Operating System RoBIOS
The following describes operating system features and demos included
in RoBIOS version 4.x. Please note, that newer versions of
the RoBIOS software may differ from the functionality
After connecting camera and power cable, you are ready to start EyeBot.
Supply about 7.2V by a power supply or by using rechargeable batteries.
Upon power-up, you should see messages on the graphics display, similar
to the following:
- RoBiOS Vx.x -
RobName 01 Cam:e
25 MHz 512K ROM
896Kf 1024K RAM
<I> Hrd Usr Demo
EyeBot displays the version number of its operating system and shows
the amount of memory available. The last line of text is right above
the four colored input keys and the small reset key. The four colored
keys (yelow, red, blue, green) operate as soft keys, i.e. their
meaning in the current context is always displayed by the last line of
text in the graphics display. From the main menu, these functions are:
The EyeBot's operating system RoBIOS also provides a number of routines,
which can be called directly from a user program, so they do not
have to be compiled and downloaded. For more information on these
routines, refer to the library section.
- Info about the people behind EyeBot
- Hrd parameter setting and test of camera, serial line, servos, motors, etc.
- User program download and execution
- Demo of camera function (grayscale or color), sound, etc.
Entering the hardware setup, there are two menu choices for
setting several hardware properties or for testing all
hardware equipment connected, as defined in the system's
Hardware Description Table (HDT).
The sub-menu for setting parameters then splits further as shown
below, while the Test submenu allows selecting each individual
hardware component for testing, as defined in the HDT.
The menu for setting parameters allows the setting of parameters for
camera (grayscale or color) or the serial line connection.
Setting Camera Parameters
Please note: Camera settings only apply for the older QuickCam camera,
not for the current camera models!
There are two choices for camera settings, depending on whether a grayscale
or color camera is connected. Shown here is the settings menu for the grayscale
camera. The current camera image is overlayed, so the effects of parameters
can easily be recognized. Pressing the + or - button changes the currently
selected parameter (indicated by "*"). Pressing "Nxt" circularly selects
the next parameter, while "END" returns to the menu one level up.
Bright : 140 *
Offset : 43
Contr. : 104
+ - Nxt END
Seting Download Parameters
For details on parameter setting for the serial line connection
see section Downloading Programs.
Testing Hardware Components
All hardware components, which have been defined in the HDT,
are listed here and can be selected for individual testing.
E.g. with two motors, two encoders, two servos, and three PSD sensors
this menu will look like the following:
3 PSDs/ P0-L
Tst + Nxt END
An individual hardware component is selected using Tst,
while + switches between components within a group,
and Nxt switches between different groups.
Depending on the type of hardware component selected,
an appropriate testing program is being started.
Example: Servo Test
After selecting an individual servo from the hardware test
sub-menu, the angle of this particular servo can be controlled.
+ - max END
Testing I/O Ports
The I/O test menu allows reading/setting of each bit
of the digital input port, digital output port, parallel
port, and analog input port.
Select a PORT
Dig Parl AD END
Example: Digital Input
Displays the current status of all input pins.
Downloading of user programs is shown in detail in section
Demos are stores in ROM as file "demos.hex" and can be overwritten.
They are started by pressing the "Demo" button in the main menu and
contain demos for camera (grayscale or color), audio, communication
network and driving functions. A demo can be selected by moving the
asterisk to the desired demo and pressing "Sel".
+ - Sel END
There are three demos implemented, one for the grayscale or color camera,
one especially for the color camera, and one for the zoom effect.
The demo for the grayscale camera shows a number
of simple image processing routines, while the demo for the color
camera allows storing and retrieving of a color-pattern within images.
For the grayscale camera-demo discussed in more detail here,
the real-time camera image is
displayed, while the user can select up to four image operations, which
will subsequently be executed on each camera image. Default is identity,
pressing + and - buttons changes between identity,
Laplace edge detection,
Sobel edge detection, dithering, and difference motion detection. Pressing
Nxt circularly selects the next operator number, while END
returns to the menu one level up. Also displayed is EyeBot's speed in
frames per second (fps).
+ - Nxt END
The audio demo provides three different demos:
- Sound generation
- Microphone level test
- Recording and replaying sounds
Mus Mic Wav END
Please note: This demo needs wireless communication installed
The network demo provides demos for:
- Testing transmit/receive functionality
- Sending test data
- Receiving test data
Tst Snd Rec END
Please note: This demo needs a robot linked to the controller
This demo drives the robot straight, turns 180 deg., then drives back.
Pos: 0.0 x 0.0
Thomas Bräunl, 2002