University of Wollongong

Research Online
Department of Computing Science Working Paper
Series

Faculty of Engineering and Information Sciences

1984

Down-line loading on hero robot

John Fulcher
University of Wollongong, john@uow.edu.au

Recommended Citation
Fulcher, John, Down-line loading on hero robot, Department of Computing Science, University of Wollongong, Working Paper 84-13,
1984, 39p.
http://ro.uow.edu.au/compsciwp/9

Research Online is the open access institutional repository for the

University of Wollongong. For further information contact the UOW
Library: research-pubs@uow.edu.au

Down-line loading on Hero robot

John Fulcher

Department of Computing Science

University of Wollongong

ABSTRACT

Expansion of ET-18 (Hero 1.0) Educational Robot in order to provide

down-line loading capability from the Unix time-shared operating system is
described. This expansion has also enabled up-line saving of programs from Hero
to Unix. These facilities are implemented in EPROM form (2716) in the optional
ROM socket on Hero's CPU board. The program stored in EPROM is essentially
the same as the Utility EPROM used on the expanded ET-3400 Microprocessor
Trainers in the Department's Microcomputer Laboratory, with minor
modifications to run on Hero.
As a direct result of incorporating these facilities into Hero, the Unix
down-line load program 'dll' has been upgraded (to allow for up- line save), and
an r-file for the Unix general-purpose cross-~ssembler 'mac' has been written to
allow for the use of Robot Interpreter commands (Hero utilizes unused M6800
op. codes as commands when running in its 'Robot Interpreter' mode).

-2TABLE OF CONTENTS
1.

Background

2.

Introduction

3.

The need for Down-line Loading

4.

Implementation of Down-line Loading - Hardware

5.

Implementation of Down-line Loading - Software

6.

Additional Facilities

6.1

Up-line Save

6.2

mac cross assembler

7.

Acknowledgements

8.

References

LIST OF FIGURES
Fig.la

Down-line Loading Hardware

Fig.lb

Down-line Loading Hardware (contd.)

Fig.2

Addressing Schemes/Memory Maps

Fig.3

ACIA Registers

APPENDICES
Appendix 1

Letter to Heath Company (& reply)

Appendix 2

herodll source listing

Appendix 3

Modified m6800 r-file

Appenidx 4

Hero Robot User's Guide

-31. Background
During July 1983, the Department purchased an ET-l8 Educational Robot from Heath
Center in San Francisco, U.S.A.. The robot came in kit form, and was subsequently assembled in
August of 1983. Several minor problems manifested themselves both during assembly and after,
these being documented in some detail in Appendix I.
The main problems arose from Hero's power supply circuitry; two of the four 6V rechargeable batteries have been replaced to date (the Institute Sector, who purchased a Hero robot at the
same time, experienced even more difficulty, when the 6V battery mounted in Hero's head leaked
its contents!). A serious design flaw became apparent during our investigations into these power
supply problems, namely:- if the batteries discharge to below their 'la-voltage' setting, then the
lower their charge becomes, the higher their rate of discharge (i.e. this inbuilt 'downward spiralling' effect acts as a 'self- destruct mechanism'!). A local modification, whereby Hero switches
itself into 'SLEEP' mode upon detection of a 'la-voltage' condition, has been added to overcome
this problem.
Another problem was encountered with the Arm stepper motor; phases had to be swapped
in order to make it work.
Other major design oversights include the possibility of driving Hero's arm below ground
level when pointing vertically downwards (item 28 in Appendix 1), and the lack of touch sensors,
so that Hero wi! continue to (attempt to) drive through obstacles which have not been detected
with its Sonar sense circuitry (ultrasonic ranging only being good for large, flat surfaces such as
walls etc.).
Such design oversights are unusual in Heath products, as are the numerous minor errors in
printed circuit boards, component values and documentation encountered with Hero (see Appendix 1). It appears as though Heath were too intent on rushing into the marketplace with a
'personal/hobby robot' - the latest growth area - to such an extent that their characterisitic
thoroughness and attention to detail were compromised to some extent.

2. Introduction
As mentioned earlier, Hero is powered by four 6V sealed rechargeable batteries. Two of
these constitute the motor drive power supply, the other two the logic circuit power supply. Hero
can be run either from these batteries or by using the battery charger.
Hero's drive motor is a permanent-magnet D.C. type. A shaft encoder disk and associated
sensor are fitted to the main drive wheel, and together provide an indication of the wheel's position. All other motors are stepper motors (viz. steering, head, arllL...pivot, arm_extend,
wrist_pivot, wrist--..J'otate, gripper).
The single-board microcomputer controlling Hero comprises a Motorola 6808 c.p.u. (6800
+ internal clock generator/driver - or alternatively a 6802 without the 128 bytes of internal
RAM), 8Kx8-bit Monitor ROM (MCM68764) and 2Kx8-bit User RAM (2 x 6116).
A separate I/O board is used to interface the c.p.u. to Hero's motors, sensors and other
I/O devices. Hero's sensors comprise a timer/counter, light-dependant resistor, sound transducer
(loudspeaker), motion detector (ultrasonic transmitter/receiver) and ultrasonic ranging device.
The other I/O devices comprise a hexadecimal keypad, 7-segment display, voice synthesizer, lowbattery indicators, 'abort' button, 'sleep' switch and cassette interface.
Hero powers up in 'Executive' or 'Robot Language Interpreter' mode (although it can be
run in the faster 'Machine code' mode if so desired). The teaching pendant can be used in either
'manual' (key-4) or 'learn' (key-7) mode; in 'learn' mode, Hero will remember the various movements and is capable of repeating them at some later stage.
3. The need for Down-line Loading
At the time of writing, the Department's Microcomputer Laboratory consisted of several
Heathkit ET-3400 Microprocessor Trainers. These trainers are based on the (8-bit) Motorola
M6800 c.p.u. (moves are currently underway to upgrade the Microcomputer Laboratory to support the (16/32-bit) Motorola MC68000 for 1985). The ET-3400 trainers have been extended via
a motherboard/backplane to allow various experimental cards to be inserted for different experiments. One such experimental card - a 'Master Card' - contains a System Utility in EPROM
form. Included in this Utility are a transparent link to the host Unix operating system, and a

-4down-line load facility fron Unix to the ET-3400. Hence programs can be developed under Unix,
assemled using the 'mac' general-purpose cross- assembler, and then down-line loaded to the ET3400 trainers.
As it stands, the only facility for saving programs developed on Hero is via the audio
cassette interface. A decision was made to enhance the usability of Hero, by providing a similar
down-line load facility from Unix as exists on the ET-3400 trainers.
4. Implementation of Down-line Loading -Hardware
Hero's c.p.u. board comes fitted with a spare 24-pin socket (U417), which can support 2K,
4K or 8Kx8-bit ROM's. Since Hero's c.p.u. (6808) is compatible with the ET-3400 trainers (6800),
and moreover since the ET-3400 Expansion Utility resides in a 2716 2Kx8-bit EPROM, it was
decided to simply use this same Utility (with appropriate modifications) on Hero. (In order to
strap U417 to support 2716, jumpers J7 and J9 need to be connected).
In order to send data to (from) Unix, a parallel-to-serial (serial-to-parallel) conversion has
to take place, and moreover such serial data has to be buffered to produce RS232c-compatible
signals. This was achieved on the ET-3400 trainers using Motorola M6850 Asynchronous Communication Interface Adaptors (ACIA's) and MC1488/9 drivers/receivers. MC1488/9
drivers/receivers were again chosen for Hero, whereas Synertek SY6551 ACINs were preferred
over the M6850's used on the ET-3400 trainers. (SY6551 ACIA's had proved more versatile in a
Cambridge Ring Terminal Multiplexer application - in fact Synertek tout the SY6551 as an
enhanced version of the M6850 viz. on-chip programmable baud-rate generator, additional (command) register etc.).
Figure la shows the components added to Hero in order to provide Down-line Loading the additional components are shown in bold face. lO-way connector pins are provided on Hero's
c.p.u. board to facilitate expansion of the existing system, viz.:
P406 - I : decoded $4000-5FFF address range
- 2 : decoded $6000-7FFF address range
- 3 to 10 : address bits A7 to AD
N07 - I : *RESET
- 2: *R/W (which needs to be inverted back to R/*WI)
- 3 to 10 : data bits D7 to DO
N08 - I : decoded $8000-9FFF address range
- 2 : decoded $AOOD-BFFF address range
- 3 to 10 : address bits Al5 to A8
Ribbon-wire is run from these three connectors to the Down-line Loader Wire-wrap Board as
shown in Figure lb.
There are two signals which don't appear on these lO-way connectors, namely 02(E) and
*IRQ. Individual wires had to be run from the appropriate 6808 c.p.u. pins (37 and 4 respectively) to the connectors on the Down-line Loading Wire-wrap Board.
The MCl488 line driver requires a -12V supply, and this is derived from the + 12V supply
rail using a Signetics NE555-based positive-to-negative voltage converter (actual measured opencircuit voltage was more like -11 V, which is still plenty to drive RS232c signals over the distances
involved in this application ).
Figure lb also gives the crystal oscillator circuit used to drive both ACIA's. Also shown in
Figure lb is the layout for the Down-line Loader Wire-wrap Board.
25-pin RS232c connectors are connected to the Down-line Loader Wire-wrap Board via 16pin d.i.p.-header sockets (in order to make them compatible with the ET-3400 expansion board).
These 25-pin D-type connectors (female from Unix; male to the terminal) are mounted on either
side of Hero's rear control panel. A floating laboratory 'curly cord' connects directly from its
wall-mounting socket to the female 'Unix' D-type connector, and a female-to-male extension
cable from the rear of a laboratory terminal to the male 'terminal' D-type connector.

