Then you need to remove the seven Phillips screws holding the body together. On the dog's left side, there is only one screw. On the dog's left side, there are six ...
"Teaching robotic dogs new tricks" or how to hack an I-Cybie… by France Cadet Step 1: Taking I-Cybie Apart You need to separate the two sides of I-Cybie's main body shell. For that you should first remove the four leg parts. 1. Remove the four upper parts of the legs Each leg part has two large triangular screws and three small triangular screws holding it on.
There are three small triangular screws holding a small round piece of plastic on the other side of the legs that you do not have to remove. NOTE: Triangular screws can be removed by - using the properly sized slot screwdriver and angling it into the triangular slot or - getting a piece of metal and filing it down the proper triangular shape or using the special triangle screwdriver coming with a replacement shell. 2. Remove the four lower parts of the legs Each leg part has three Philips (cross shaped) screws inside. There are 4 inner parts and 4 outer parts.
Before removing the body shell, you must remove the blank cartridge from the right side of the body shell.
Then you need to remove the seven Phillips screws holding the body together. On the dog's left side, there is only one screw. On the dog's left side, there are six (one for each hole).
Three are visible. The other three are hidden under plastic caps. You must remove the plastic caps first ! Put the special tool (sort of “T” shaped screwdriver) in the hole, fit in slot on screw cap, push it hard inside, then turn 90°, gently pull out the screw and the plastic cap should come out with it. NOTE: there may be two plastic caps in the same hole. Then use a Phillips screwdriver like all the rest. The sides will easily move apart (if not you forgot a screw).
Step 2: Hardware modifications 1. Adding the serial connection Now you must add a serial connection to be able to communicate with the robot trough the serial port of the PC. The standard signal voltage of the serial port of a computer (RS-232) is : –12 +12 volts The standard UART signals voltage of most of the microprocessors (TTL), including ICybie’s main chip: is 0-5 volt So you must use a TTL-RS232 converter which will convert the RS232 voltage (-12V +12V) to TTL voltage (0V +5V) and vice versa. Solution 1: using a MAX232 The MAX232 chip is the most familiar chip used to build this electronic device. Here is the electronic diagram. The power supply is taken from the USB port of the computer to avoid an additional power supply.
Solution 2: using a Max 233 It is the same functioning as the MAX232 but it already includes the capacitors, no need to add external capacitors.
The hardware modifications of the robot have been simplified by putting the electronic device needed (max 232 chip + capacitors) inside the cable (inside the DB9 shell indeed) which will be used to download the programs and communicate with the PC. Thus no need to add this inside the robot any longer Here is the used version which includes a SMD card (Surface Mounted Device).
Now you must solder the wires onto the motherboard to connect the female stereo mini-jack (serial connection to the PC) and add a bipolar switch to turn ON and turn OFF the robot
You must solder 3 wires: - a black wire for the ground (Ground of the jack) - a wire on the TX of the main chip (TX to the Tip of the jack) - a wire on the Rx of the main chip (Rx to the Ring of the jack) Tx = Transmitting = Rx = Receiving =
Tip of the jack Ring of the jack
2. Adding a on/OFF switch
The battery plug has 3 cables: - a red one: +12V - a yellow one: +6V - a black one: 0V Cut the red and the yellow cables and solder long cables to the bipolar switch as indicated on the picture. Don’t forget to place heat shrink tube before soldering the cables.
Step 3: CROMINST Ok, let's try it out (keep the shell open during this test). Connect your cable between ICybie and your PC. On your PC, start a terminal program (eg: HyperTerminal or Terminal by br@y) and set it to 9600 baud, 8 data bits, no parity, no handshake. – Place the CROMINST cartridge in the side of your ICybie (press it in tightly) – –
Connect up the battery. You don't have to worry about the battery door. If you see a bunch of "U"s on your terminal program - congratulations the serial from ICybie to your PC is working. If not please check your connections. When you see a bunch of "U"s, press any key on your keyboard. If the serial connection from your PC to ICybie is working, the "U"s will stop and you will get the CROMINST menu. –
I-Cybie CROM Installer (version 1.1) (c) 2002 ICybiePet Sending $55 ('U') forever until I receive something UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUU UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUU UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUU .... UUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUUU UUUUUUUUUUUUUUUUUUUUUUUUU STATUS CHECK + OLD ROM will be upgraded + CROM will be installed ==> Ready to install
If you don't get this far, you are on your own debugging the hardware connection. CROM Installation -
Read the notice at the top. If Installation is not recommended, please email me and go no further. Type "I" to install CROM and any other upgrades. If you are ready to take the plunge, type "YES" (in upper case). It will take a very short time and then tell you it is done. Unplug the battery Remove the cartridge Plug in the battery again, close the battery door, and make sure ICybie is still sane.
Type: "I" =>
WARNING: installing new firmware on your ICybie voids the warranty. Uploading new software may permanently break your ICybie. Using the Super ICybie modification is AT YOUR OWN RISK! If you understand what you are getting yourself into, answer 'YES' in upper case Are you sure you wish to continue?
Type: "YES" =>
-- ok Installing CROM...INSTALLED! Installing New ROM...INSTALLED! STATUS CHECK ==> Nothing to install
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If you use Linux it is, however, most likely that Vim is already packed with your Linux distribution as it is the default editor on most Linux systems. Conventions.
