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Studuino Programming

Environment

Manual

Ver 0.9.7

Jun. 02, 2014

This manual explains the Studuino Programming Environment and how to use it.

As the Studuino Programming Environment develops, this manual may be edited or

revised.

Index

1. Robotist and Studuino Programming Environment ................................................. 1

1.1. Overview and Features ............................................................................................ 1

1.2. System Requirements.............................................................................................. 2

1.3. About Studuino ........................................................................................................ 2

2. Introduction ............................................................................................................ 4

2.1. Installing the Software.............................................................................................. 4

2.2. Starting the Software ............................................................................................... 4

2.3. Uninstalling the Software ......................................................................................... 5

3. The Startup Screen ................................................................................................ 6

4. Studuino Icon Programming Environment .............................................................. 7

4.1. Overview and Features ............................................................................................ 7

4.2. The Icon Palette ....................................................................................................... 8

4.3. The Program Field ................................................................................................... 9

4.4. The Attribute Field .................................................................................................. 15

4.5. The Main Menu ...................................................................................................... 20

4.6. Context Menus ....................................................................................................... 30

5. Studuino Block Programming Environment .......................................................... 31

5.1. Overview and Features .......................................................................................... 31

5.2. The Command Group Palette and Block Palette .................................................. 32

5.2.1. About Block Programming .............................................................................. 32

5.3. The Script Field ...................................................................................................... 42

5.4. The Condition Field ................................................................................................ 43

5.5. The Main Menu ...................................................................................................... 43

5.6. Context Menus ....................................................................................................... 52

6. Troubleshooting ................................................................................................... 52

6.1. General Troubleshooting ....................................................................................... 52

6.2. Studuino Icon Programming Environment ............................................................. 54

6.3. Studuino Block Programming Environment ........................................................... 55

Version History

Version Changes

0.9.7 ■ Added description of servomotor delay block. (page 36)

■ Added error description for function, variable and list names which use

non-alphanumeric characters. (page 40, 49)

1

1. Robotist and Studuino Programming Environment

1.1. Overview and Features

Robotist consists of Studuino, Artec blocks, parts, and the Studuino Programming

Environment. You will be able to create robots with original looks and functions by

combining Studuino, Artec blocks, and other parts. The robot will move according to the

program you created in the Studuino Programming Environment.

The Studuino Programming Environment is designed so that even beginners can

easily create an advanced robot control program. Simply drag and drop the icons or blocks

that control your robot into the Program Field. These programs are Arduino compatible.

Programs created in the Studuino environment can be translated into Arduino language,

where you can design even more advanced programs.

Arduino compatible

Studuino

Artec Blocks

Parts

buzzers, sensors

Studuino

Programming Environment

Create a robot by

combining blocks

and parts.

Studuino is suitable for any

programmer, from beginner

to advanced.

2

1.2. System Requirements

Item Specifications

OS Windows XP (SP2 or later) / Vista / 7 / 8 / 8.1

Processor (CPU) Pentium 4, 2 GHz or higher (or equivalent) recommended

Memory 256 MB or higher

USB USB2.0 port

Software Microsoft .NET Framework 4.0 required (automatically installed with

the Studuino software)

Display XGA (1024×768) or higher

1.3. About Studuino

This section covers the Studuino connectors used when making a robot.

① DC motor connectors

These connectors are for DC motors. Up to two DC motors can be connected.

The connector names are M1 and M2.

② Servomotor connectors (multiple-pin digital connector)

These connectors are for servomotors. Up to 8 motors can be connected. The

connector names are D2, D4, D7, D8, D9, D10, D11, and D12. When a

servomotor is connected, the signal wire (gray wire) must be on the inner side,

as shown above.

①

②

⑥

③

⑦

⑤

④ Black Black Gray

Gray Black Black

3

③ Sensor/LED/Buzzer headers (multiple-pin analog connector)

These 12-pin connectors are for sensors, LEDs, or buzzers. Each connector has

3 pins. The connector names are A0-A7. Any sensor (other than touch sensors

or accelerometers) can be connected to connectors A0-A7. Touch sensors, LEDs,

and buzzers can be connected to A0-A5. Accelerometers can only be connected

to connectors A4 and A5. When a sensor/LED/buzzer is connected, the signal

wire (gray wire) must be on the inner side, as shown in [Connection example 2].

④ Push-button switches

These are button switches. (?)The connector names are A0-A3.

Sensor/LED/buzzer connectors A0-A3 cannot be used with a push-button

switch.

⑤ Reset switch

This switch resets the board. Press this switch to restart Studuino when it is

initialized but does not operate properly or the PC does not recognize it.

⑥ Power supply connector (external power connector)

Connects to a power source. Sensors/LEDs/buzzers/switches can use voltage

supplied by USB, but DC motors and servomotors require power from the power

jack. Connect a battery box to the power jack when USB is disconnected.

⑦ Communication jack (USB mini B connector)

Connects to a cable for PC communication. The included USB mini-B cable can

be replaced with a commercially available one.

The following connectors or switches cannot be used at the same time:

DC motor connector M1 and servomotor connector D2, D4

DC motor connector M2 and servomotor connector D7, D8

Push-button switch A0 and sensor/LED/buzzer connector A0




For example, you can’t use a DC motor connected to M1 while a servomotor is

connected to D2 or D4. They may not work properly due to interference. Likewise using a

servomotor connected to D2 or D4 while a DC motor is connected to M1 may cause the DC

4

motor to malfunction.

2. Introduction

2.1. Installing the Software

Download a zip file containing the Studuino software from

http://www.artec-kk.co.jp/en/studuino. Decompress the zip file, find and double-click

setup.exe to install the software. Microsoft .NET Framework 4 is required to use this

software. If .NET Framework 4 is not already on the system, it will be automatically installed

before Studuino.

