Author Topic: Robots unaffected by OHC / OHC hangs after flashing  (Read 3199 times)


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Robots unaffected by OHC / OHC hangs after flashing
« on: April 29, 2013, 10:58:50 AM »
Hi There,

Our OHC has developed two problems:

First, it can only be flashed with Controller.hex. If any other firmware is flashed (e.g. Kilobot_motor_cal.hex, KilobotSkeleton.hex), the OHCs red LEDs turn solid and KilobotController.exe cannot connect to it. We can use AVR Studio to flash the OHC with Controller.hex again, then the LEDs can be toggled, but again any other (larger?) firmware causes the OHC to apparently 'hang' in this unresponsive way with solid red LEDs.

Second, the kilobots do not respond to any command from the OHC (bootload / sleep / pause / run / battery voltage / bootloader msg / wakeup / reset / charge), they just keep blinking yellow in their ready state. As mentioned above, we managed to get Controller.hex loaded (the toggle LEDs command works) but the kilobots are unresponsive. Looking through a digital camera, the infrared LEDs show some brightness, so it appears the OHC is at least turning the IR LEDs on and off, but we have found no way to make the kilobots respond.

Is there some troubleshooting step I have missed that will help here? Currently all 10 of our kilobots are rendered useless and cannot even be charged without a working OHC.

Ken Pierce.
Research Associate, School of Computing Science, Newcastle University, UK.


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Re: Robots unaffected by OHC / OHC hangs after flashing
« Reply #1 on: May 02, 2013, 08:26:22 AM »

for your first problem, it is normal. Only "Controller.hex" and "OHC_motor_cal.hex" can be load directly in the OHC with AVR studio.
Normally (except if you want to calibrate the Kilobot Motor) you don't have to flash the OHC. Keep the Controller.hex firmware inside.
Then you must use the Kiblobot Controller interface to load the file which will be sent to the Kilobot. This operation didn't replace the Controller.hex firmware, the file is place in a Buffer.

Finally, if no Kilobot respond, maybe you have change the configuration of the Fuse of the OHC in AVR studio. Please connect your OHC, be sure to load "Controller.hex" in the Flash and check the fuse (all these operation must be done with the jumper in normal mode):
Here's the result of Fuses:
o   EXTENDED    0xFF
o   HIGH      0xD8
o   LOW              0xCE

Best regards