-5-

5. Implementation of Down-line Loading - Software

The preferred implementation of a Down-line Loader would use an interrupt-driven circular
list buffer, would transfer data in Motorola S-record format, and would incorporate errorchecking and retry. Constraints on both available Suport Group resources and time (this facility
was required by Session I 1984 for the CSCI946 Honours subject in Robotics) precluded such a
major software redesign. Instead, minor modifications were made to the already existing (and
proven) ET-3400 Expansion Utility,'6800lib', in order to run on Hero. '6800lib' occupies 629
bytes, and 'herodll' 638 bytes (of a 2K-byte EPROM) respectively.
The first modification required was in the Memory Map; Hero's Down-line Loader commences at location Ox2000 rather than OxAOOO as on the ET-3400 trainers. Figure 2 compares the
Memory Maps of both the ET-3400 and Hero robot (ET-18).
The Hero Transparent Link - 'herodll' - Source listing is given in Appendix 2.
Modifications to the ET-3400 Utility - '6800lib' - are indicated by an '*' in the comment field,
otherwise the two are identical. '6800lib' comprises a collection of subroutines, linked together by
a Jump Table at its start. Modifications to '6800lib' were required because of the different
Memory Map used on Hero, the use of SY6551 ACIA's rather than M6850's, and other reasons
to be elaborated upon shortly.
Figure 2 indicates that the ACIA addressing scheme for Hero is in the range Ox4000-5FFF,
compared with Ox840x for ET-3400. Details of ACIA addressing are given in Figure 3, together
with the individual addressing of both types of ACIA - M6850 and SY6551. Thus the values
'rxrdy' and 'txrdy' need to be altered from those used on the ET-3400 trainers.
Naturally enough, the 'monitor' address had to be altered (from OxFCOO on the ET-3400 to
OxF37E on Hero), as well as 'org' (origin) (from OxAOOO to Ox2000).
The very first instruction in 'herodll' (in the 'initialisation' routine) is op. code Ox83. This is
interpreted by Hero as a 'change from interpreter to machine-code mode' command. This is
essential for the successful running of the transparent link back to Unix, since it runs at a prohibitively slow speed in 'Interpreter' mode. (Actually characters entered via an ASCII keyboard viz. at slow speed - will be echoed on the VDU screen, however object files down-line loaded
from Unix - at 1200 baud - will drop every two characters out of three, on average). Likewise a
'swi' instruction - op.code Ox3F - is inserted in the 'branch under unix control' routine to get
back into 'Robot Interpreter' mode as soon as an object file has been down-line loaded from
Unix. The 'unixinit' and 'terminit' routines needed to be modified, due to the different bit positions (and the additional register) of the SY6551, compared with the M6850 ACIA, and these are
detailed in Figure 3.
In the 'transparent link' routine, a slightly different method of obtaining the necessary
status bits is required, because of different status bit positions in the M6850 and SY6551 ACIA's
(ref. Figure 3).
As a result of the modifications made to the 'branch under unix control' routine, involving
returning Hero to 'Robot Interpreter' mode, it is no longer possible to use the 'dll_G_Ox(addr)'
escape option as it is on the ET-3400 trainers. Nor can the user return to this routine as can be
done on the ET-3400's.
6. Additional facilities
6.1. Up-line Save
Besides providing Down-line Loading facilities from Unix to Hero, it is desriable to also
have Up-line Save capability from Hero to Unix. This facility was provided in the original
'68oolib' Utility, but 'dll' under Unix did not support Up-line Save. As a direct result of providing Down- line Loading onto Hero, 'dll' was overhauled and Up-line Save incorporated (as well
as catering for Motorola S-record and Intel Hex formats, in addition to the already existing
University of Wollongong Computing Science m.out format).

-6-

6.2. 'mac' cross-assembler

In order to allow for the development of application programs for Hero under Unix, the
'mac' general-purpose cross-assembler was modified accordingly. More specifically, the Motorola
m6800 r-file was expanded to include Robot Interpreter Commands (Hero utilizes unused 8-bit
M6800 op. codes as Robot Commands). Programs developed under Unix are then assembled
using the following command, before down-line loading:
($) mac -1 hero file.s file.out (to assemble it)
(followed by: ($) dll file.out, to load it)
A copy of the modified M6800 r-file is given in Appendix 3.
A copy of the 'Hero Robot User's Guide' (available on Unix in the Ipub/946 directory) is
given in Appendix 4, and includes a summary of the Robot Interpreter Commands available on
Hero.
7. Acknowledgements
The author would like to express his gratitude to Michael Milway for use of his '6800lib'
Utility program, his tutoring in the use of this program as well as use of his EPROM Programmer, construction of Hero Robot's Arm, and his invaluable assistance in debugging 'herodll'.
Thanks are also due to Ross Nealon for his overhaul of 'dll', his asistance with
modifications to the 'mac' M6800 r.file, and for lugging Hero back with him from his visit to
U.S.A..
8. References
1. ET-18 Robot Technical Manual (1983)
2. ET-18 Robot User's Guide (1982)
3. Motorola Microprocessor Data Manual (1981)
4. ET-3400 Microprocessor Trainer Manual (1977)
5. Synertek MOS Data Catalog (1979)
6. Signetics Analog Data Manual (1977)

5- - - - - - - - - . :6:::..jf
VNAr:-

---no

CHIP SELL

00 75

dL{)S~l~j:

I I-~
170

A15 25,...2

(from U414C

lJ
s.Af!1

T,~ lili------- - - -- -- -~.

U417 OPTIONAL aELo

,.....

72 1

'JO

4~"

/2716]

R0t1#2

J)~ 6"".s''l. 3~Tgla~Q.f%

Pf!08

164

-'18

lr4' -$8COO-9Fff
m18~-+- _ _-t--t-'"=-~:_:tA_OOO_-8_FF:_F-+++++++++++-++-+-+-+-+-+-+-",~

~ U402I.1;f-----++--t+l-----+++++++++-+-+-+--H-+-+-H~~~
,-' LS244t-7------+-+---t<>t-----+-+++++-+-+-f--,I--+--+-+-++++++,.....

A8

~----+-+-_te+---_+_++++_I_+_++_I_+--+-+-+-+-+-+-+~~

~----++-_+_t----+++++++++-e---++-+++-+-+--+---

i-"'-----+-t----:-::-i4+----++-+-+-+-++-++---+-+-+-+-+-+-+-+---

--'

10

1llf4l.2J
~

1 ..... Z4000-

A7 16".-2

'--~$5FFF ---.---+-+-+-+-+-+-t-+----t-+--1f-H~H--...

'-_-=--_~~HI-z.~'6()-0-0_- 7_''I_ FF-+++++++........-_--+-+-+-+-+-+-++_+

1'7.18;.--

U401

U404

~_--+--+++++-_---+-+-+-++-++_+_+

I-';!'--

:--'

..-" 15244~-------t-<~---1--+--+-+------+-t--1r+++-+-':--rl

116808

'---':

AO ---'

10 "-

1l1f4lJ

P406

IRt1r4_ _7

....-++-

11

.--:.7~O'+_7+_L-S-O-4-__.._++--++++++++_++

3_
7 --------1'-t-i-+------+-t----~++--_t_+_+_t_+_+-+-+_++
(J!)2) E r-

DO F=;3.:;.,3_ - - t.....
4-/------t--t-i-+-t---------+-t----++-+-+-+----t--+-+-t-f-t-f-H'

D7

?t
.17

A-1
~ - ~4
-#:l AW7"""'fu:.

RE~;~ U424A

1!4

'RES 02 RSO DO

D7 2

SY6551-A
[unix}

~_--J40

98

tfSR

'ref. fig. lb)

cSld-

i5fD RxO TxD

~

177 9

"""'-/ .......,.,

XTAL

CSOF-

'V7

12 10

14 ~8.?)~ ~ 4
"", 918
I
l1i ~/k IRQ RS1 DO
D7 2
I
__ ~
S Y6551 .. a CSOF-----' I
1
[tty]
[51 3
J
tJSR ITS 1JITJ RxO TxD

__

16-pin D.I.R
HEADERS
.

11

I~

77

,tf

10

-c::::::;7

~ ~0177l72
6
:~~~ 1~'-t(~(",.-t"l/ ~[1488 lH. /~/" ~~
2

'ref. Fig. lb)

11Q 12

17 9

""" ...........

(i.f1489

13 I

'70

L?'-- I r - - - - - - - - - '
~
2 16 5 3
2 16 5 3
I

fROM
UNIX

25-pm D-fYP8>...2 3 7 20/

CONNECTORS TX RX ~ OTR (female)

-I

\2 3

I
J

TO

720jTERMINAL

TX RX ~DTR

(male)

Figure 1a - Down-line Loading Circuitry

fohn 14 (;

fii,

+12V TO -9V CONVERTER:

+

Vee (12V)

O'5mSec

V~( '1:~lJl

1K

7
"---'1
33K

:ES
DISCH O/P~3

f= 1-49/(RA+2RB)[

= 2-22 kHz

lN4148
100uf
-;+ \---..---<t---1C

NE555
6

""'---'1 THR

2
CON
"'-""-iTRJG {j
O01uF
1

1N4148

100uF

O.OluF
(ref. p.729 Signetics Analog Data Manual)

rSY6551) CRYSTAL OSCILLATOR:

510

1-8432 HHz

01------.

to X TAU input of
5Y6551'5 (viz. pin-6)

74L S04

150pF

fWIRE- WRAP) BOARD LAYOU T:

1N4148

100

--en-

1K 33K

0 nOn nDo-m
10K~1N4148 V~

510
-e=J- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - oOV to P405-.

ILS04)
----- SY6551-A
I XTAL I
c:::l

150PF

SY6551-8
( tty)

(unix)

~ 11488 )
- - - - - - - - - -

1555J

o+12V to P201- - - - -o+5V to PJ,.05

Riw IRQ

$4000

t-r--.-rTt-r-I""'lI+TTT'rh~r7l

~'

to P406

to P407

Figure lb - Down-line Loading Circuitry (continued)

john 15.

ET-3400 EXPANSION:
0000
USER R.A.M.
(197 bytes)
00C4
00[5 59 byfes reserved
for MONITOR
OOFF
0100 (optional) USER
01FF R.A.M. (256 bytes)
8000 PI.A.
8003
8080 PI.A.
8083
8100 PI.A.

A-I.e.d.'s
keyboard
rows/column 5

8200 MUSIC
8207
8280 MUSIC

A - tur fie aP

2000

timer - A
timer - B

tx/rx dafa

8800 P I. A. slofcar mafrix

B 900 ANALOG D- to - A
P1.A.
8980
9000 SYNCHRONOUS
9080 INTERFACE
un i va c
9100
unix
9180
9300 PEMUX BUS [MULA TOR
9380 E.F!R.O.M. PIA's(2)
TRANSPARENT LINK
(68001ib Utility)
(nof useable)

KEYBOARD

(2Kbyte) ADO/TIONAL

2716 (R.O.H. 1/2)

TRANSPARENT

2800

)
3FFF ( at $2000
4000 TRANSPARENT
LINK
A.CI.A.
5FFF ADDRESS1NG
6000
7FFF
8000
9FFF
AOOO
BFFF
[000
[003 KEYBOARD

[110

DISPLAY

[200
[220
C2AO
[300
[FFF

interrupt 5 fa tus reg.

experim. board out
experim. board

in

I}
}
}

decoded on.
P406

P406
P408
P408

11 0 pori,

DOOO

DFFF

fOOD

(8K)

MONITOR
R.O.H.

DI SPLAY

pin - 18 --7'-J 2

(R.O.H. # 1 )

(not useable)

(FOOO)

FCOO MONITOR R.O.!'1f1Kbyte}

FFFF

pin-20~) 12

(redundant conditions)
(due to 2716 strapping)

(not useable)

C1FF

pin-18 -?-) 7
pin-21-."",.J9

L1NKI UTILITY

B -turtle i/p

8300 SIMPLE I/O sltlift:he~

display
8380
8400 A.C.I.A confl/sfafus

[000
[003
rOOF
[110
[170

jUffiRers:

A music
B -bar code

8287

AOOO

(re5erv~d for)
0000
MONITOR
003F
0040 USER R.A.M. # 1
(6116)
07FF
0800 USER R.A.M.1I2
(6116)
OEEO
(reserved
fof')
OEFD
MONI
TOR
OFFF

B-'7:-seg.

8180 PI.A.

8403

HERO fET-18l:

----------

pin -21 ~J t.

(ItK)

---------(FBOO) (2K)
FFFF

Figure 2 - System Memory Maps

pin - 20---J6

ACIA
REG. IRS)
SELEC T SELEC

ET-3400 EXPANSION M6850:

14

A15

I 1 01

13

12

11

10

t
8

01 0

TERMUX

SY6551:

A1

AO

$81,.01 .

