START
POSITION
1
2
3
4
Slow Speed (decrease SA and set TA)
Fast Speed ( use SB & TB)
Fast Speed
to get the best time record then we need to set the speed of the robot,
when encountering a long straight line then increase the speed when it
encounters a curved line then lower the speed. For example in the previous
case from start point to encounter the curved line then in setting index 0
(i:00) set the value of speed A (SA) below velocity V (example: 70) and set
the value of timer A (TA) so that robot use SA speed until finish curved line.
then set the speed B (SB) at high speed (example: 180) and set the timer B
(TB) value to finish before the intersection. in index 3 use SA to increase
speed and SB to lower the speed before touching the finish line.
WHEN "TIMER A (TA)" ACTIVE THEN DETECTION "SENSOR INDEX" WILL BE
OFF, ROBOT WILL NOT DETECT THE NEXT INDEX AS "TA" ON.
DETECTION MODE "SENSOR INDEX" IS ACTIVE WHEN "TB" ACTIVE.
( use SA & TA)
( use SB & TB)
TIPS: use low PID numbers for zigzag paths and
high PID numbers for precision of robot positions
on the line.

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START FROM CHECK POINT
if it has set many indexes and wants to start after a certain index, just set
the CP value and set the previous index. then on the main menu set CP
value and run the robot from that point.
START
POSITION
1
2
3
4
Checkpoint

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SET RUN MODE (RM)
FLL (FOLLOW LINE - CENTER)
FLL (FOLLOW LINE - LEFT)
FLR (FOLLOW LINE - RIGHT)
Recommendations:
use PID 5 for FLR or FLL
use PID 3 for FLC
if use FLL Mode robot will
running along the left edge of
the line.
If use FLR Mode robot will
running along the left edge of
the line.
If use FLC Mode robot will
running along the Center of the
line.
Activate TA and SA, robot will
not detect next index action as
long as TA active.
FLL MODE
FLR MODE

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CREATE CUSTOM LOGO
You can change the logo on the home screen as you wish. download the
image builder and follow the instructions in the following link https://team-
ichibot.id/download/

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WWW.TEAM-ICHIBOT.ID
@2018
[phone]
[email protected]
team.ichibot
@team.ichibot