This software will be installed in the following location. The user name will be in the red

[username] area, and in [***] a unique alphanumeric string will appear.

Windows XP

C:\Documents and Settings\[username]\Local Settings\Apps\2.0\[***]\[***]\[***]

Windows Vista / 7 / 8

C:\Users\[username]\AppData\Local\Apps\2.0\[***]\[***]\[***]

2.2. Starting the Software

Windows XP / Vista / 7

Select Studuino Programming Environment, which will appear in the Start menu

after installation is completed. If you do not see the icon in the Start menu, choose All

Programs, go to the Artec Co., Ltd. folder and select Studuino Programming

Environment.

The Studuino Programming Environment startup screen will appear.

5

Windows 8

Select Studuino Programming Environment on the start screen. The Studuino

Programming Environment startup screen will appear.

2.3. Uninstalling the Software

Windows XP

Open Control Panel and select Studuino Programming Environment from

Add or Remove Programs. Click Change/Remove.

Windows Vista/7

Open Control Panel and select Uninstall a program. Next, select Studuino

Programming Environment and click Uninstall or change a program.

Windows 8

Click the desktop tile on the bottom left of the Start screen to show the desktop.

Right-click the bottom left corner to show the system management menu and

select Programs and Features.

On the Programs and Features screen, select Studuino Programming

Environment and click Uninstall or change a program.

6

3. The Startup Screen

The Studuino Programming Environment opens with the screen shown above.

Icon Programming Environment

Clicking on the Icon Programming Environment will start the software and allow you to

make a program to control your robot. For more details on programming a robot using the

Studuino Icon Programming Environment, see 4. Studuino Icon Programming Environment.

Block Programming Environment

Clicking on the Block Programming Environment will start the software and allow you to

make a program to control your robot. For more details on programming a robot using the

Studuino Block Programming Environment, see 5. Studuino Block Programming

Environment.

Language Settings

Select Language Settings from the main menu to change the software language to

Japanese, English, or Chinese.

Exit

The Start screen will exit when you select Exit from the main menu.

Click "Back to Main Menu" at the bottom left of the screen to go back to the main menu

from any page.

7

4. Studuino Icon Programming Environment


The Studuino Icon Programming Environment is designed for creating a program to

control your Artec robot by dragging & dropping icons into the Program Field. Each icon in

the Program Field can have a detailed operation mode specified in its Attribute Field. A

full-fledged robot control program can easily be created by using Test (refer to Test Mode in

4.5. The Main Menu). Test mode provides real-time control of your robot. You can also

check sensor-input values with the Sensor Viewer (refer to Sensor Viewer in 4.5. The Main

Menu).

After creating a program, transfer it to your Studuino and execute it by clicking the

(Transfer) icon. The control program can also be converted to Arduino language for editing

using the Arduino IDE (refer to Display Arduino Language in 4.5. The Main Menu).

Icon Palette

Program Field

Attribute Field

Program /Transfer

8

4.2. The Icon Palette

Robot control icons are provided in the Icon Palette. The Operation group contains robot

action icons, the Sensor group contains icons that control sensor values, the Repeat group

contains icons that control program loops, and the Submenu group contains icons that run

submenu items.

The following section explains the different types of icons in each group.

Operation Group

The Operation group contains icons that control robot parts.

Controls DC motors

Controls servomotors

Controls a single LED

Buzzer plays a melody

Sounds a single note from

the buzzer

Waits for a specified time

As shown below, when two DC motors are connected to M1 and M2 as car wheels

you can use icons to control the movement of your car. The wheels should be in front.

Repeat

Motion

DC Motor

Buzzer LED

Servomotor

Wait

Sensor Submenu

Connect to

M1

Connect to

M2

Forward

9

Forward

Backward

Left turn (F)

Left turn (B)

Right turn (F)

Right turn (B)

Rotation

Sensor Group

In the Sensor group there are icons that use sensor values as conditions for robot

movements.

Do not use sensor values as conditions for robot movements

Use one sensor value as a condition for robot movements

Use two sensor values as conditions for robot movements

Repeat Group

The Repeat group contains icons that are used to repeat a part of the process.

Repeat start

Repeat end

Submenu Group

The Submenu group contains icons that run a specific process from a submenu.

Run Submenu 1

Run Submenu 2

4.3. The Program Field

Drag & drop

Operation

Menu tabs

10

The Program Field is used to create robot control programs by dragging & dropping

control icons into the Icon Palette. Each column is treated as one operation. Use the tabs at

the top to switch between the Main menu, Submenu 1, and Submenu 2.

Menu

The menu is used to create programs for your robot. A total of 24 operations can be

programmed. The programs you create are executed in numerical order. The menu, from

top to bottom, contains boxes for Repeat, Operation, and Condition icons. Place Repeat

icons in Repeat boxes, icons from the Operation or Submenu group in Operation boxes, and

icons from the Sensor group in Condition boxes.

Repeat Icon Boxes

Icons from the Repeat group can be dragged and dropped into Repeat boxes. Follow

the steps below to set Repeat icons.

① Drop a Start Repeat icon in the loop box of the

operation which you want to repeat (flashing).

② Drop an End Repeat icon in the Repeat box of

the operation where you want the loop to end

(stop flashing). Repeat segments will be

enclosed in a purple rectangle.

11

③ After dropping ②, a Repeat Settings dialog box

will appear where you can enter the number of

times you want the loop to repeat. If you check

Repeat indefinitely, the loop will repeat an

endless number of times.

③ You have now made a loop. To change the

number of times the loop repeats, click the End

Repeat icon (stop flashing) and the Repeat

Settings dialog box will reappear.

Operation Icon Boxes

Icons from the Operation and Submenu groups can be dragged and dropped into

Operation boxes. Submenu icons are used to execute operations set in Submenu or

of the Program Field (see the Submenus section for details).