Tx I Rx Data

$8402:

Con trol I Sta ius 1

$8403:

TxlRx Data

AUA SELECT

A 15

14

13

12

11

10

....-----A----7
6

RS1

AC lA-A
unix

ACIA-a
tty

RSO

A1

A0

write reiJ{j

TxlRxDat d

0
o

0
1

0
o

resetls tatus
commilnd

control

A1

(strappable)

HERO fET-18) 5Y6551:

A15

14

13

12

11

10

($4000-5FFF decoded)
(
)
on P406-1

bit-?
IRQ

REGISTER
6
5
4

bit- 0

parity Rx fram.
TxD RxD
error olrun error CTslDCD empty fu (f

CONTROL
blt-7 6

REGISTER
5
4

0
0

AU A - A
unix

AUA-S

unix

ilY

4000
4001

4004
4005

Data reg.
Status reg.

4002

4006

CommiJnd reg.

4003

4007

Control reg.

STA TUS
bit-?
6

tty

bit- 0

IRQ DSR

Rx int Tx control 8 bits, no parity, counter +6.

(1200 bau d
disabl RTS IO,no int
1 s top bit

SYNERTEK 5Y6551 A.CI.A. :

MO TOROLA M6850 A.CI.A.:

STATUS

CONTROL
bit-7
6

0
bit- 0

1 stop 8-bit word- Rx etA B.ud- rate genera tor

I eng th
= Tx
(1200 baud)
bit

COMMAND
bit-7
6

REGISTER
5
4
3
2
o
norm; Tx in is. disa~ IRO DrR
parity check
I/echo) RTS low' disab ready

Figure 3 - A. [.I.A. Addressing

john 18.6.84

APPENDIX

HEATH COMPANY' BENTON HARBOR, MICHIGAN 49022

TLX 729421

November 3, 1983

MRJaiN FOICHER

THE UNIVERSITY OF

V\O~G

P.O. BOX 1144

WOLLONGONG N.S.W. 2500
AUS'l'RALIA

Dear Mr. Fulcher:

Thank you for writing concerning your experiences while assembling the ET-18
Educational Robot.
Your information, which is a valuable source of feedback, is being forwarded
to our Quality Assurance Department and Manual Department for evaluation.
Assembly manuals for Heathkit products are under constant revision to clarify
and simplify construction of the products. Component values are sometilnes
changed to improve performance of the robot. For this reason, the canponents
installed on the circuit board may not agree with the value shown on the
circuit boards.
Thank you agabn for your interest in Heath products.
Sincerely,

r;I:'.!
.,I

'

Lt.=on Cray
Service Supervisor

LC:ta

Heathkit'

"

(;'7

The University of Wollongong

Department ot Computing Science
Telephone (042) 282981

P. O. Box 1144
Wollongong N.S.W. 2500
Australia
Telephone (042) 297311
Telex 29022
Cable Uniofwol
In Reply Please Quote:

JF:seb

14th October 1983.

~1e Director of Customer Service,
Heath Company,
Benton Harbor MI 49022.
U.S.A.

Dear Sir,
In July of this year,' this University purchased two ET-18 "Hero"
Robot kits from the Heathkit shop, Redwood City, California, complete
with arm and voice options.
I thought you might appreciate some feedback on d~fficulties/
problems we encountered during the course of assembling these Robots.
Documentation we received as part of the above kit consisted of
the following.

(i)
(ii)
(iii)
(iv)
(v)

(vi)
(vii)

Assembly Manual + Pictorial Booklet (1982)

Technical Manual (1983) + Revisions,
Arm Manual + Pictorial Booklet (1982) + Revisions
Voice Manual + Pictorial Booklet (1982)
Voice Dictionary (1983)
User's Guide + Schematic (1982) + Revisions
4 Circuit Diagrams + Block/Interconnect
.diagram + Revisions.

As you can see from the above, we did not receive revisions for the
Assembly Manual, and this might explain some of the difficulties encountered, towit:
1

Most of the single sided p.e.B's showed incorrect component values

for example on the sense circuit boarq R618 was shown as 47~instead
of 10~and R633 was shown as a 2M control instead of SOOK. On the
motion circuit board R1402 was shown as 47K instead of 68K and Rl40l
~s 47--K instead of 33K, and so on with the other single-sided P.C.B's.

2.

Over illld above these minor errors, two of these single-sided P.C.B's
should really be re-designed to incorporate "add-on" components onboard, rather than soldered to the foil side of the boards as at
present, namely C6l6, D601 and D602 on the Sense Circuit Board
and D707-11, D7l6-9 on the Arm Drive Circuit Board.

3.

Likewise, the Display Circuit Board should be re-designed to delete

R1202, D1201 and C1202, none of which are in fact actually used.

4.

p.38. Asserr~ly Manual - L201 may not be installed either way; it

will only fit one way

5.

p.80 Assembly Manual - U310 should be U316 (and vice versa).

6.

p.B3 Assembly Manual - it might be helpful here to mention

that the C.P.U. Board resides in the final pack to the
right of Pack #10 (173-832 181-3885).

7.

p.123 Assembly Manual - the brown conductor (with capacitor C3)

should be inserted into PI before any of the other conductors,
otherwise the brown conductor will get stuck on the wrong side of
the other conductors.

8.

P.l27 Assembly Manual - even though the insulation sheet is affixed

to the top of the rear whell bracket, the nuts holding this bracket
to the Robot Base are still exposed and can come into contact with
battery terminals when batteries are shifted into and out of the
battery holder.
Insulation tape should therefore be used to cover
over these nuts - particularly the central one.

9.

P.127 Assembly Manual - the three pieces of foam should be attached

to the battery holder before it is mounted on the rear wheel bracket
(much easier this way).

10.

p.13l Assembly Manual - the 8.32 setscrew pin does not belong in pack
#14; it is used in assembling the Robot's head and therefore should
by rieJhts appear in Pack #15.

11.

p.137 Assembly Manual - the side panel mounting brackets cannot

necessarily be placed so their ends are even with the corners of
the base plate - they have to go where the holes are positioned.

13.

p.186 Assembly Manual - it might be less cqnfusing to say that the

top of the pivot bearing is the side opposite the ball bearing race,
rather than the side with the greatest surface area.

14.

P.196 Assembly Manual - why install both 8-32 x 1/4" allen head setscrews, when on the next page one has to be replaced by a 8-32 set
screw pin (the one left over from Pack #14)7

15.

P.2l5 Assembly Manual - perhaps it would be an idea to mention earlier

on p. 124 that the main fuses should not be installed at that stage,
(viz. inunediately following the installation of the fuse holders in
the base)?

16.

P.222 Assembly Manual - it was found that both R202 and R225 had to
be adjusted to their full extent in order to achieve 5.2V, let alone
the desired 5.6V; perhaps consideration should be given to altering
the values of R201 and 1<224 from lK, in order to provide some
proper adjustment in the above two controlsI'

17.

P. 224 Assembly Manual -the function of the wire jumper on the

display board is not clear - the display came up with "Hero l.iD"
whether this jumper was connected or not.

18.

P.226 Assembly Manual - the sentence "to read the time

appears twice in this section on time set.

1.9.

P.22S Assembly Manual - it was almost impossible to set the sound

control to either combination shown in the inset of pictorial 16-10
the only way to keep the lower LED's alight was to ensure that at least
one of the higher/lower LED's was also 1.it up - otherwise the cOW1ter
counted down until no LED's remained alight.
The sound control
was thus left set at its midpoint position (i.e. R633 is too coarse
for accurate setting).

reset"

. .... /3

20.

P.229 Assembly Manual - it would be a good idea to adjust the sonar 'I'X
for maximum input on the sonar RX before running this sonar test
proqram, ~ la p.48 of technical manua:l(Lhis would avoid unnecessary
"troubleshootintJ" of a sonar system which is in fact fully functional!).

21.

P. 230 Assembly Manual - the teaching pendant check program contains

an incorrect Hex code, viz step No 10 should be 4E and not AE as shown
(t.his was found by comparison with the program on p.58 of the rrechnical
Manual) .

22.

p.57 Arm Manual - should "operation manual" be "technical manual"?

23.

p.B Voice Manual - Why secure the speaker baffle with masking tape
or a staple (its adhesive backed, after all)?

24.

P.2 Voice Dictionary - it might be helpful to add two notes here, viz.
(i) 20FE is "J2..0t an address which this speak program jWllPS to/waits at
after completing its speech, but rather 20FE is a 'Ei800-assembly
instxuction (branch relative - to itself, vi21 an infinite loop).
In order to link speech routines to other program routines, have
to replace this by 7E (AD DR) - viz Jwnp extended to the next
:t"outine.
(il) 'fhe Hex codes shown for the phonemes (& words) in this
dictionary are at the lowest of the four pitches possible; to
change individual phonemes to higher pitches, simply add 4~, 8.0
or C.0 to t_he basic hex code indicated.

25.

P. 39 'l'echnical Manual .- the revised version of the inset in "fig 4

is somewhat of a mystery!
Batteries Bl and B2 were connected using
a 4" piece of large red wire, as per p.137 of the Assembly Manual which also conforms with the Block/Interconnection Diagram (both
original and revised versions) viz 81 and 82 connected in series.
'1'he revised inset d:t"awing on Fig 4 however shows two large green
wires heading off from Bl and B2 to the rear of the mounting bracket!?
('rhis pUZZling connection is also shown this way on the revised
illustration Booklet which accompanies the User's Guide). What's
going on here?

26.

P.G) 'l'f~chnical Manual - check for +SV at P201-11 should be +lV, surely"?
(see p. 223 of aSf:;embly manual).

27.

'1'he vertical mark on the side of the 'reaching Pendant rotary switch
0
knob is 180 out of phase from where it is intended to be.

28.

'I'he fact that the Arm can extend below grolUld level when pointing
vertically down would appear to be a design oversight.

29.

It might be quite in order, but the sound of motors trying to drive

past their physical limits during initialization is a little
disconcerting, to say the least!
Can any damage result to the
motOJ:s and associated driving circuitry in the long term?

30.

Apart from the odd nut and washer, all components listed in the
Assembly Manual were supplied with both Robot Kits - the only
exception to this being the 12 and 15 hole connector
(JIO, J 9)
in one of the ki ts i they didn' t match t,he pendant and charger
plugs.
. .... /4

31.

Fuses FL dnd 1"2

Robots.

blew

frequently duri.ng initial use on one of the

I trust the above COllunents prove helpful in any future changes you
might make to E'l'-18 Robot Hardware and/or documentation.

Yours faithfully,

John Fulcher.

