Plum Geek Robotics Wink User manual

1
SKILL
LEVEL Learn to Code - Ch01 Rev01.3 ~ Plum Geek
Before you get started, please have a read over this quick guide to get started working
with your Wink robot.
Press the Power Button labeled “PWR” for
about 1/2 second to turn on Wink’s power.
A power indicator LED just forward of the
power button will light and remain lit while
the power is on.
To turn the power back off, press the Power
Button again for a brief time. The power
indicator LED will turn off.
The power must be on to sucessfully upload
code to Wink.
Connect the ribbon cable from the
programming adapter to these pins.
BE SURE TO CONNECT TO ALL 10 OF
THE PINS.
It is easy to accidentally connect to just the
top row of pins.
Uploading new code can be started at
any time, even while other code is already
running on the robot. The programmer
automatically resets the robot before loading
new code.
The user button can be used to index between the pre-loaded behaviors shipped with Wink.
The button can also be read by your code and used to make the robot carry out or change
behaviors. Have a look at Learn to Code Lesson 4 to see how to use the button.
Learning Wink’s Basic Operation
Power Button
Programming Port
User Button
Getting Started with Wink
Power Button
Programming Port
User Button

1
SKILL
LEVEL Learn to Code - Ch01 Rev01.3 ~ Plum Geek
Wink is shipped with three demo behaviors pre-loaded so you can start having fun as
soon as you open the box. You can index between the demo behaviors by pressing the
“BTN” button on the rear right side. When changing to the next behavior, Wink will chirp
and his eyes will blink green.
You can download the source code for these demos on our website. You can then
expand or customize them further. Have fun!
The Wink dance is a simple use of the Arduino random number generator. The code works by
generating random numbers which are used to randomly set Wink’s eye color and left and right
motor speeds. This results in a buggy dance. It turns out that this number generator is “pseudo”
random. This means it isn’t really random at all, but follows a predictable sequence. For this
reason, if you turn on two or more Winks at exactly the same time, you’ll notice they have the
exact same colors and movements - so they dance together. It’s also worth knowing that we set
the timing of these movements to match 130 bpm music, which is a common tempo for all kinds
of electronic, techno, and dubstep music. Put on some beats in the background and it will look
as if Wink is moving to the music.
In this example, place Wink on a running surface where he is not directly pointed at any
obstacle or barrier. Be sure to move your hand out of the way also. Just before he starts
moving, he will sample the reflectivity of the surface as a baseline. He will then begin driving.
He will use his IR headlight to sense light reflecting from things in front of him. Once he sees a
certain amount of light, he will reverse and attempt to turn away from the obstacle. He sees light
colored objects further away than dark colored objects because light colors reflect more light.
Set up a maze, or place your hand in front of him. You can edit this code to change how he
reacts and how sensitive he is. In bright conditions, he may continaully try to back up, and bright
light from a window may confuse him. This behavior works well in normal room lighting.
In this example, Wink will look for light. This is a lot of fun in a dim lit room with a light source
like a small flashlight. You’ll notice his eyes get brighter and he goes faster the closer he gets
to the light. This way he tends to “pounce” on the light when seen. Remember that his light
sensors are most sensitive looking out along his running surface. They are less sensitive from
directly above. Try placing the light soure on the running surface and shining it toward him for
the best response, rather than shining directly down from on top of him.
Pre-Loaded Demo Examples
Demo 1: Wink Dance
Demo 2: Obstacle Avoidance
Demo 3: Light Seeking
Getting Started with Wink

1
SKILL
LEVEL Learn to Code - Ch01 Rev01.3 ~ Plum Geek
After you play with the pre-loaded behaviors for a while, please visit
www.plumgeek.com/wink and follow the “Getting Started” link. This page is updated if
any aspects of the setup or versions of software change over time.
We also provide a Getting Started Video on the setup page. We highly recommend you
watch this video as it will guide you through the software and setup process. The setup
video also shows how to connect the programming adapter and ribbon cable.
As you begin to write your own code, you should begin by downloading and opening the
BaseSketch, which can be downloaded from www.plumgeek.com/wink This sketch is a template
you can use to begin writing your own code.
The BaseSketch includes some additional files which will open inside Arduino as tabs across
the top. These extra files include the back-end functions you will be using as you write your own
code and move through the Wink Learn to Code lesson serries.
Note that you should open these sketches from within Arduino (rather than browsing to them
directly with Windows Explorer or other tool). If you do not open the sketches from within
Arduino, these extra tabs may not open on some operating systems, resulting in failures to
comple the code.
You can also find other interesting software sketchs on this page, including the Pre-Loaded
Demo, which is a copy of the software that was loaded on Wink when he was shipped. Feel free
to edit and customize!
Setting up Wink’s Software
Getting started with the code...
Web Page: www.plumgeek.com/wink
Getting Started with Wink