Also, you can copy any icon in an Operation box by dragging and dropping it into an

empty box. As shown below, copied icons will retain the attributes of their parent icons.

Attributes for #1

Attributes for #2

Drag & drop

Copied icons retain the

attributes of the parent icon

12

Condition Icon Boxes

When an icon is dropped in an Operation box, a no condition icon is created in the

Condition box automatically. By dropping an icon from the Sensor group into the Condition

box, sensor input values can be used as conditions for the operation. Sensor or threshold

values which are used for the condition can be set in the Attribute Field. Selecting a Sensor

icon with a condition allows you to modify that condition in the Attribute Field. Please refer to

4.4. The Attribute Field for details on how to modify conditions for Sensor icons.

The above picture shows a program which has an unconditional operation that makes

the car move forward in box 1, but a conditional operation in step 2 that makes the car move

backwards if value of the Light sensor is less than 3. This operation will not run if the value of

the Light sensor is greater than 3.

Submenus

Smaller programs of up to 8 operations can be created in Submenus. When a Submenu

Moves the car

forward

When a condition is set, it

executes along with the

operation in the same

column

Conditions are

modified in the

Attribute Field

A no condition icon is

set automatically

Placing a Submenu icon in the main

menu will run operations in the

Submenu

Operations

Conditions

13

icon is placed in the Main menu, programs created in the Submenu are executed in

numerical order. There are Operation and Condition boxes in Submenus. Operation group

icons are placed in Operation boxes and Sensor group icons in Condition boxes.

Selecting and Placing Multiple Icons

Multiple icons in the Program Field can be copied by selecting and dragging & dropping

them into another box.

Click in the blue area outside the Operation, Condition, and Repeat boxes and your

icon will change to . Drag your cursor to create a selection box around the icons you want

to copy. Release the left mouse button once you have selected the icons and your cursor

will return to normal.

★ Only Operation icons can be selected. Empty boxes and Submenu icons will not be

included in your selection.

Now we will drag the icons to a new space. Your mouse cursor will change to the

first icon in the selection.

Dragging the icons to another space will copy them. Dragging your cursor to a

different menu tab will switch to that menu. Dragging the icons to boxes in a different menu

Mouse cursor

changes into a hand

Selection box

appears as a dotted

line

Dotted line turns

solid once selection

has been made

Mouse cursor returns

to normal

Only Operation icons

can be selected

14

tab will copy them there.

★ Copying Operation icons will also copy any Condition icons that you have set for them.

Dragging Operation icons with no condition will set a no condition icon for them.

Drag icons to a tab to

switch tabs and drop

them in an empty box

Drag and drop

Operation icons

15

4.4. The Attribute Field

Each Control icon has unique attributes. For example, a Motion icon for a car has

information on speed, duration, and so forth. This information can be modified in the

Attribute Field. When an icon in the Program Field is selected, the attributes of the selected

icon are displayed in the Attribute Field where they can be changed.

The following section explains attributes for different icons.

Motion Icons 1

Attribute Description

Speed Set movement speed from 0-10.

Time Set movement time from 0.1 to 25.5 sec.

Brake Use this setting to stop your robot.

This is useful for when you need to make your robot stop at a certain place.

Without using Brake, your robot will run its program and coast to a stop.

Your robot will smoothly transition between movements if you do not use

Brake.

Selecting an icon will show its

settings in the Attribute Field

16

Motion Icons 2


Speed Set movement speed from 0-10.

Rotation Set a left or right turn.


Brake Use this setting to stop your robot.




Brake.

DC Motor Icon


Connector Sets which connector the DC motor is connected to. Refer to Port Settings

in 4.5. The Main Menu to see which connectors you can use.

Rotation Sets the rotation direction (forward or backward).

Rotation

Speed

Sets the rotation speed of the DC motor from 0-10.


Brake Use this setting to stop your DC motor.




Brake.

17

Servomotor Icon


Angle Check the box for each motor to set an angle from 0 to 180 degrees in one

degree increments. Refer to Port Settings in 4.5. The Main Menu to see

which connectors you can use.

Speed Sets five levels of speed for the selected angles.

LED Icon


Switch Turns the LED on or off.

Connector Sets which connector an LED is connected to. Refer to Port Settings in 4.5.

The Main Menu to see which connectors you can use.

Buzzer Icon


Sound Sets a note to play with a length of 0.1 to 1.0 seconds.

Connector Sets which connector a buzzer is connected to. Refer to Port Settings in

4.5. The Main Menu to see which connectors you can use.

18

Melody Icon


Compose Add notes by scale or rests by selecting them and pressing the → key. A

tempo of either 90, 120, or 150 can be selected. Each icon can hold eight

notes and/or rests.

Connector Sets which connector a buzzer is connected to. Refer to Port Settings in

4.5. The Main Menu to see which connectors you can use.

Wait Icon


Time Waits for a specified length of time. Set wait time from 0.1 to 25.5 sec.

Single Sensor Condition Icon


Condition Set a condition threshold by using the combo box to choose a sensor

connected to the Studuino, and select the type of condition (equality (=),

inequality (< >), or range (|→←|, ←||→)). Ranges are open intervals and do

not include the threshold numbers. The picture below shows the combo

box and the sensors connected to the Studuino. Refer to Port Settings in

4.5. The Main Menu to see how the sensors will be displayed.

19

Dual-condition Icon


Condition Set a condition threshold by using the combo box to choose a sensor

connected to the Studuino, and select the type of condition (equality (=),

inequality (< >), or range (|→←|, ←||→)). Ranges are open intervals and do

not include the threshold numbers. A Dual-condition icon has an extra

combo box for choosing an if/else statement.

The picture below shows the combo box and the sensors connected to the

Studuino. Refer to Port Settings in 4.5. The Main Menu to see how the

sensors will be displayed.