May 22 10:18 1984

/B/sys/usr/john/robots/herodl1.s Page 1

APPENDIX

,.*********************************************************************
;NOTE: Hero DOWN-LINE-LOADING/UP-LINE-SAVE is simply mjm's 68001ib.s
;Heathkit ET3400 expansion monitor, with minor modifications to run
ion ETl8 Hero Robot.(changes are indicated by a '*' in comment field).
;
John Fulcher 3.5.84

,.*********************************************************************
;This file contains the downline loader/transparent link and lots
;of nice 10 routines to make life easier.
;AII the routines are referenced through a three byte entry in a jump
;table at the beginning of the library. This jump table should remain
;inviolate although the actual routine may be changed or shuffled.
;
Michael Milway 22.11.83

,.*********************************************************************
;equates
;(note: herodll uses 6551 ACIA's rather than 6850 used on ET3400)

,
controlu
equ
contralt
equ
statusu
equ
statust
equ
equ
datau
equ
datat
monitor
equ
commandu
equ
commandt
equ
rxrdy
equ
txrdy
equ
;
;variable storage

Ox4003
Ox4007
Ox4001
Ox4005
Ox4000
Ox4004
Oxf37e
Ox4002
Ox4006
Ox08
OxlO

;*unix ACTA control reg

;*terminal ACIA contol reg
;*unix ACIA status register
;*terminal ACIA status register
;*unix ACIA data register
;*terminal ACTA data register
;*ET18 Hero robot monitor viz.(FFFE/F)
;*unix ACTA command reg (6551)
;*terminal ACIA command reg (6551)
;*rx ready status bit (l=RxD full)
;*tx ready status bit (1=TxD empty)

tempI
equ
addr
egu
coun t.
egu
addrconv
equ
;
;6800 I/O library
seg
org
jumptable
.transp
jmp
.unixinit
jmp
termini t
jmp
.putline
jmp
.getline
jmp
. ~lIr4
jmp
.wr2
jmp
,putchar
jmp
.getchar
jmp
jmp
.putc
.getc
jmp
jmp
.putu
jmp
.getu
jmp
.getword
jmp
.getbyte
jmp
.getaddr

OxlOO
OxlO2
OxI04
OxlO6

;used
;used
;used
;used

1
Ox2000

;*for ET18 Hero robot

transp
unixinit
terminit
putline
getline
wr4
wr2
put char
getchar
putc
getc
putu
getu
get~"ord

getbyte
getaddr

by
by
by
by

getline, wr4, getword

getaddr, transp
transp
getaddr

;transparent link
;initialise unix ACIA
;initialise terminal ACIA
;send line to terminal
;get line from termninal
;send 16 bit hex number to terminal
;send 8 bit hex number to terminal
;send character to terminal
;get character from terminal
;send raw character to terminal
;get raw character from terminal
;send raw character to unix
;get raw character from unix
;get 16 bit word from unix
;get 8 bit byte from unix
;get modulo 16 bit address from

May 22 10:18 1984

.tohex
.toascii
tolower
.ishex
.ls16
.wait

jmp
jmp
jmp
jmp
jmp
jmp

IB/sys/usr/john/robots/herodll.s Page 2

tohex
toascii
tolower
ishex
ls16
wait

;input buffer
;convert ascii character to hex
;convert hex digit to ascii
;convert upper to lower case character
;check to see if hex digit
;shift 16 bit reg AlB 4 bits left
;time waste loop

;The routines

,.********************
;transparent link
;downline loader
;upline save
;branch to user program

,.********************

DLE
CRTLA

;equates
equ
Ox10
equ
OxOl

,
,.********************
,
;initialisation
transp
dc

Ox83

;* get out of robot interpreter mode.

jsr
jsr

.unixinit
.terminit

;* (ref. p.29 Hero Technical Manual)

;initialise unix ACIA
;initialise terminal ACIA

,.********************

,
;transparent link
reentry
;reentry point from load and save
testu
Ida
and
beq
jsr
c.mp
beq
jsr

a,statusu
a, flOx08 '
testt
.getu
a, flDLE
command
.pute

;data from unix?

;*mask to find status bit
;*if clear, then no data
;get char from unix
;data link escape?
;yes then coramand scheduler
;eeho to terminal

Ida
and
beq
jsr
cmp
beq
jsr

a,statust
a, flOx08
again
.getc
a, flCRTLA
exit
.putu

;*data from terminal?

;*mask to find status bit
;control A character?
;yes, then go to Hero monitor
;echo to unix

jmp

testu

;play it again sam

testt

again

May 22 10:18 1984

/B/sys/usr/john/robots/herodll.s Page 3

exit
Idx
jsr
jmp

Ilmesgbgn
.putline
monitor

;sign off message

,
,.********************
; command
command
jsr

.getu

and
cmp
beq
cmp
beq
cmp
beq
;insert
jmp

a,IIOx7f
a,II'B'

branch

;next char from unix

;branch under unix

a,II'L'

load

;down line loader

a,II'S'

save
;upline save
branches to other routines here
reentry
;not a valid command

,.********************
;branch under unix control
branch
jsr
swi

.getword

jmp

O(x)

;get 16 bit address from unix

;*back to robot interpreter mode.
;*(ref. p.23 Hero Technical Manual)
;*NOTE: this means that can't use
;*dll G Ox2000 escape option as
;*can on ET3400 trainers
;call user program as a subroutine
;program will be terminated by reset,
;branching to Hero monitor
;*(user can't return here as on)
;*(ET3400 monitor, hence jmp not jsr)

,.********************

;downline load
load
jsr
stx
jsr
stx

.getword
addr
.getword
count

;get a 16 bit word from unix

;store start address

jsr
Idx
sta
inx
stx
Idx
dex
stx
bne
jmp
;return

.getbyte
addr
a,O(x)

;get next byte

;get dump address

;store byte count

Iaad2

reenrty1

addr
count
;one less to go
count
load2
;i count not zero get next byte
reentry
to transparent link

May 22 10:18 1984

/B/sys/usr/john/robots/herodll.s Page 4

,.********************
;

;upline save

;*NOTE: Ross to modify 'dll' program

;*to appropriate form to incorporate
;*this UPLINE SAVE facility (14.3.84)

jsr
stx
jsr
stx

.getword
addr
.getword
count

;get address from unix

ldx
Ida
and
ror
ror
ror
ror
add

addr
a,O(x)
a, tlOxiO
a
a
a
a
a, {,lOx20

jsr
jsr
Ida
and
add
jsr
jsr
inx
stx
ldx
dex
stx
bne
jmp

.putu
.getu
a,O(x)
a, tlOxOf

save
;get byte count

savel
;high order nibble

;shift 4 bits left

;convert nibble to downline
; loader forma t
;send to unix
;wait for echo
;low order nibble

a,IIOx20

.putu
.getu
addr
count
count
savel
reentry

;more to send?

mesgbgn
de
"\r\nHERO MONITOR.\O"
;unixinit
intialise unix ACIA
; inputs:
none
;outputs:
none
;calls:
nothing
;destroys:
A
;*NOTE: 6551 ACIA used rather than 6850, as on the
;* Heathkit ET3400 expansion
unixinit

Ida
sta

a,statusu

Ida
sta

a,commandu

Ida
sta
rts

a,110xOO

a,1I0xOb

a,110x18

a,controlu

;********************

;*RESETS all registers prior to

;*initialisation (any data written
;*to status reg does the trick)
;*initialise unix ACIA- parity
;*disabled, normal mode, interrupts
;*disabled, dtr low.
;*set ACIA for 8-bits, 1 stop bit,
;*rx clk = tx elk, 1200 baud.

May 22 10:18 1984

/B/sys/usr/john/robots/herodll.s Page 5

;terminit - intialise terminal ACIA

;inputs:
none
;outputs:
none
;calls:
nothing
;destroys:
A
;*NOTE: 6551 ACTA used rather than 6850, as on the
;* Heathkit ET3400 expansion
terminit
Ida
sta
ida
sta

a,IIOxOO
a,statust
a,IIOxOb
a,commandt

Ida
sta
rts

a,IIOx18
a,eontrolt

;*RESET all ACIA registers

;*initialise terminal ACIA- parity
;*disabled, normal mode, interrupts
;*disabled, dtr low.
;*set ACTA for 8-bits, 1 stop bit,
;*rx elk = tx elk, 1200 baud.

,
,.*******************
,
;getline - get a line of text from terminal
;inputs:
X = start of buffer
X = end of string
;outputs:
getchar, putchar
;ealls:
;destroys:
A
getline
stx

tempI

save buffer start

jsr
cmp
bne

.getchar
a,-It'@'
getlin.3

kill?

ldx
Ida
jsr
bra

tempI
a,fI'\n'
.putehar
getlin.l

point to start again

cmp
bne
Ida
jsr
Ida
jsr
dex
cpx
bpI
Idx
bra

a,lt'\b'
getlin.5
,
a, -It'
.putehar
a,1r\b'
.putehar

erase?

getlin.l
get next input char

getlin.3

tempI
getlin.l
tempI
getlin.l

not past start of line

restore buf ptr
go for more

getlin.5
sta
inx
cmp
bne
elr
rts

a,O(x)
a,-II'\n'
getlin.1
O(x)

x points to buffer
bump pointer
end?
no loop for more
nul at end of str

May 22 10:18 1984

/B/sys/usr/john/robots/herodll.s Page 6

,.*******************
,
; putline - send string, null terminated, to the terminal
X = addresss of string
;inputs:
none
;outputs:
putchar
;calls:
A,X
;destroys:
putline
Ida
bne
rts

a,O(x)
putl.l

get i/o data

not nul - write

putl.I
lnx
jsr
bra

bump ptr
.putchar
put line

,.*******************
;getchar - get a character from the terminal
;inputs:
none
;outputs:
A = character
putchar, getc
;calls:
A
;destroys:
getchar

getch.O

jsr
cmp
bne
Ida
jsr

.getc
a,II'\r'
getch.O
a,II'\n'
.putchar

get cons char

CR?

no!
echo

rts

,.*******************

;putchar - send a character to the terminal

;inputs:
A = character
none
;outputs:
putc
;calls:
nothing
;destroys:
putchar

putch.O

psh
jsr
pul
cmp
bne
Ida
jsr
Ida
rts

a
.pute
a

a,II'\n'
putch.O
a,II'\r'
.pute
a,II'\n'

,.*******************
;getc - get raw character from terminal
;inputs:
none
;outputs:
A = character
;calls:
nothing

save character
write it
fetch

NL?
no
echo CR as well
was NL

May 22 10:18 1984

/B/sys/usr/john/robots/herodll.s Page 7

;destroys:

gete
Ida
and
beq
Ida
and
rts

a,statust

get status

a,llrxrdy

getc
a,datat
a,IIOx7f

wait for char

get char
strip parity

,.*******************

;putc - send raw character to terminal

;inputs:
A = character
;outputs:
none
;calls:
nothing
;destroys:
nothing
pute
psh

save

Ida
and
beq
pul
sta
rts

a,statust
a,/ltxrdy
putc.1
a
a,datat

status

putc.1
not ready - wait
get data
write

,.*******************

;getaddr - extract modulo 16 number from input buffer

;inputs:
X = current point in buffer
;outputs:
addr = 16 bit value
;X = next character in buffer
;calls:
ishex, ls16, tohex
;destroys:
A, B, X
getaddr
c1r
c1r
clr

addr
addr+1
addrconv

Ida
jsr
beq
inc
Ida
Ida
jsr
sta
sta
Ida
inx
jsr
ora
sta
bra

a,O(x)
.ishex
getadr.r
addrconv
a,addr
b,addr+1
.ls16
a.addr
b.addr+1
a.O(x)

get character
is hex digit?
no
mark conversion made

.tohex
a,addr+l
a,addr+l
getadr.1

convert char
or in new digit

Ida

a,addrconv

address converted?

