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Program transmission software for P!MOT
This information is in addition to that supplied in the P!MOT construction and operation manual
 

The following is required to program the P!MOT using a PC or Laptop Computer
   

Software (you can download free P!MOT software from HERE )
Personal Computer (not included)
Interface Card (IF-96E) (not included)
PC-Centronics Printer Cable (the standard for PCs) (not included)
  Features
    A. The keyboard of P!MOT can be used to program the robot, however you can program P!MOT from a PC (personal computer) by using this software.

B. You can make, save and transmit (upload) your program to P!mot using the interface card (IF-96E) and a parallel printer cable with a centronics plug (standard for PCs).

C. Since a PC is used, your program can also be saved and edited later.

D. Programming is done using the mouse to select the commands from a list window, and a number (value) from an on-screen keyboard.

E. The program is displayed in a second list window making it as easy as possible even for a beginner.
 
  P!MOT Programming Screen
 
A. Command Selection Window
Each program command is displayed in this window from which you choose the command to add to the P!MOT program (double click left mouse button).
B. Program Display Window
The program currently being created is displayed here.
A command is chosen by double clicking on it in the selection window, chosing a value from the key pad below and clicking on next, also on the key pad.
C. Value Keys
This is pressed after choosing a command to indicate the number of operations or repetitions of the command or label etc. etc. required.
D. Program Title Entry Bar
This is used to enter a name for your program. It also displays the name of a program which has been opened from your PC
E. Edit Buttons
Used when correcting and adding to the program currently under construction.
Copy, Cut, Paste and Delete of full program lines or groups of lines can be done.
The choice of Add to list (program), Insert before chosen (highlighted) line, Replace chosen line is selected here
F. File Buttons
It is used when opening the saved program or naming and saving a file name.
G. Program Explanation Bar
A program display window explains the selected line.

 

  How to Program
  To explain the programming method we shall make (write) a program which makes P!MOT move in a square by using FOR-NEXT loops.
Set FORWARD as middle speed "2", and right rotation as "4".
  1. Double click the "FOR (Repeat from next sentence to NEXT)" from the Command Window. Next, click "4"→"NEXT" from value keys. It will be displayed in the Program Display Window as follow.。FOR 4
 
  2. Click in order as follows. (Double click for command.)
"FORWARD MIDDLE SPEED"→"2"→"NEXT (in value keypad)"→"STOP"→"Rotate Right"→
"4"→"NEXT (in value keypad)"→"STOP"→"1"→"NEXT (in value keypad)"→"Rotate Right"→"4"→"NEXT (in value keypad)"→"STOP"→"1"→"NEXT (in value keypad)"→"NEXT (Repeat from "FOR" to last sentence)"
A Little Explanation

The translation from Japanese to English has created some awkward phrases and sentences - one of these appears in brackets after the NEXT command in the COMMAND Window - ie
NEXT(Repeat until before sentance from FOR)
This is what is known as a FOR / NEXT loop, that is, it can be thought of as saying :-

FOR 4 loops
move forward so much
turn so much
NEXT (end of that loop go to the line after FOR to start the next loop)
At which point it goes back to the command (sentence) after the FOR command and starts another loop until all 4 loops are completed . It then continues running the program with the command after the NEXT command.

The FOR command is listed in the COMMAND window as:-
FOR(Repeat until NEXT from next sentance)
This makes a little more sense in english especially after you have read the previous explanation of a FOR/NEXT loop
 
    The program that moves P!MOT in a square is completed !
  Transmit your program to the P!MOT
  1. Connect P!MOT, Interface Card (IF-96E), and Personal Computer as shown in the picture.
Connect the printer cable 25way D type connector to the printer port of your personal computer.
Connect the Centronics plug to the P!MOT interface card

Desktop type personal computers can also be used.
 
P!MOT - Interface Card - Centronics Plug
 Left is the Centronics plug for P!MOT - Right is the 25way D type for the PC

 
A. P!MOT
B.

Interface Card(IF-96E)
not included
C.

Personal Computer
not included
D.

Printer Cable
not included
  Please note that the 2 cables seen inthe picture to the left are indeed 2 separate cables - The mouse cable and the printer cable.

CAUTION - the Centronix plug and cable are relatively heavy
Take care not to press down on them when connected toP!MOT as
this may damage the connector on the P!MOT circuit board
 
2.		  
Set P!MOT to Program Receive Mode.
Press these buttons on the PIMOT Keyboard in this order [RESET]-[MODE]-[0] to switch to Program Receive Mode.
Then the 2 LEDs, LED-L(green) and LED-R(red) will flash rapidly and indicating that P!MOT is in Program Receive Mode.
  3. Next, click "TRANSMIT" in P!MOT software.
A warning appears to remind you to check that P!MOT is ready to receive - Click OK
A series of Beeps is heard as the program is transmitted - one Beep for each command line (sentance) in the program - a longer last Beep indicates end of loading.
When P!MOT's LED-L and LED-R light are out, transmission is completed.
  4. Remove the Interface Card (IF96-E) from P!MOT. Then press "MODE(RUN)" button in keyboard of P!MOT, P!MOT starts to move as you have programmed.

All this may at first seem complicated but it will soon become second nature
NOTES

1) - If you switch P!MOT off after transmitting a program to it, the program will be lost when you switch on again unless you enter "Program reload Mode" imediately .
This is done by pressing the following buttons on the P!MOT keyboard in this order:-
[RESET] - [MODE] - [8] . The last loaded program is then ready to run by pressing [MODE] again once.

2) - During transmission of a program to P!MOT the green and red LEDs will stop flashing rapidly and will flash along with the beeps. The number of beeps heard - is one beep for each command in the program

3) - When reading programs from the printed P!MOT assembly manual the [ENTER] on P!MOT keyboard is the same as NEXT on the key pad in this software.

4) - When using an IF sensor command the first value is the number of the label to which the program will go if the IF sensor tests as TRUE.
ie for an IF EYE L ON ( Left Infrared sensor is on) the true condition is when the sensor is ON ie it approaches an obstacle and the receiver is detecting reflected infrared light bounced off that object.
P!MOT Programming Commands

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