20

4.5. The Main Menu

File Menu

You can use the File menu to save and load files.

Open

Open a previously saved file.

Save

Saves the program you're currently working on and overwrites the previous

version.

Save As

Saves the program with a specified name.

Exit

Closes the Studuino Icon Programming Environment.

Edit Menu

The Edit menu can be used to modify your program.

Undo

Undoes your last action.

The software will remember the last 10 actions you've performed, including placing

icons, inserting and deleting columns, and changing port settings.

Reset

Removes all icons from the Program Field.

21

Show Arduino Language

Converts the program in your Program Field to Arduino language. The source code

you export using this feature can be compiled and sent to your Studuino using the

Arduino IDE.

Motor Calibration

Use this feature to adjust the angles of your servomotors and the speed of your DC

motors and save the settings to a file. Running this feature will start Test mode and

open the Motor Calibration dialog box.

Servomotor Calibration

When the dialog box opens, all angles for the connected servomotors are set to 90

degrees by default. Entering an offset value from -15 to 15 degrees will set the angle for

the corresponding servomotor to 90 degrees + the offset value.

Watch your servomotors and adjust the values until you get the correct 90 degree

angle.

Click OK when you have finished calibrating your servomotors. Saved settings will

be used for future programs.

Enter offset values here

Returns all offset values to 0

22

DC Motor Calibration

Once the dialog has opened, click Rotate and the two DC motors will begin rotating

at their highest speed. Use the sliders to adjust the motors and make them move at the

same speed. Clicking Stop will stop the motors and enable the OK and Cancel buttons

again. Click OK. Saved settings will be used for future programs.

Port Settings

Opening Port Settings allows you to see the parts connected to your Studuino in

the Studuino Icon Programming Environment. Clicking on this feature will show the Port

Settings dialog box.

As shown in the picture below, this dialog box shows all Studuino connectors and

Use the slider to adjust the

speed of the motors.

Click here and the motors will begin

rotating at maximum speed.

23

switches on the Studuino. Check any which have a part connected to them.

24

As described in 1.3. About Studuino, DC motor connector M1 and servomotor

connectors D2 and D4, DC motor connector M2 and servomotor connectors D7 and D8,

push-button switches A0-A3 and sensor/LED/buzzer connectors A1-A3 cannot be used

at the same time. As these combinations also cannot be used at the same time in the

Port Settings dialog, please uncheck one side while the other is active. For example,

when using D2 and D4 for the servomotor, the checkboxes for D2 and D4 would only be

available by unchecking M1 for the DC motor.

<Caution>

For an accelerometer, which uses two connectors, all of the corresponding

connectors should be checked.

Part Connector Combination

Accelerometer A4, A5

Connector combination when multiple connectors are used

When the checkboxes of the corresponding connectors under Connector

Combination above are checked, the part connected to the Studuino will be displayed.

Checking one box for a part which uses multiple connectors will automatically select the

boxes for any other connectors it’s using.

Servomotor Button DC motor

Sensor/LED/buzzer

25

Run Menu

The Run menu allows you to link with your Studuino while making programs.

26

Transfer

Transfer compiles any program you've made and sends it to your Studuino. You

can also access Transfer by clicking on the button between the Program Field and

Icon Palette.

Make sure that your Studuino is connected to your PC via

a USB cable before transferring your program. You'll see a

status bar like the one to the right while your program transfers.

This status bar will disappear once the program has transferred.

Messages will also appear if there is a communication error between your PC and

Studuino. See below for details on these messages.

This message appears if communication

between the PC and Studuino is interrupted

during a transfer. The error that causes this

message may cause the Studuino Icon

Programming Environment to close without

warning. Save your data and restart the software.

This message appears when there is no

connection between your PC and Studuino. If

you see this message, check the connection

between your PC and Studuino and try

again.

This message appears when another

application is interfering with communication

between your PC and Studuino. Close any

applications which may be causing this error

and try again.

Run

Run executes any program you've transferred.

27

Test Mode

Click on Test or the button between the Program Field and Icon Palette to start

Test mode. You can use Test mode to communicate with your Studuino and control

parts in real time. Test mode can be used to adjust icon settings in order to fine tune

your robot. The table below describes each Test mode icon.

Icon Description

Motion Click on any Motion icon in the Program Field to see its movement settings.

DC Motor Click on any Motion icon in the Program Field to see its movement settings.

Servomotor

Click on any Motion icon in the Program Field to see its angle settings. You can

also check angle settings in real time using the Attribute Field.

★Changes to speed settings will not be recognized in Test mode.

LED Changing LED settings will turn them on and off.

Buzzer The buzzer will sound notes when changed in the Attribute Field.

Melody

Click on any Melody icon in the Program Field and the buzzer will play the

melody. Your robot will also play notes selected in the Attribute Field using its

buzzer.

Make sure your PC and Studuino are connected before

starting Test mode. You will see a message like the one to

the right when initiating Test mode. This message will

disappear once Test mode has started. Messages will

appear if there is a communication error between the PC

and Studuino when starting Test mode. See below for details on these messages.



when starting Test mode. The error that

causes this message may cause the

Studuino Icon Programming Environment to

close without warning. Save your data using the dialog box.





again.

28



between the PC and Studuino. Close any


and try again.

Sensor Viewer

The Sensor Viewer is used to communicate with your Studuino and check the values of

any sensor connected to the unit.

Make sure your PC and Studuino are connected before opening the Sensor Viewer.

When starting the Sensor Viewer you will see a similar status bar to the one that

appears when initializing Test mode. This message will disappear once the Sensor

Viewer has opened. Messages will appear if there is a communication error between

the PC and Studuino when starting the Sensor Viewer. See below for details on these

messages.



when starting the Sensor Viewer. The error

that causes this message may cause the

Studuino Icon Programming Environment to

close without warning. Save your data using the dialog box.