save area

getadr.1

left shift 4 bits

save addr

getadr.r

May 22 10:18 1984

/B/sys/usr/john/robots/herodll.s Page 8

rts

,.*******************
;wr4 - write four digit hex number
;inputs:
X = number
;outputs:
none
wr2
;calls:
nothing
;destroys:
wr4
psh
stx
Ida
jsr
Ida
jsr
pul
rts

a
tempI
a, tempI
.wr2
a,templ+l
.wr2
a

save a
store for later
get hi byte
get 10 byte
restore

,.*******************

;wr2 - write two digit hex number

;inputs:
A = number
none
;outputs:
;calls:
toascii, put char
A
;destroys:
wr2
psh
lsr
lsr
lsr
lsr
jsr
jsr
pul
and
jsr
jsr
rts

a
a
a
a
a
.toascii
.putchar
a
a,tlOxf
.toascii
.putchar

save for later

get nibble

convert to ascii
restore

,
,.*******************
,
,
; tolower - convert upper case character to lower case
;inputs:
A = character
;outputs:
A = character
;calls:
nothing
;destroys:
A
tolower

tolwr.O

cmp
bls
cmp
bhi
add
rts

a,II'A'-I

tolwr.O

no

a,II'Z'

tolwr.O
a,It'a'-'A'

;*******************

no
yes

May 22 10:18 1984

/B/sys/usr/john/robots/herodll.s Page 9

convert hex digit to ascii character

;toascii
A = digit
jinputs:
A = character
;outputs:
nothing
;calls:
nothing
;destroys:
toascii
cmp
bhi
add
bra

a,119
toase.1

add

a,II'A'-lO

a,rO'

just digit

toase.2

toase.l
letter

toasc.2
rts

,
,.*******************
,

tohex

;tohex - convert ascii character to hex digit

;inputs:
A = character
joutputs:
A = digit
;calls:
nothing
;destroys:
A
ascii->hex
tolower
jsr
convert to lowercase
cmp
a,1f'9'
tohex.l
bhi
a,II'O'
digit
sub
bra
tohex.2

tohex.l
sub
add

a,II'a'
a, III 0

letter

tohex.2
rts

,
,.*******************
,
;ishex - check if hex digit
A = digit
jinputs:
;outputs
A = 0 if false
;A = 1 if true
tolower
;calls:
A
;destroys:
is hex digit?

ishex
.tolower

jsr
cmp
bls
cmp
bis
cmp
bis
cmp
bis

ishex.no
a,II'9'
ishex.yes
a,II'a'-l
ishex.no
a,II''
ishex.yes

Ida
bra

a,IIO
ishex.l

a,II'O'-l

ishex.no

May 22 10:18 1984

/B/sys/usr/john/robots/herodII.s Page 10

ishex.yes
ishex .1
rts

,
,.*******************
;ls16 - shift 16 bit number in A/B 4 bits left
;inputs:
A high order byte
B low order byte
;outputs:
A = high order byte
B low order byte
;calls:
nothing
;destroys:
nothing
ls16
asl
rol

as1
rol

asl
rol
asl
rol
rts

b
a
b
a
b
a
b
a

make room for nibble

,.*******************

;wai t - waste time

;input:
X = time count
;outputs:
none
;caIIs:
nothing
;destroys:
X
wait
dex
bne
rts

wai t

,.********************
;getu - get char from unix
;inputs:
none
;outputs:
A = char
;calls:
nothing
;destroys:
A, flags
getu
Ida

a, Ilrxrdy

bit
beq
Ida
and
rts

a,statusu
getul
a,datau

getu1

a,flOx7f

;*check for new char(RxD full)

;*wait till b3 = 0 (bO on 6850)
;get char
;mask parity

,
;********************
;putu - send char to unix

May 22 10:18 1984

IB/sys/usr/john/robots/herodll.s Page 11

;inputs:
;outputs:
;calls:
;destroys:

A = char
none
nothing
nothing

putu
psh
Ida

a
a,lltxrdy

bit
beq
pul
sta
rts

a,statusu
putu1

putu1

;check for empty transmit buffer

a,datau

;sendchar

,
,.********************
;getword - get a 16 bit word from unix
none
;inputs:
X = 16 bit word
;outputs:
byte
;calls:
A,B,X,flags,templ
;destroys:
getword
jsr
sta
jsr
sta
ldx
rts

.getbyte
a,templ+l
.getbyte
a, tempI
tempI

;get low order byte

;get high order byte
;word in X

,.
,.********************

;byte - get byte from unix

none
;inputs:
A = byte
;outputs:
getu
;calls:
A,B,fIags
;destroys:
getbyte
jsr
and
c1e
rol
rol
rol
rol
tab
jsr
and
aba
rts
end

.getu
a,IIOxOf

;mask rubbish on high order nibble

a
a

a
a
;save in B
.getu
a,1I0xOf

;mask rubbish on low order nibble

;add to make byte

leader
)c

,yt e
lord
Ic
Ic

pre
8

APPENDIX

a: 16
a:8
a:8

a
b

lefmt
.i
laC

OxOO
"ET-IS HERO ROBOT"

.iterals

rgs

xpr(x)
expr
xpr
xpr,expr
xpr,expr,expr,expr,expr.expr,expr
,expr(x)
,expr(x)
,flexpr
,Itexpr
,expr
,expr

{
{
{
{
{
{
{
{
{
{
{
{
{

ObOOl0
ObOOl0
ObOOl0
ObOOl0
ObOOl0
ObOOl0
ObOOl0
ObOOl0
ObOOl0
ObOOl0
ObOOl0
ObOOl0
ObOOl0

0
0
0
0
0

a
a
a
a
0
0
0
0

2 1
4 2
3 0
11 4
12 5
6 0
9 a
5 a
8 a
7 2
10 2
0 0
1 0

ormats

0:8
0:8a:8
0:8a:16
0:8pa:8
0:8a:8b:8
o:8a:8b:8c:8d:8e:Bf:8g:8
)codes
'.ass 13
1m o Ox02
an o Ox03
1m o Ox04
,p o OxOS
,b o OxOD
a OxOO
t
b o Oxoo
p o OxOO
o Ox21
0
x o Ox3a
d o Ox41
d o Ox42
o Ox45
r
:l o Ox4b
o Ox4e
~
i o Ox51
I o Ox52
I o Ox55
o OxSb
o OxSe
o OxOO
l
o OxOO
o OxOO
o OxOO

OxOO
OxOO
a OxOO
a OxOO
D OxOO
0 OxOO
0 Oxoo
o OxOo
o OxOO
o OxOO
o OxOO
o OxOO
o axoo
o OxOO
o Oxoo
o OxOO
o OxOO
o OxOO
o OxOO
o OxOO
o OxOO
o OxOO
o OxOO
o OxOO
0
0

1 OxOO a OxOO 2 OxOO 0 OxOO 0 OxOO 2 Oxoo a

L OxOO a OxOO 2 OxOO 0 OxOO a OxOO 2 OxOO a
1 OxOO a OxOO 2 OxOO a OxOO a OxOO 2 OxOO 0
I OxOO 0 OxOD 2 OxOO 0 OxOO 0 OxOO 2 OxOO a
I OxOO 3 axle 2 OxOO 3 OxOO 3 OxOO 2 OxOO 3
1 axoo 3 Oxld 2 OxOO 3 OxOO 3 OxOO 2 OxOO 3
1 OxOO 3 Oxle 2 OxOO 3 OxOO 3 OxOO 2 OxOO 3
1 OxOO 3 Oxlf 2 OxOO 3 OxOO 3 OxOO 2 OxOO 3
1 OxOO a OxOO 2 OxOO 0 OxOO 0 OxOO 2 OxOO a
1 OxOO 0 OxOO 2 OxOO a OxOO a OxOO 2 OxOO a
1 Oxoa 0 OxOO 2 Oxoo a OxOO 0 OxOO 2 OxOO a
1 OxOD 0 OxOO 2 OxOO 0 OxOO 0 OxOD 2 OxOO a
1 OxOO 0 OxOO 2 OxOO 0 OxOO 0 Oxoo 2 OxOO 0
1 OxOO 0 Oxoo 2 OxOO 0 OxOO 0 Oxoo 2 OxOO 0
1 OxOO 0 Oxoo 2 OxOO 0 Oxoo 0 Oxoo 2 OxOO 0
1 OxOO 0 OxOO 2 OxOO 0 Oxoo 0 OxOO 2 OxOO 0
1 OxOO 0 OxOO 2 Oxoo 0 OxOO 0 Oxoo 2 Oxoo 0
1 OxOO 0 OxOO 2 OxOO 0 OxOO 0 Oxoo 2 OxOO 0
1 OxOO 0 Oxoo 2 Oxoo 0 OxOO 0 Oxoo 2 OxOO 0

1 OxOO 0 OxOO 2 OxOO 0

1 OxOO 3 Ox61 2 OxOO 3
1 Oxoo 3 Ox62 2 OxOO 3
1 OxOO 2 Ox71 2 OxOO 0
1 OxOD 2 Ox72 2 OxOD 0

OxOO
OxOO
OxOO
OxOO
Oxoo

0
3
3
0
0

Oxoo
OxOO
OxOO
OxOO
OxOO

2 OxOO a
2 Oxoo 3
2 OxOO 3
2 OxOO 0
2 OxOO 0

OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
Oxoo
OxOO
OxOO
OxOO
OxOO
Oxoo
OxOO

0 OxOO 2 OxOO
a OxOO 2 OxOO
a OxOO 2 OxOO
0 OxOO 2 OxOO
3 OxOO 2 OxOO
3 OxOO 2 OxOO
3 OxOO 2 OxOO
3 OxOO 2 OxOO
0 OxOO 2 OxOO
a OxOO 2 OxOO
0 OxOO 2 OxOO
0 Oxoo 2 oxoa
0 OxoO 2 Oxoo
0 OxOO 2 OxOO
0 OxOO 2 OxOO
0 Oxoo 2 OxOO
0 Oxoo 2 OxOO
0 OxOO 2 OxOO
0 OxOO 2 OxOO
0 Oxoo 2 OxOO
3 OxOO 2 OxOO
3 Oxoo 2 OxOO
0 OxOO 2 Oxoo
0 OxOO 2 Oxoo

4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 Oxoo
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 Oxoo 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 axoo 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 Oxoo
4 OxoO 5 OxOO
4 OxOO 5 Oxoo
4 OxOO 5 Oxoo
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 Oxoo
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO

teader
lpe

pre

bYte

8
2
a

word
de
de

APPENDIX

.-.-_._-~---.-

a:16
a:8
a:8

jefmt

OxOO
"ET-IB HERO ROBOT"

Li

nac
literals
I>
)(

Yo

args
expr(x)
Itexpr
expr
expr,expr
expr,expr,expr,expr,expr.expr,expr
il,expr(x)
b,expr(x)
il,lfexpr
b,ltexpr
'l,expr
J,expr
1
)

{ ObOOIO
{

{
{
{
{

{
{
{
{
{
{
{

ObOOIO
abOOIO
ObOOIO
OboaIO
ObOOIO
OboaIO
ObOOIO
ObOOl0
ObOOIO
ObOOIO
ObOOIO
ObOOIO