1
SKILL
LEVEL Learn to Code - Ch01 Rev01.3 ~ Plum Geek
Wink was designed around a series of free and open source coding lessons we have
been writing and continue to write. This getting started guide is actually the first of these
lessons - so you’re already on your way! Once you get the software set up, we suggest
you visit the Getting Smart link from the main Wink page. That will take you to the Wink
Learn to Code Lessons page where you can continue the series.
Note that each lesson includes code snips as examples. Some snips include a label
under the lower right corner. These labels correspond to the example being written as
a complete functioning sketch in the companion code section. Click the [Download]
link on our website next to each lesson to get the companion code for that lesson. The
companion sketches are named the same as the snip labels in the written lessons.
Wink Lessons
Web Page: www.plumgeek.com/learn-to-code
Getting Started with Wink

1
SKILL
LEVEL Learn to Code - Ch01 Rev01.3 ~ Plum Geek
Normally it’s a smooth process to get started with Wink. Here are a few items that may
be accidentally overlooked. If you have any trouble uploading code to Wink, review these
quick points.
1. Be sure you have selected “Arduino Fio” in the Tools>Board menu inside Arduino.
2. Be sure the robot is turned on while uploading. Note there are TWO indicator lights on
the robot. The Power indicator is just forward of the PWR button. The Charging indicator
is just to the right of the programming port. Be sure the power indicator forward of the
PWR button is lit.
3. Be sure the ribbon cable is connected to all 10 pins on the programming port, as well as
all 10 pins on the programming adatper. It is easy to connect it to just the top row of pins.
4. A failed upload due to any of the above problems will produce a lot of “skt_500” errors in
the Arduino window. If an upload fails for this reason, it takes a while before the Arduino
software will reset the connection (we hope Arduino will fix this soon). To immediately
reset the connection and quickly begin a new upload attempt, you can disconnect and re-
connect the USB cable to the programming adapter. Once this is done you should be able
to immediately begin a new upload to the robot.
5. Be sure you have selected the new port that appears under Tools>Port in Arduino when
you connect the programming adapter to the USB.
6. If you are still having problems, please visit the Plum Geek web forum. Under the “Wink
Basics” topic, there is a sticky topic at the top of the page named “Wink Programmer
Issues - Please Read”. In this post we have covered the programmer connection in
greater detail as well as providing solutions to some of the other issues we occasionally
encounter in email support.
7. If all else fails, please contact us through the plumgeek.com website. We haven’t
encountered a problem yet that we’ve been unable to resolve.
Troubleshooting
Getting Started with Wink

1
SKILL
LEVEL Learn to Code - Ch01 Rev01.3 ~ Plum Geek
Arduino Super Basics
In the world of Arduino, the window where you write your code is called a “sketch”. You
could also call this “source code”. Have a look at how the window is set up.
How the code window is set up...
/*
Everything in this area is a “comment”. Comments tell you
what the program does and other information. The computer
ignores comments. They are just to help humans understand
the co de.
*/
void setup(){
hardwareBegin(); //setup processor to work with the robot
}
void loop(){
eyesPurple(100); //both eyes purple
delay(3000); //wait 3 seconds
rightOff(); //turn off right eye (so he “winks”)
delay(250); //wait 1/4 second
}
Use comments to tell yourself or other
human readers what the code is doing.
In-line comments can be created by using
a pair of forward slashes like this: //
(1) Press the Check Mark button to “verify” your code.
This compiles your code and tells you if you’ve written
anything the computer can’t understand.
(2) Press the Arrow button to compile then upload your
code to the robot’s brain.
(3) These are tabs. The first one has the name of your
sketch. The others are supporting tabs which have
background functions inside. More on these in the
advanced lessons.
(4) This is your code! It’s the stuff you edit to make the
robot do cool stuff. A code example is shown below.
(5) This is the messages area. This area will tell you
if you’ve made any mistakes in your code as well as
other useful information.
(6) This opens the Serial Monitor, which is a window
where the robot can send you messages which are
useful when “debugging” your code.
setup() runs one time when the processor
first starts. It is useful to configure the
initial setup of the processor.
This is where the fun happens. Everything
inside the loop() function is run over and
over. You’ll put most of your code inside
this function.
WinkHardware.h WinkHardware
/*
Everything in this area is a “comment”. Comments tell you
what the program does and other information. The computer
ignores comments. They are just to help humans understand
the code.
*/
void setup(){
HardwareBegin(); //Setup processor to work with the robot
}
void loop(){
EyesPurple(); //both eyes purple
delay(3000); //wait 3 seconds
RightOff(); //turn off right eye (so he “winks”)
delay(250); //wait 1/4 second
}
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Lesson 1