Shows the values for

connected sensors.

29





again.



between the PC and Studuino. Close any


and try again.

Help Menu

The Help menu contains information about the Studuino Icon Programming

Environment.

About Studuino Icon Programming

Shows the version of the software you are currently using.

30

4.6. Context Menus

Right-clicking on a box in the Program Field will bring up a context menu.

Delete

Deletes an icon.

Delete a Column

Removes a column and moves other columns to the left.

Add a Column

Inserts an empty column.

31

5. Studuino Block Programming Environment


The Studuino Block Programming Environment is a visual programming

environment developed for Robotist. It is based on the Scratch programming environment

developed by the Massachusetts Institute of Technology. Robot control programs can be

created by dragging blocks from the Block Palette and attaching them to other blocks in the

Script Field.

It is possible to create high-level programs as advanced as ones written in other

programming languages (such as C) because blocks support standard programming

elements such as branching, loops, and variables. You can also control your robot in real

time using Test mode. Use Test mode to create a program while checking sensor values

(using the Sensor Board), robot status, and more (see 5.5. The Main Menu).

After you create your program, it can be transferred to Studuino and executed by

clicking Transfer. The finished control program can also be converted to Arduino language

for later editing (refer to Export Arduino Language in 5.5. The Main Menu).

The Studuino Block Programming Environment is described below.

Block Palette Script Field

Condition Field

Command Group Palette

Drag & drop Sensor Board

32

5.2. The Command Group Palette and Block Palette

The Command Group Palette and Block Palette control blocks which are used for

programming. The Block Palette display can be switched by selecting the Command Group

Palette button. The Command Group Palette buttons and blocks which are displayed in the

corresponding Block Palette are described below.

Button Block

Motion Blocks which control DC motors,

servomotors, buzzers, and LEDs

Control

Standard elements of programming such as

branching, loops, functions and processing

blocks

Sensing Blocks which reference sensor values

Operators Blocks which control basic and advanced

arithmetic and logic operators

Variables Blocks which control variables, lists, and

processing for variables and lists

5.2.1. About Block Programming

In the Studuino Block Programming Environment there are two kinds of Blocks, ones with

notches on the top and bottom such as (process blocks) and ones without

notches such as and (setting blocks). Process blocks, used

mainly for processing actions, are attached to create the programs that control your robot.

Blocks with rounded edges such as return values, and are used

mainly to modify the settings of other blocks. Hexagonal blocks such as are used

to set conditions and modify conditional process blocks such as .

attach vertically The speed of the DC motor is set to 100,

moving for one second before stopping.

33

The rounded input box in ① and the hexagonal space in ② can be used to change block

settings.

The rounded input box in ① can accept blocks such as or numerical

input. The hexagonal space in ② can accept a block such as to change the

settings of the block. The following section explains the different types of blocks in the Block

Palette.

Type 15

Creates a block which uses

the sum of the light sensor

and val blocks

This operator checks

whether val is less than 15

Putting together a light sensor value

block and a val blockProcess blocks

Adding a block which checks if the

light sensor value is less than 50 and a

DC motor block to a branch block

This branch will make the DC motor run

if the value of the light sensor is less than

50

Setting a less than (<) operator using

val and an input value of 15

② ①

34

Motion Palette Blocks

Blocks in the Motion Palette are used to control the parts of your robot. Blocks for parts

without Port Settings configured are grayed out and cannot be placed in the Script Field.

Find descriptions of each block below.

Servomotor Control Block

Controls a servomotor connected to your Studuino.

Sets the servomotor connecting with connectors (D2-D12) specified in ① with an angle

(0-180) specified in ②. Any setting with a value less than 0 will be set as 0, and any

value greater than 180 will be set as 180.

DC Motor Control Blocks

Controls a DC motor connected to your Studuino.

Sets the DC motor connected to connectors (M1/M2) specified in ① with the speed

(0-100) specified in ②. The higher the speed value, the faster the DC motor runs. Any

setting with a value less than 0 will be set as 0, and any value greater than 100 will be

set as 100.

Sets the DC motor connected to connectors (M1/M2) specified in ① with a direction

(clockwise/counterclockwise) specified in ②.

Sets the DC motor connected to connectors (M1/M2) specified in ① with a stopping

method (brake/coast) specified in ②.

Connected to Studuino Not connected to Studuino

①

②

① ②

① ②

① ②

35

Buzzer Control Blocks

Sets the buzzer connected to connectors (A0-A5)

specified in ① with an output volume specified in ②.

Click on ▼ in ② to set the note you would like the

buzzer to play. You can select scales ranging from C48 (130Hz) to C108 (4186Hz). You

can also select notes ranging from C48 (130Hz) to C72 523Hz). If you would like to use

scales higher than C72, input them directly using the keyboard. Playing notes with the

buzzer may interfere with the operation of a DC motor connected to M1. If you would

like to use a DC motor connected to M1, use a block to stop the buzzer before attaching

a DC motor block.

The combo box in ① is used to stop any buzzer connected to (A0-A5).

LED Control Block

The combo box in ① is used to turn any LED connected to (A0-A5) on or off.

Control Palette Blocks

Blocks in the Control Palette allow you to control the flow of your program. Find descriptions

of each block below.

This block begins a function. You can name the function using

the combo box in ①.

Use the combo box in ① to call a specific function.

Wait for the number of seconds specified in ①.

The process inserted in ① will loop indefinitely.

① ②

①

① ②

①

①

①

①

①

36

The process inserted in ① will repeat the number of times

specified in ②.

Continuously evaluates whether the condition in ① has been met

and runs the process in ② if it has. The condition in ① is

specified using a block from the Operators Palette.