2 I
0 4 2
0 3 0
a 11 4
0 12 5
0 6 0
a9 a
a 5a
0 8 0
0 7 2
0 10 2
0 0 0
a I 0

Formats

0:8
0:8a:8
o:8a:16
0:8pa:8
o:8a:8b:8
o:8a:8b:8e:8d:8e:8f:8g:8

L
l
l

)peodes
:lass 13
ldm

Han
lam
ISP

)bb
)8 t
)ab
)SP

:ro

:tx
~ Id

~sd
~ur

~md
~ds

tid
isci
[md
lur
ids
:cn
:wn

ex
wx

o Ox02 o OxOO 1 OxOO a OxOO 2 OxOO 0 OxOO 0 OxOO 2 OxOO 0 OxOO

o Ox03 o OxOO 1 OxOO 0 OxOO 2 OxOO 0 OxOO 0 OxOO 2 OxOO 0 OxOO
a Ox04 o OxOO I axoo o Oxoa 2 OxOO 0 Oxoo 0 OxOO 2 OxOO o OxOO

o Ox05
o OxOO
o OxOO
o OxOO
o Oxoo
o Ox21
o Ox3a

o
o
o
o
o
a

o Ox42
o Ox45
o Ox4b
o Ox4e

o
o
o
o
a

a
o Ox41 o

o Ox5l
o Ox52 o
o Ox55 o
0 OxSb o
0 OxSe o
0 OxOO o
0 OxOO o
0 OxOO o
0 OxOO o

OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO

OxOO 2 OxOO 4 OxOO 5 OxOO

5 OxOO
5 OxOO
5 OxOO
5 OxOO
5 axoa
5 OxOO
OxOO 2 OxOO 4 Oxoo 5 OxOO
OxOO 2 OxOO 4 axoo 5 axoo
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOD 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO
OxOO 2 OxOO 4 OxOO 5 OxOO

0 OxOO 2 OxOO 4 OxOO

0 OxOO 2 OxOO 4 OxOO
2 OxOO o OxOO 0 OxOO 2 Oxoo 4 OxOO
2 OxOO 3 Oxoo 3 OxOO 2 OxOO 4 OxOO
2 OxOO 3 OxOO 3 OxOO 2 OxOO 4 OxOO
2 OxOO 3 OxOO 3 OxOO 2 OxOO 4 OxOO

I OxOO o OxOO 2 OxOO 0 Oxoo 0 Oxoo

1 OxOO 3 OxIc 2 OxOO 3 OxOO 3 OxOO
1 OxOO 3 Oxld 2 OxOO 3 OxOO 3 OxOO
1 OxOO 3 axle 2 OxOO 3 OxOO 3 OxOO
1 OxOO 3 Oxlf 2 OxOO 3 OxOO 3 OxOO 2 OxOO 3 OxOO 3
1 OxOO 0 OxOO 2 OxOO 0 OxOO 0 OxOO 2 OxOO o OxOO 0
1 OxOO 0 OxOO 2 OxOO 0 OxOO 0 OxOO 2 OxOO o OxOO 0
1 OxOO 0 OxOO 2 OxOO 0 OxOO 0 OxOO 2 Oxoa o OxOO a
1 OxOO 0 OxOO 2 OxOO 0 OxOO 0 OxOO 2 OxOO o OxOO 0
1 OxOO 0 OxOO 2 OxOO 0 OxOO 0 OxOO 2 OxOO o OxOO 0
1 OxOO 0 OxOO 2 OxOO 0 OxOO 0 OxOO 2 OxOO o OxOO 0
1 OxOO 0 OxOO
1 OxOO 0 OxOO
1 OxOO 0 OxOO
1 OxOO 0 OxOO
1 OxOO 0 OxOO
1 OxOO 0 OxOO
1 OxOO 3 Ox6l
1 OxOD 3 Ox62
1 OxOO 2 Ox71
1 OxOD 2 Ox72

2 OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
2 OxOO
2 OxOO
2 OxOO
2
2
2
2
2
2

0
0
0
0
0

3
3
0
0

OxOO
OxOO
OxOO
OxOD
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO

0 OxOO 2
0 OxOO 2
0 OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
3 OxOO 2
3 OxOO 2
0 OxOO 2
0 OxOO 2

OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO

o
o

0
0
0
0
3
3
0
0

OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO

0
0
0
0
0
0
3
3
0
0

eml
sIp
pau
jws
mwa
mWT
mea
mer
mam
mcm
nap
tap
tpa
inx
dex
elv
sev
ele
sec
eli
sei
sba
eba
tab
tba
daa
aba

0 Ox83 0 OxOO I OxOO 0

0 OxOO 0 OxOO I OxOO 2
0 OxOO 0 Oxoo I OxOO 2
0 OxOO 0 OxOO I OxOO 2

bra

3
3

bhi

bls
bee
bes
bne
beq'
bve
bvs
bpI

bmi
bge
bIt
bgt
bie
tsx
ins
pul
des
txs
psh
rts
rti
wai
swi
neg
com
lsr
ror
asr

asl
ral
dec
inc
tst
jmp
elr
sub
emp

0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 Ox83 0
0 OxOl 0
0 Ox06 0
0 OxO? 0
0 Ox08 0
0 Ox09 0
0 OxOa 0
a OxOb 0
0 OxOe 0
0 OxOd 0
0 OxOe 0
0 OxOf 0
0 OxlO 0
0 OxIl 0
0 OxI6 0
0 OxI7 0
0 Oxl9 0
0 Oxlb 0
0 OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o OxOO 0
o Ox30 0
o Ox31 0
o Ox32 0
OOx34 0
o Ox35 0
o Ox36 0
o Ox39 0
o Ox3b 0
o Ox3e 0
o Ox3f 0
o Ox40 0
o Ox43 0
o Ox!~4 0
o 0:<46 0
o Ox4? 0
o Ox48 0
o Ox49 0
o Ox4a 0
o Ox4e 0
o Ox4d 0
o OxOO a
o Ox4f 0
o OxOO 0
o OxOO 0

OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
Oxoo
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
oxon
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
Ox33
OxOO
OxOO
Ox37
OxOO
OxOO
OxOO
OxOO
OxSO
OxS3
Ox54
OxS6
OxS7
Ox58
Ox59
Ox5a
Ox5c
Ox5d
OxOO
Ox5f
OxOO
Oxoo

I
I
I
I
1
1
1
1

1
1

1
1
1

1
I
I
I

1
1
I
I
I
1
1
1
1

I
1
I
1
1
1
1

1
1

I
1
1
1

1
I
1

I
1
1
1
1

I
I
1
I

1
1

I
1
I
1

1
I

I
1

Oxe3
OxOO
Oxf3
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
Oxoo
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
oxoa
OxOO
OxOO
OxOO
OxOO
Ox60
Ox63
Ox64
Ox66
Ox67
Ox68
Ox69
Ox6a
Ox6c
Ox6d
Ox6e
Ox6f
OxOO
OxOO

0
2

0
0

0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

0
0

3
3
3
3
3
3
3
3
3
3
3
3
3
0
0
0
0
0
0

0
0

0
0
2
2

2
2
2
2
2
2
2
2
2
2

1
1

OxOO
Ox87
Ox8f
Oxbf
Oxf3
OxOO
Oxfe
OxOO
OxOO
Oxoo
OxOO
OxOO
OxOO
OxOO

axoo

OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
Oxoo
Ox20
Ox22
Ox23
Ox24
Ox25
Ox26
Ox27
Ox28
Ox29
Ox2a
Ox2b
Ox2e
Ox2d
Ox2e
Ox2f
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
Oxoo
Ox70
Ox73
Ox74
Ox76
Ox77
Ox78
Ox79
Ox7a
Ox7e
Ox7d
Ox7e
Ox7f
OxOO
OxOO

2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 Oxoo
2 OxOO
2 OxOO
2 OxOO
2 Oxoo
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO

0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 Oxoo 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
a OxOO 0
0 OxOO 0
a OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO 0
0 OxOO o
0 OxOO o
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
3 OxOO 3
0 OxOO o
0 OxOO o
0 OxOO o
0 OxOO o
0 Ox09 o
0 OxOO o
0 OxOO o
0 OxOO o
0 OxOO o
0 OxOO o
2 OxOO 2
2 OxOO 2
2 Oxoo 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
I Ox80 I
1 Ox81 1

OxOO
OxOO
OxOO
OxOO
Oxoo
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
axoo
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
Oxoo
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxaO
Oxal

2 OxOO 0 OxOO 0 OxOO 2 OxOO 4 OxOO S OxOO

OxOO 0 OxOO a OxOO 2 OxOO 4 OxOO 5 OxOO
2 OxOO 0 OxOO 0 OxOO 2 OxOO 4 OxOO S OxOO

2
2

2
2

2
2
2
2
2

2
2

2
2
')

L..

2
2
2

2
2
2

2
2
2
2
2
2
2
2

OxOO
OxOO
Oxoo
OxOO
OxOO
OxOO
Oxoo
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO

axoo

2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 Oxoo
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxbO
2 Oxbl

0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 axoo
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
3 OxOO
3 OxOO
3 axoo
3 OxOO
3 OxOO
3 Oxoo
3 OxOO
3 OxOO
3 Oxoo
3 OxOO
3 OxOO
3 OxOO
3 OxOO
3 OxOO
3 OxOO
0 OxOO
0 OxOO
a OxOO
0 Oxoo
0 Oxoo
0 OxOO
0 OxOO
0 OxOO
0 OxOO
0 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
1 OxeO
I Oxel

0 Oxoo 2
0 Oxoo 2
0 Oxoo 2
0 Oxoo 2
o OxOO 2
o oxoa 2
o Oxoo 2
o OxOO 2
o OxOO 2
a axoo 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
3 OxOO 2
o OxOO 2
o OxOO 2
a OxOO 2
o OxOO 2
o Oxoo 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
o OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
I OxeO 2
I Oxel 2

OxOO
OxOO
Oxoo
Oxoo
Oxoo
oxoa
OxOO
OxOO
OxOO
axoo

axoo

OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
Oxoo
Oxoo
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOo
Oxoo
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
oxon
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxfO
Oxfl

4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4

4
4
4
4

4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4

4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4

OxOO
Oxe3
Oxd3
Oxee
Oxdc
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
Oxoo
OxOO
OxOO

oxoa
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO

S OxOO
5 OxOO
5 OxOO
S OxOO
5 OxOO
5 Oxfd
S OxOO
S OxOO
5 OxOO
5 axOo
5 OxOO
5 OxOO
S OxOO
5 OxOO
5 OxOO
<:J OxOO
5 OxOO
5 OxOO
5 OxOO
5 OxOO
5 OxOO
5 OxOO
5 OxOO
5 OxOO
5 OxOO
5 OxOO
.5 OxOO
5 OxOO
5 OxOO
S OxOO
5 OxOO
.5 OxOO
5 OxOO
S OxOO
5 OxOO
.5 OxOO
5 Oxoo
5 Oxoo
.5 Oxoo
5 OxOO
.5 OxOO
5 OxOO
5 OxOO
5 OxOO
5 OxOO
5 OxOO
5 OxOO
5 OxOO
'i OxOO
5 OxOO
5 OxOO
.5 OxOO
5 Oxoo
5 OxOO
S OxOO
5 OxOO
S OxOO
5 OxOO
5 Oxoo
5 Oxoo
5 Oxoo
5 OxOO
5 OxOO

sbe
and
bit
Ida
s ta
ear
adc
ora
add
cpx
bsr
jsr
Ids
ldx
sts
stx

0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1
0 OxOO 0 OxOO 1

OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
Oxac
OxOO
Oxad
Oxae
Oxee
Oxaf
Oxef

labels
extend
shoulder
rotate
pivot
gripper
head

steering
motndet
trigg
expbd
userl
user2
user3
redis
clrdis
dsplay
inch
ihb

outbyt
outhex
outch
outstr
%

end

OxOOOO
OxOOOl
OxOOO2
OxOOO3
OxOOO4
OxOOOS
OxOOO6
OxOO2l
OxOO2a
OxOO2d
OxOO30
OxOO33
OxOO36
Oxf64e
Oxf6Sb
Oxf6f9
Oxf777
Oxf796
Oxf7ad
Oxf7bS
Oxf7e8
Oxf7eS

