Express-O-Matic

You can use the Express-O-Matic software to program your TeRK robot via a simple, graphic, scripting language. No coding required! Express-O-Matic is very similar in function to Flower Power but it includes a different set of pre-defined conditions and is designed to be generic enough for any TeRK robot.

To run Express-O-Matic, click on "Launch Software" below. Note that you may get a security warning. Accept the digital signature in order to run the application.

Launch Software »

To download the TeRK source code, which includes the Express-O-Matic program, click on the "Download Source Code" link below.

Download Source Code »

Terminology

Expression

An expression is like a snap shot of the robot. It contains state information for the various outputs supported by the Qwerk board. It can contain state information for servos (e.g. a particular position), motors (e.g. a particular speed), digital outputs (e.g. on or off), LEDs (e.g. on, off, or blinking), and the speaker (e.g. a particular wav file to play). Use the Robot Universal Remote (RUR) to create new expressions.

Condition

A condition works as a trigger based on stimuli such as a sensor reading or time of day. When used in a sequence, a condition blocks the flow of the sequence until the particular condition is met. Then the sequence continues on to the next expression.

Currently the only way to create new conditions is by modifing the Java source code. In the future we hope to create a graphical user interface to allow people to easily create new conditions. However, Express-O-Matic does come with 18 pre-defined conditions.

Distance measurement - Distance can be measured by a type of sensor called an infrared or IR rangefinder. The nine Express-O-Matic conditions that respond to distance measurements require that an IR rangefinder be connected to analog input 0, 1, or 2 on the Qwerk. The three types of conditions are:

• Near - sensor value > 2400
• Far - sensor value between 500 and 2400
• Nothing detected by IR - sensor value less than 500

Light Level - The light level can be measured by a type of sensor called a photoresistor. The six Express-O-Matic conditions that respond to light level require that a photoresistor be connected to analog input 3 or 4 on the Qwerk. The three types of conditions are:

• Dark - sensor value > 3700
• Average Light - sensor value between 1200 and 3700
• Bright - sensor value < 1200

Temperature - The temperature can be measured by a type of sensor called a thermistor. The three Express-O-Matic conditions that respond to temperature require that a thermistor be connected to analog input 5 on the Qwerk. The three conditions are:

• Cold - sensor value > 2400
• Lukewarm - sensor value between 2000 and 2400
• Hot - sensor value < 2000

Sequence

A sequence is made up of expressions and conditions put together one after the other. Sequences are a form of simple program for your robot. The Express-O-Matic program allows you to create, play, and save sequences of expressions for your TeRK robot.

Connecting to your robot

1. Click Launch Software.
2. Click the "Connect" button on the Sequence toolbar.
3. Click the appropriate radio button to connect directly to your robot or to connect to your robot using the relay. (To learn more about these methods of connecting to your robot, click here: Establishing a Connection.

Creating a new sequence

1. Under the File menu, click New Sequence.
2. In the Expressions box, click and drag the first expression in the sequence to the Sequence box. Remember that you must first create new expressions using the RUR program.
3. Click and drag the next expression in the sequence to the Sequence box.
4. Repeat Step 3 until all expressions you want to use are in the Sequence box.
5. To add a condition to the sequence, click on the condition and drag it on top of an expression already in the sequence.

Moving or deleting an expression in the sequence

You can change the order of the expressions in the sequence by clicking on an expression and dragging it to a new location. You can delete an expression from the sequence by clicking on the expression and clicking the "Delete Step" button.

Modifying properties of a sequence

Changing the speed of an expression

Changing the speed of an expression will change how fast the servos and motors in that expression move. The speed setting does not affect the saved expression, only the expression at a single step in the sequence.

1. In the Sequence box, click the expression you want to modify.
2. Click the drop-down box to change the speed to Fast, Medium, Slow, or Custom. Choosing Custom allows you to pick a point between 1 (very slow) and 1000 (fast) on the slider bar.

Setting the delay between expressions

You can also change how fast the sequence executes by changing the delay between individual expressions.

1. Select an expression in the sequence.
2. In the Wait Until box, type the number of seconds you want to lapse before the next expression begins.

Looping back to the beginning of the sequence

If you want the sequence to loop back to the beginning after the last expression, click the "Loop back to the beginning" box. When you play the sequence, it will continue playing in a loop until you stop it.

Playing and stopping the sequence

1. To play the sequence, click Play in the Sequence box. (The Play button will be disabled until you have connected to a robot.)
2. To stop the sequence, click Stop in the Sequence box.

Saving the sequence

Under the File menu, click Save Sequence or Save Sequence As.

Opening a saved sequence

Under the File menu, click Open Sequence.