If the condition in ① has been met, the process in ② is executed.

The condition in ① is specified using a block from the Operators

Palette.

If the condition in ① has been met, the process in ② is executed.

If it hasn't, the block runs the process in ③. The condition in ① is

specified using a block from the Operators Palette.

Waits until the condition in ① has been met. The condition in ①

is specified using a block from the Operators Palette.

The process in ② repeats until conditions for the process in ①

are met. The condition in ① is specified using a block from the

Operators Palette.

This block allows you to control the delay for the servomotor

block inserted in ② by entering a number from 0-20 in ①. This

block only works with servomotor blocks and other blocks will not

be recognized.

①

②

①

②

①

②

①

②

③

①

②

①

② ①

37

Sensing Palette Blocks

Blocks in the Sensing Palette are used to retrieve sensor values. Blocks for parts without

Port Settings configured are grayed out and cannot be placed in the Script Field.

Sensor blocks can be combined with and use the values of other blocks. The picture below

shows a combination of a servomotor block and a light sensor block. This combination

allows you to change the angles of the motor in response to the amount of light in a room.

Find descriptions of each block below.

Returns the value of the light sensor connected

to A0-A7 specified in ①. Sensor value ranges

from 0 to 100.

Returns the value of a touch sensor connected

to A0-A5 specified in ①. Sensor value is 0 when

the sensor is touched and 1 in its normal state.

Returns the value of the light sensor connected

to A0-A7 specified in ①. Sensor value ranges

from 0 to 50.

Returns the value of a reflective infrared sensor

connected to A0-A7 specified in ①. Sensor

value ranges from 0 to 100.

Connected to Studuino Not connected to Studuino

Combine sensor

blocks with other

blocks that accept

input.

①

①

①

①

38

Returns the value of a specified direction (X/Y/Z

axis) from a connected accelerometer. Sensor

value ranges from 0 to 100.

Returns the value of a push-button switch

connected to A0-A3 specified in ①. Sensor

value is 0 when the button is pushed and 1 in its

normal state.

Operators Palette Blocks

Blocks in the Operators Palette perform calculations using the values you input. Find

descriptions of each block below.

Adds the values set in ① and ②. Arithmetic operation

blocks include subtraction (-), multiplication (*), and

division (/) blocks. You can select the other arithmetic

operators from the context menu by right-clicking on

the block.

Returns a random number between the values set in ① and ②.

Determines whether the value set in ① is less than the

value set in ②. The other comparative operators find

whether the values are equal (=) or whether a value is

larger (>). You can select the other comparative

operators from the context menu by right-clicking on

the block.

The picture below shows a combination of a light sensor, condition, and servomotor block.

You can use this to set the servomotor angle to 90 degrees if the light sensor value dips

below 50.

①

①

② ①

② ①

② ①

39

This block is an AND operator using the conditions

set in ① and ②. The other logical operator blocks

are OR and NOT. You can select the other logical

operators from the context menu by right-clicking

on the block. The picture below shows a combination of a logical operator, condition, and

DC motor block. You can use this combination to make the DC motor move forward when

the sound value is between 30 and 60.

② ①

40

This modulo block divides ① by ② and returns the remainder. As with the block,

right-clicking on this block will allow you to select other arithmetic operators from the context

menu.

This block returns the nearest integer (whole number) for the value set in ①.

This block uses the value in ① for the specified

arithmetic operation in ②. You can choose from

absolute values, square roots, trigonometric

functions, logarithms, and exponents.

Variables Palette Blocks

Blocks in the Variables Palette are

used to make variables and lists. Click

on the Make a variable button and type

in a name to make a variable. Click on

the Make a list button and type in a

name to make a list. Using

non-alphanumeric (A-Z, a-z, 0-9)

characters in function, variable, and list

names will cause a Build error when

transferring your program (see the

Program/Transfer section in 5.5. The

Main Menu for details). Only use alphanumeric characters (A-Z, a-z, 0-9) for function,

variable, and list names. Values of variables and lists can be from 3.4028235E+38 to

3.4028235E+38, or a maximum of 32 bits (4 bytes).

The following section explains the variable blocks in the Variables Palette (for a variable

named "val").

Returns the value of the variable.

Sets the variable in ① to the value set in ②.

Increases the value set in ① by the value set in ②.

② ①

①

② ①

② ①

② ①Motors, LEDs,

41

You can make up to 70 different variables.

The picture above shows a combination of a loop and a servomotor block. You can use this

to make program that increases the value in the variable "val" by 10, making the process

repeat 10 times and increasing the angle of the motor from 10 to 100 in 10 degree

increments.

Lists are structured blocks which allow you to add or remove values as you see fit. Lists can

hold up to 40 separate values. The following section explains the list blocks in the Variables

Palette (for a list named "list").

Returns the first value in the list.

Adds the value in ① to the list in ②.

Deletes the value in ① from the list in ②.

Inserts the value in ③ to list ① at position ②.

Sets the value at position ② in list ① to the value

set in ③.

Returns in value at position ② in list ①.

② ①

② ①

① ③

②

② ① ③

② ①

42

Returns the length of list ①.

Determines whether list ① includes the value in ②.

The picture above adds the values 10, 20, and 30 from the previous 3 blocks to "list". This

process makes a list that includes 10 in the first position, 20 in the second position and 30 in

the third position. Using this list, you can set the angles of the servomotor in the next blocks.

The servomotor connected to D9 will have its angles set to 10, the servomotor in D10 to 20,

and the servomotor in D11 to 30 degrees.

5.3. The Script Field

The Script Field is where you drag and attach blocks to create your program. The Studuino

Block Programming Environment opens with a Start program block in the

Script Field. This block starts your program. Any program you make must include this block.