1
1
1
1

I
1
1

I
2

3
2

2
2
2
2

OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
Oxbc
Ox8d
Oxbd
Oxbe
Oxfe
Oxbf
Oxff

2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 Ox8c
2 OxOO
2 OxOO
2 Ox8e
2 Oxce
2 OxOO
2 OxOO

1 Ox82 1 Oxa2
1 Ox84 1 Oxa4
1 Ox8S 1 OxaS
I Ox86 1 Oxa6
1 OxOO 1 Oxa7
1 Ox88 1 Oxa8
1 Ox89 1 Oxa9
1 Ox8a 1 Oxaa
1 Ox8b 1 Oxab

OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
2 OxOO

2
3
2
2
2
2

2 OxOO
3 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO
2 OxOO

2 Oxb2 1
2 Oxb4 1
2 OxbS 1
2 Oxb6 1
2 Oxb7 1
2 Oxb8 1
2 Oxb9 1
2 Oxba 1
2 Oxbb 1
2 OxOO 2
2 OxOO 3
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2
2 OxOO 2

Oxe2
Oxe4
OxeS
Oxe6
OxOO
Oxe8
Oxe9
Oxca
Oxeb
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO

1
1
1
1
1
1
1
1
1
2

2
2
2
2
2

Oxe2
Oxe4
OxeS
Oxe6
Oxe7
Oxe8
Oxe9
Oxea
Oxeb
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO

2
2
2
2
2

2
2
2
2
2
2

2
2
2
2
2

Oxf2
Oxf4
OxfS
Oxf6
Oxf7
Oxf8
Oxf9
Oxfa
Oxfb
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO
OxOO

4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO S OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO S OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 OxOO
4 OxOO 5 Oxoo
4 OxOO 5 OxOO
4 OxOO 5 OxOO

Hero Robot User's Guide

John Fulcher
Department of Computing Science
University of Wollongong

1. Powering Up
The Heathkit ET-18 'HERO 1.0' Robot is powered by four 6V rechargeable dry cell batteries, two of which power the motor drive circuitry, and two the electronics. Hero can be run
using either batteries only or by using the battery charger (plugged into the appropriate socket in
its rear panel), however it is imperative to always ensure:
*(i)*
Hero is NEVER moved from point to point with the battery charger still connected
(although its head and arm can be safely moved without any danger of dragging the
power supply around after it!), and
*(ii)*
The battery charger is NEVER left connected to Hero and switched OFF (this provides a
discharge path whereby Hero's batteries will run down completely if left long enough).
i.e. the battery charger's red 'power' I.e.d. should ALWAYS be on when connected to
Hero. (The charger's white 'charge' I.e.d. mayor may not be on, depending on how
much current is being drawn by Hero's batteries viz. how charged/discharged they are).
After you've finished, you SHOULD ALWAYS PLUG THE BATTERY CHARGER IN
AND SWITCH ON, so that Hero has a chance to charge up before the next user comes
along.
When power is applied to Hero, or the RESET key is pressed, it comes up with 'HERO 1.0'
displayed on its 7-segment I.e.d. displays, and says 'READY' (and after IO seconds the display
changes to a moving '-' prompt, in order to conserve power).

2. Executive Moue
Hero powers up in 'Executive' or 'Robot Language Interpreter' mode; further key presses
will change the mode of operation, as follows:
1 - Program mode
3 - Utility mode
4 - Manual mode
7 - Learn mode
A - Repeat mode
Hero can be made to move around, using the teaching pendant, in either 'Manual' or 'Learn'
mode.
3. Utilities (key 3)
[ref. p.l7 ET-18 Robot User's Guide]
A total of 8 utilities are provided, namely:
31 - Initialize
32 - Home (to initial position)
33 - Download to cassette
34 - Uploading from cassette
35 - Set time-of-day
36 - Set date

-2-

37 - Display time-of-day
38 - Display date
4. Moving Hero around
Before attempting to move Hero around, it is necessary to initialize it (otherwise the Hex
digits on the display and the postions of the various stepper motors bear no relation to each
other). Thus the very first act after powering up should ALWAYS be to INITIALIZE Hero (31).
Once Hero has been initialized, it is only necessary to use 32 (or the HOME command) on subsequent occasions (provided Hero has not been powered down in the meantime).
Make sure the TEACHING PENDANT is plugged into the appropriate socket in its rear
panel before you attempt to move Hero around! The FUNCTION switch selects either 'ARM' or
'BODY' movements, and the ROTARY switch selects which particular movement, namely (clockwise from left to right):
ARM:
(i)

(ii)

head/extend/arm_pivat
(neutral)
wrist_pivot/wrisLJotate/gripper
BODY:

fast_reverse/medium_reverse/slow_reverse
(neutral)
slow_forward/medium_forward/fast_forward
None of these movements will be activated unless the TRIGGER switch is held in. Moreover, in
order to execute head/arm movements or to STEER Hero left or right, the MOTION switch
ALSO needs to be switched to its LEFT or RIGHT position. In order to CENTRE Hero's steering wheel, simply hold the TRIGGER switch in without operating,the (left/right) motion switch.
NOTE:
(i)
Hero does not posess touch sensors, only sonar, and as such is prone to running into
table legs etc. (i.e. small, non-flat surfaces), and will CONTINUE to try to drive
through such obstacles! It is up to the operator to ensure that this does not happen (the
RESET and/or ABORT keys are handy as a last resort!).
(ii)
If Hero is to be used to trace out a particular path REPEATEDLY, it must be oriented
at EXACTLY THE SAME starting point each time (otherwise small errors will accumulate into large ones and it could start running into walls etc. where it wasn't beforehandl).
5. Learn Mode

The techniques just mentioned for moving Hero around can be done in either MANUAL
(4) or LEARN (7) mode. In MANUAL mode, the 7-segment l.e.d. displays will indicate both
motor number and position as that particular motor is activated. In LEARN mode, you will need
to provide two memory addresses (start an,d finish), indicating what portion of memory you are
allocating for storage of movements. Hero's 7-seg. display will then show:
7.F .xxxx
(where xxxx = start address + 8 bytes)
The display will be updated each time the trigger switch is RELEASED, indicating what memory
location has now been reached. (Note that in order to conserve memory, only release the trigger
when you want to CHANGE to a DIFFERENT function. i.e. presses and releases of the trigger
switch will consume memory locations - even if you are driving the SAME motor).
If you've made a mistake with the last movement, you can press 'B'(ackup) and Hero will
automatically reverse the movement you've just made, pause (and keep on backing up through
previous movements) until you press the 'F'(orward) key. If you want to SAVE these backup
movements as part of your sequence, then press '7'(reverse-the-instruction) rather than 'B' - an
'r' will now appear where 'F' was displayed previously as you step back through the movement(s)
(and pressing the 'F'-key will set up Hero ready to move forward again).
Pressing keys in the following order will now run the program you've just stored:

-3-

RESET
A(uto) D(o) xxxx (starting address)
(Note that Hero will home to the position it had PRIOR to entering 'learn' mode BEFORE it
begins executing the sequence of movements you've just programmed in).
[ref. p.23 ET-18 Robot User's Guide]
6. Saving Programs

There are two facilities for saving/loading programs to and from Hero, the first involves
using an audio cassette recorder and the second an RS-232C Unix link.
(i)
CASSETTE [ref. p.19 ET-18 Robot User's Guide]:
For STORING A PROGRAM ON CASSETTE,
connect the RCA plug end of the AUDIO CONNECTOR to the 'out' socket
on Hero's rear panel and the 3mm audio plug end to the cassette recorder's
'microphone' input.
Fr'.
Press '33', display will show'
Enter the starting address of your program, display will show'
La'.
Enter the last address of your program.
On successfully up-line saving your program on cassette, Hero will automatically return to 'Executive' mode (viz. 'Ready').
For LOADING A PROGRAM FROM CASSETTE,
connect the same AUDIO CONNECTOR, this time from the 'in' socket on
Hero's rear panel to the cassette player's 'earphone' jack.
Turn the volume control up full. Press' 34' (note that you don't need to
specify a starting address for down-line loading, as this was stored automatically in the up-line save header).
The'.' segment in '3.4' on the display will flash during the down-line load, and
Hero will automatically return to 'Executive' mode following a successful load
(or alternatively display 'ErrOr' if the load was unsuccessful).
(ii)
UNIX:
For UP-LINE SAVING A PROGRAM to Unix,
Press A( uto) D(0) 2000
(transparent link program)
(cf. AOoo on ET3400 trainers)
Login to Unix
type:
($)dll -s -y[segno.]/[start]/[end]
(AND/OR)
-y[segno.]/[start]/ + [length] ...etc
(note: addr in Hex ;length in Decimal)
For DOWN-LINE LOADING A PROGRAM from Unix,
Press A D 2000 (transparent link)
Login
type:
($) dll -1 filename
control-A --> 'HERO MONITOR' on v.d.u.
and 'READY' on Hero.
AD xxxx will then run your program on Hero.
(xxxx =: starting address)
alternatively, type:

-4-

($) dB -la filename

(i.e. load all program segments & autobranch to entry point)

7. Programming Hero
7.1. Introduction

Small programs can be entered via Hero's hexadecimal keypad; larger-scale programs are
better developed under Unix then down-line loaded to Hero. Programs developed under Unix
must be assembled using the 'mac' cross- assembler prior to down-line loading. The appropriate
command is:
($) 'mac -I hero file.s'
In 'Executive' or 'Robot Interpreter' mode, Hero will respond not only to M6800 machinecode instructions, but also to special (Robot Language) commands. Hero will run much slower in
'Robot Interpreter' mode than in 'Machine-code' mode, since each command is interpreted prior
to execution.
For entering programs via the HEXADECIMAL KEYPAD, pressing 'A'(uto or repeat -->
_ _ _~Ad. ) runs Hero in 'Robot Interpreter' mode, while pressing '1' runs Hero in 'Machinecode' mode.
(Note that while programs will run much faster in 'Machine-language' mode, you will not be able
to use any of the special 'Robot Language' commands developed for Hero).
[ref. p.25 ET-18 Robot User's Guide]
NOTE: 'op code' Ox83 will be interpreted by Hero as a directive to change from 'Robot
Interpreter' mode to 'Machine-language' mode, and a Ox3F ('swi' instruction) will convert back
from 'Machine-language' mode to 'Robot Interpreter' mode. Moreover, 'op code' Ox3A (return
to exec) command stops current program execution and returns Hero to 'Executive' (READY)
mode).
[ref. p.23 & 29 ET-18 Robot Technical Manual]
7.2. Robot Interpreter Commands

A complete list of INTERPRETER COMMANDS is given on p.24 of ET-18 Robot Technical Manual; these are repeated here for convenience, together with the mnemonics recognised by
'mac' (note that Hero's Robot Interpreter utilizes unused M6800 op. codes. i.e. 'mac' has been
modified to accept these additional mnemonics at compilation time):

-5-

HEX
Ox02
Ox03
Ox04
OxOS
OxiC 00
OxlD 00
OxlE 00
OxlF 00
Ox21
Ox3A
Ox41
Ox42
Ox45
Ox4B
Ox4E
Ox51
Ox52
Ox55
Ox5B
Ox5E
Ox61 00
Ox62 00
Ox71 MM MM
Ox72 MM MM
Ox83
Ox87 XX XX
Ox8F XX XX
OxBf MM MM
OxC3 SS XX
OxE300
OxF3 MM MM
OxD3 SS XX
OxCC SS XX
OxEC 00
OxFC MM MM
OxDC SS XX
OxFD **

MNEMONIC
adm
asm
aam
asp
bbb
bst
bab
bsp
zro
rtx
eld
csd
eur
emd
eds
dId
dsd
dmd
dur
dds
sen
swn
sex
swx
cml
sip
pau
jws
mwa
mwa
mwa
mwr
mea
mea
mea
mer
mam

INTERPRETED COMMAND
Abort Drive Motor
Abort Steering Motor
Abort Arm Motor
Abort SPeech
Branch if Base Busy
Branch if STeering busy
Branch if Arm Busy
Branch if SPeech busy
Zero
Return To eXecutive
Enable Light Detector
Enable Sound Detector
Enable Ultrasonic Ranging
Enable Motion Detector
Enable DiSplay
Disable Light Detector
Disable Sound Detector
Disable Motion Detector
Disable Ultrasonic Ranging
Disable DiSplay
Speak, Continue (iNdex)
Speak, Wait (iNdex)
Speak, Continue (eXtended)
Speak, Wait (eXtended)
Change to Machine Language
SLeeP (immediate)
PAUse (immediate)
Jump When Speaking (extended)
motor Move Wait Absolute (immediate)
motor Move Wait Absolute (index)
motor Move Wait Absolute (extended)
motor Move Wait Relative (immediate)
motor Move Continue Absolute (immediate)
motor Move Continue Absolute (index)
motor Move Continue Absolute (extended)
motor Move Continue Relative (immediate)
Move All Motors absolute (immediate)

XX = distance,position,time etc.
S5 = select motor, speed, direction
MM = memory address
00 = relative offset
** = SEVEN motor position bytes, in order:
extend, shoulder, rotate, pivot, gripper, head, steering
The following reserved labels are recognized by 'mac':
legend:

LABEL
extend
gripper
trigg
user3
inch

ADDR
0000
0004
002A
0036
F777

LABEL
shoulder
head
expbd
redis
ihb
outch

ADDR
0001
0005
002D
F64E
F796
F7C8

LABEL
rotate
steering
userl
clrdis
outbyt
outstr

ADDR
0002
0006
0030
F65B
F7AD
F7E5

LABEL
pivot
motndet
user2
dsplay
outhex

ADDR
0003
0027
0033
F6F9
F7B5

-6-

7.3. Hero Memory Map

User R.A.M. extends from Ox0040 to OxOEEO.
The foHowing RAM locations are used for storing motor position information:
ADDR
OxOOOO
OxOOOI
OxOOO2
Oxoo03
OxOOO4
OxOOO5
OxOOO6

MOTOR
Extend
Shoulder
Rotate
Pivot
Gripper
Head
Steering

RANGE
(full in)oo to 98(fu11 out)
(lowered)OO to 86(raised)
(CCW)OO to 93(CW)
(up)OO to A5(down)
(closed)oo to 75(open)
(CCW)OO to C2(CW)
(left_turn)OO to 93(right_turn)

[ref. p.32 ET-18 Robot Technical Manual]

The TRANSPARENT LINK to Unix resides in E.P.R.O.M., beginning at Ox2000.
MONITOR ROUTINES AVAILABLE TO USER (cf. ET-3400 Monitor routines);
ROUTINE
INCH
DUTCH
OUTHEX
OUTBYT
CLRDIS
OUTSTR
DSPLAY
IHB
RED IS

START ADDRESS
OxF777
OxF7C8
OxF7BS
OxF7AD
OxF65B
OxF7E5
OxF6F9
OxF796
OxF64E

BRIEF DESCRIPTION
inputs key presses from keyboard
outputs (ACCA) to 7-segment display
outputs (ACCA) to 7-segment display
outputs 2 numbers to display
blanks all 7-segment displays
outputs character string to display
outputs 1,2 or 3 bytes to dispIay
monitors keyboard for 2 keystrokes
resets

[ref. p.20 ET-18 Robot Technical Manual]

7.4. Hexadecimal Keypad

Besides entering (small) programs, the hexadecimal keypad can be used for checking,
altering and running programs loaded into USER R.A.M.
A A
A(uto) A(dd to memory), beginning at location
Ad. is used for entering small
programs,
A E
A(uto) E(xamine)
Ad. is used to examine memory locations,
F,B
F(orward) and B(ack) to increment/decrement memory,
C
C(hange) xxxx__ to alter memory/register contents.
A(uto) D(o), beginning at location
do. is used for running programs.
A0
BR
BR(eakpoint-key 9)
br. is used for setting breakpoints (note: RESET clears all
breakpoints)
SS
S8 (key 8) is used for SINGLE-STEPPING through a program.
keys I to 6 are used for examining the contents of the 6808 registers, as follows:
KEY
(key 1)
(key 3)
(key 5)

REGISTER
Acca.xx
Pc.xxxx
cc-- > 100100

KEY
(key 2)
(key 4)
(key 6)

REGISTER
Accb.xx
In.xxxx
8p.xxxx

USER DEFINED KEYS: In 'Executive' mode, the F,C & 9 keys can be used as SPECIALFUNCTION keys, with the c.p.u. jumping to the location specified in the following R.A.M. locations (& arriving in 'Robot Interpreter' mode):

-7-

KEY
(F)

(C)

(9)

FUNCTION
user-l
user-2
user-3

ADDR LOCATIONS
OxOO30,1,2
OxOO33,4,5
OxOO36,7,8

CONTENTS
7E xx xx
7E xx xx
7E xx xx

(i.e. jump to start of special service routine)

[ref. p.32 ET-18 Robot Technical Manual]
There are also three USER INTERRUPT VECTORS provided on Hero:
MNEMONIC
motndet
trigg
expbd

FUNCTION
Motion Detect
Trigger
Experimental Board *IRQ

ADDRESS LOCATIONS
0027,8,9
002A,B,C
002D,C,D

[ref. p.33 ET-18 Robot Technical Manual]

RESET will always return you to 'Executive/Robot Interpreter' mode (viz. 'READY').
ABORT will also halt program execution, but will also display contents of Program Counter,
to assist in debugging. (ABORT is located on the EXPERIMENT BOARD, where the
SLEEP switch also resides).
SLEEP With the SLEEP switch in 'sleep' rather than 'normal' position, op code '87xxxx' will
place Hero into 'Battery-saving' mode for xxxxO seconds (viz. in the range 10 seconds to
7 days 14 hours). (NOTE: Power is still applied to USER R.A.M. in 'Sleep' mode,
so your program will NOT be lost).
PAUSE (op code '8Fxxxx') is similar to SLEEP, but does not switch any circuitry off, and
provides for delays in multiples of 1/16sec not 10 seconds.
[ref. p.29 ET-18 Robot Technical Manual & p.44 ET-18 Robot User's Guide]
8. Hero's Sensors

Hero can sense TIME, LIGHT, SOUND, MOTION around it, and DISTANCE
away from a large flat surface (such as a wall).
TIME
[ref. p.20,39 ET-18 Robot User's Guide for setting/using date and/or time-ofdaYILIGHT
Hero can sense 256 different light intensities with its light- dependant resistor
(mounted behind the hole in the orange panel on the side of its head).
[ref. pAO E1'-18 Robot User's Guide]
SOUND
Hero can sense 256 discrete sound intensities with its loudspeaker transducer
(mounted on the same side of its head, at one end of the orange panel).
[ref. pAl E1'-18 Robot User's Guide]
Hero can sense motion with its ultrasonic transmitter/receiver transducer pair
MOTION
(mounted behind the orange panel on the side of its head).
[ref. pA2 E1'-18 Robot User's Guide]
RANGING Ultrasonic Ranging -- Hero can sense distance away from a wall, or other
large flat object, with its sonar transmitter/receiver transducer pair (mounted
behind the blue foam at the front of its head).
[ref. pA3 E1'-18 Robot User's Guide]
(NOTE: Hero CANNOT sense small thin objects such as table legs however, and
since it is not fitted with feedback sensors it will attempt to drive straight through
such obstacles!)
It is STRONGLY RECOMMENDED that you peruse the sample programs given in the above
sections of the ET-18 Robot User's Guide, PRIOR to attempting to use these sensors in your
own program.
[ref. p.57 ET-18 Robot Technical Manual for a 'Sonar Test Program' e.g.]
I/O PORT ADDRESSES
The following addressing scheme is used for (I/O) sensor ports:

-8-

ADDRESS
OxC200
OxC220
OxC240
OxC260
OxC280
OxC2AO
OxC2EO
OxC300
OxC003
OxCIIO

IN
interrupts
sonar timer
sense
tape_in/motor_limits
remote
experimental board
--

OUT
clear interrupt latches
experimental board
speech
steering/pivot,rotate
extend,head,gripper ,shoulder
main drive
main power on-off/tape_out
time clock

clock data
keyboard

--

--

display

(note: ultrasonic range information is stored in R.A.M. - at OxOOlO)

{ref. foldout p.1l7 ET-18 Robot Technical Manual]
9. Speech
{ref. p.30 ET-18 Robot User's Guide, p.1O ET-18 Voice Manual & ET-18 Voice Dictionary]
Hero is fitted with a (64) phoneme-based SPEECH SYNTHESIZER, and its voice ( a
small loudspeaker) is mounted at the front of its head near the orange side paneL Two speech
options are available- 'Speak-Before-Moving' (op code Ox72) and 'Speak-While-Moving' (op
code Ox?I). The necessary programming sequence is as follows:
RESET
AA
72
0406
7E
xx xx

(to 'Executive' mode)

Ad. (e.g. 0040 - program start addr.)
(speak BEFORE moving)
(starting address of phonemes)
(jump to 'xxxx' when finish speech)

I
I

(phonemes)

I
I

03

(pause)

Phonemes are given in the ET-18 Robot Voice Dictionary. It is easiest if you try to find a similar sounding word first in the 750-word vocabulary provided , and then modify accordingly
(with the aid of the alphabetical listing of phonemes on p.81/2) than it is to 'start from
scratch' with every new word (although of course you will have to with some).
Once you've developed the speech to a state where the phonemes are reasonably
correct, you can make it more realistic by addil1g inflections, as follows:
Hero's speech synthesizer has four PITCH outputs, the lowest being the hex code
given in the voice dictionary, and the others as follows:
highest

I
I

lowest

base
base
base
base

+ OxCO
+ Ox80
+ Ox40
hex. code

Some standard phrases are stored in R.O.M., and the starting addresses of these are given on
p.77/8 of the ET-18 Rohot Voice Dictionary.
WARNING: For speech programs, any subsequent routines must start at the NEXT address,
whereas for movement programs (entered using the teaching pendant in 'Learn' mode) subsequent routines must start at the address indicated on the display (PC) and NOT the following
address. This is important in linking together speech and movement programs.
e.g.

Ox0040 -- 0056 speech

Ox0057 -- 0084 movement
Ox0084 -- 0100 (next routine)

-9-

10. It is STRONGLY RECOMMENDED that you drive Hero around manually with the teaching pendant, in order to become familiar with its capabilities BEFORE you attempt to program
it.

May 21, 1984