①

② ①

Script Field Condition Field

43

5.4. The Condition Field

The Condition Field shows Test mode sensor values, variables, and lists. Starting Test

mode will open the Sensor Board, where you can view the values of any sensor connected

to your Studuino. As shown below, you can also view the change in values of any variables

or lists in the Condition Field by clicking the checkbox to the left of them.

5.5. The Main Menu

File Menu

You can use the File menu to save and load projects.

New

Start a new project.

Open...

Open a previously saved project.

Save

Save your current project.

Save As…

Save your program with a specified name.

Exit

Closes the Studuino Block Programming Environment.

View variables in

the condition field

by clicking here Appears if you

open Test

44

Edit Menu

The Edit menu can be used to modify your program.

Undelete

Restores a deleted block.

Start / Stop Single Stepping

Starts running your program step by step.

When using Single Stepping, the block

currently being processed will turn yellow.

You can change how fast steps run using the

Set Single Stepping... menu.

Set Single Stepping…

Use this to change how fast steps are

processed. Turbo is the fastest speed, and

Flash is the slowest method of processing

steps.

Export Arduino Language…

Converts the program in your Script Field to Arduino language. All blocks in your Script

Field will be converted to Arduino language. The source code you export using this

feature can be compiled and sent to your Studuino using the Arduino IDE.

Any blocks which are not attached to the master or function

blocks will still be converted to Arduino language. Use Arduino IDE to

delete any code from unattached blocks before compiling your program.

45

Blocks which are unattached to functions (orphaned) will still be processed by the

function in the Block Programming Environment, but orphaned code will result in a

compiling error in Arduino IDE. Unset values in blocks such as will be set to 0

when exporting to Arduino language. Unset conditions in blocks such as will

be set to "false" when exporting to Arduino language.

// ---------------------------------------

// Artec robot mainroutine

// ---------------------------------------

void artecRobotMain() {

for (;;) {

ARSR_subroutine();

}

}

// ---------------------------------------

// Artec robot subroutine

// ---------------------------------------

void ARSR_subroutine() {

servomotor(DIG9,90);

}

dcMotorPower(M1,100);

Block Converted to Arduino

Results in a

compiling error

46

Servomotor Calibration

Use this feature to adjust the angles of your servomotor and save them to a file.

Running this feature will start Test and open the Motor Calibration dialog box.

When the dialog box opens, all angles for the connected servomotor are set to 90

degrees by default.

Watch your servomotor and adjust the values until you get the correct 90 degree angle.

Click OK when you have finished calibrating your servomotor. Saved settings will be used

for future programs.

Enter offset values here

Sets all offset values to 0

47

Port Settings

Allows you to see the parts which are connected to your Studuino in the Studuino Block

Programming Environment. Clicking on this feature will show the Port Settings dialog

box.

As shown in the picture below, this dialog box shows all Studuino connectors and

switches on the Studuino. Check any which have a part connected to them.

As discussed in 1.3. About Studuino, the following connectors or switches cannot be

used at the same time:

・ DC motor connector M1 and servomotor connector D2, D4

・ DC motor connector M2 and servomotor connector D7, D8

・ Push-button switch A0-A3 and sensor/LED/buzzer connector A0-A3

As these combinations also cannot be used at the same time in the Port Settings dialog,

Servomotor Button DC motor

Sensor/LED/buzzer

48

please uncheck one side while the other is active. For example, when using D2 and D4

for the servomotor, the checkboxes for D2 and D4 would only be available by

unchecking M1 for the DC motor.

<Caution>

For the accelerometer, which uses two connectors, all of the corresponding connectors

(or a compatible combination) should be checked.

Part Connector Combination

Accelerometer A4,A5

Connector combination when multiple connectors are used

When the checkboxes of the corresponding connectors in Connector Combination

above are checked, the part connected to the Studuino will be displayed. Checking one

box for a part which uses multiple connectors will automatically select the boxes for any

other connectors it’s using.

When an accelerometer is selected with

A4, A5 is selected automatically.

49

Run Menu

The Run menu allows you to link with your Studuino while making programs.

Transfer

Transfer compiles any program you've made and sends it to your Studuino. You will see

a message box like the one in the below picture if a build error occurs.

A build error will occur if there are blocks that are unattached to the master

or function blocks in the Script Field. See below for

details on this message.

This message appears if there are blocks that are

unattached to master or function blocks in the Script

Field. When

preparing to build, please attach or delete any

orphaned blocks in the Script Field before using

Transfer. You will also see this message when any

function, variable, or list names contain

non-alphanumeric characters. Rename your function, list, or variable and try again.

This message appears if there are any undefined

function blocks in your program. As shown below, any

blocks which call

functions must

have the function defined. When you're prepared to

build your program, place and define a

function block in the Script Field, or

delete any orphaned function blocks before using Transfer.

Title

Message

[An undefined function]

[Unattached blocks]

50

This message appears when the two error messages

described above occur at the same time. When

preparing to build, please attach or delete any

orphaned blocks and define functions for blocks which use them before using Transfer.

Once you have built your program you can transfer it to your Studuino. See below for

details on messages you'll see when transferring your program.

This message appears during a program

transfer. Do not disconnect your Studuino

from the PC when transferring a program. If

communication between your Studuino and PC is interrupted during a transfer you will

see the below messages.

This message appears if

communication between the PC and

Studuino is interrupted during a transfer.

Reconnect your Studuino to the PC and try again.


connection between your PC and Studuino.

If you see this message, check the

connection between your PC and Studuino

and try again.

This message appears when another application is

interfering with communication between the PC and

Studuino. Close any applications which may be

causing this error and try again.

Run

Run executes any program you've transferred. This appears in the menu after you have

successfully transferred a program.

Test Mode

51

You can use Test mode to communicate with your Studuino and control parts in real

time. Make sure your PC and Studuino are connected before starting Test mode.

Click on Test and you will see the message

to the left telling you that Test mode is being

initialized. Do not disconnect your Studuino

from the PC while in Test mode. If communication between your Studuino and PC is

interrupted during a transfer you will see the below messages or a runtime error may

cause the Studuino Block Programming Environment to freeze. Keep your Studuino

connected to the PC at all times while in Test mode. See below for details on these

error messages.

This message appears if


Studuino is interrupted when initializing

Test mode. Reconnect your Studuino to the PC and try again.




between your PC and Studuino and try again.


application is interfering with


Studuino. Close any applications which may

be causing this error and try again.

This message appears if communication between the

PC and Studuino is interrupted during Test mode. Save

your project and restart the software.

Help Menu

The Help menu contains information about the Studuino Block Programming Environment.

52

About Studuino Block Programming Environment

Shows the version of the software you are currently using.

5.6. Context Menus

Right-clicking on blocks in the Script Field or the Script

Field itself will bring up a context menu.

Clean Up

Arranges blocks in the Script Field.

Save Picture of Scripts

Saves an image of the blocks in the Script Field as in .gif format.

Add Comment

Adds a comment. Dragging the resulting comment to any block will append the

comment to that block.

Right-clicking on any block aside from the master

block will bring up a context menu.

Duplicate

Duplicates a block or set of blocks.

Delete

Deletes a block or set of blocks.

6. Troubleshooting

The following section covers troubleshooting methods for this software. In the event that the

solutions provided in this manual do not solve your issue or your issue is not covered,

please contact us directly. Please check our website for the most current information

regarding your product.

http://www.artec-kk.co.jp/studuino

6.1. General Troubleshooting

This section covers troubleshooting methods common to both Studuino Programming

Environments.

http://www.artec-kk.co.jp/studuino

53

My DC motor or servomotor won't work in Test mode

Motors require power from the battery box to function properly. Insert batteries into the

battery box and connect it to your Studuino unit before turning the power on.

My robot resets unexpectedly

Exhausted batteries can cause your robot to reset unexpectedly. Replace the batteries in

the battery box.

My sensor values are behaving strangely

Every sensor is different, which can cause variations in the values your sensor gives.

54

6.2. Studuino Icon Programming Environment

I get an error when using Transfer

I can't start Test mode

I can't open the Sensor Viewer

Your software may close unexpectedly if the below error occurs.

Title Message

Could not access Studuino Your Studuino could not sync with your PC. Save your

project, close this software, reset your Studuino, and restart

this software.

Save your program, exit the software, and follow the steps below to reset your Studuino.

１．Turn off the power switch on the battery box and

disconnect the USB cable from your Studuino.

２．Wait three seconds.

３．Reconnect your USB cable and turn on the power switch

for the battery box.

４．Press the Reset button on your Studuino. Resetting will

cause a green LED on your Studuino board to blink.

(see picture)

Try starting Test mode after completing the above steps.

Seeing the below message may mean that your Studuino Programming Environment

system files have been corrupted.

Title Message

Corrupt System File Please reinstall the Studuino Programming Environment

The error that causes this message may cause the Studuino Icon Programming

Environment to close without warning. Save your data using the dialog box, uninstall the

software using the steps in 2.3. Uninstalling the Software, and reinstall the Programming

Environment.

Reset button

LED

55

Title Message

Could not access Studuino COM port error

This message appears when no connection can be made between your PC and Studuino.

You will need to restart your PC.

See the Transfer, Test Mode, and Sensor Viewer sections in 4.5. The Main Menu for details

on solving the above problem.

6.3. Studuino Block Programming Environment

I get an error when using Test mode

I get an error when using Transfer

Your software may close unexpectedly if the below error occurs.

Title Message

Could not access Studuino Studuino could not sync with your PC. Save your project,

exit this software, reset Studuino, and restart the software

Save your program, exit the software, and follow the steps below to reset your Studuino.

１．Turn off the power switch on the battery box and

disconnect the USB cable from your Studuino.

２．Wait three seconds.

３．Reconnect your USB cable and turn on the power switch

for the battery box.

４．Press the Reset button on your Studuino. Resetting will

cause a green LED on your Studuino board to blink.

(see picture)

Try starting Test mode after completing the above steps.



Reset button

LED

56

Title Message

System Error Your Programming Environment system file has been

corrupted. Save your project, exit this software, reset

Studuino, and restart this software.

The error that causes this message may cause the Studuino Block Programming

Environment to close without warning. Save your program, uninstall the software using the

steps in 2.3. Uninstalling the Software, and reinstall the Programming Environment.

Title Message

Could not access Studuino COM port error

This message appears when no connection can be made between your PC and Studuino.

You will need to restart your PC.

See the Transfer and Test mode sections in 5.5. The Main Menu for details on solving the

above problem.

I get an error when using Transfer (when compiling a program)



Title Message

Program Cannot be Compiled An error has occurred in the archiving process. Please

reinstall.

An error has occurred in the object copy 1 process. Please

reinstall.

An error has occurred in the object copy 2 process. Please

reinstall.

The error that causes this message may cause the Studuino Icon Programming

Environment to close without warning. Save your program, uninstall the software using the

steps in 2.3. Uninstalling the Software, and reinstall the Programming Environment.

57

I get a program overflow when compiling my program

The size of programs that can be made in the Block Programming Environment are based

on the specifications of your Studuino. You will see this message when the size of your

program exceeds 15 kilobytes.

Title Message

Program Cannot be

Compiled

Your script is too big. Try different methods to reduce the

size of your program.

If you see this message you will need to make your program smaller by using different

blocks or other methods. Keep in mind that the Block Programming Environment is not

intended for the development of large-scale programs. Due to the smaller scale of the

Studuino Programming Environment, you may want to consider using other software such

as the Arduino IDE or Atmel Studio to develop larger programs.