1. Getting started

1.1. Installing batteries

Needed: 12 x AA 1.5V (or 1.2V rechargeable) batteries and 1 x 9V-block

Note: at program start the RCXs display the battery-voltages

• unplug all the wires from both RCXs.
• on both sides unplug the blue pins
• move up REAR-RCX a bit
• pull back REAR-RCX (ATTENTION to the LED !)
• now that the RCX is free, place or replace batteries
• replace REAR-RCX (again put attention to the LED ! Do not squeeze wires !)
• replug connectors (Leads up ! Respect colours!)

• move FRONT-RCX
• place batteries
• now the 9V-battery location is reachable, install the battery
• Replace FRONT-RCX (Do not squeeze wires !)
• Re-plug connectors correctly

1.2. Testing the ears

• Verify that the top microphone points to the front
• Switch on sensor
• The switch-LED should go on
• Wait a few seconds
• Produce any noise to activate the sensor and check the LEDs on the sensor PCboard. They should blink shortly in order of the sound-wave impacts.
• If the LEDs don't stop blinking, check the 9V battery power.
• Switch on one of the RCXs (the firmware should have been loaded before)
• Does the IR-symbol appear in the RCX display at any sound-sensor reaction?

1.3. Download the RCX-programs

• Run Robolab 2.5.2
• Download the RCX-firmware to both RCXs, if this has not been done yet.
• Be sure the IR-tower and the RCX are close to each other
• Switch off the noise-sensor
• Turn on FRONT-RCX only
• In Robolab Programmer open MAIN_FRONT.vi and download it to the RCX
• Turn off FRONT-RCX and turn on REAR-RCX
• In Robolab open MAIN_REAR.vi and download it to the RCX

1.4. Selftest

To avoid greater catastrophes, GASTON operates a few self-tests at start. If a mulfunction is detected, the concerned RCX immediately breaks all the running tasks. An acoustic signal is sent and an error-code is visible on the RCX display. After the successful tests, no further error-states are checked.

If GASTON does not work correctly, first check the connections. What about the battery-charge? Is one of the motors being stalled? If errors persist, please contact the producer.

1.5. Run GASTON

IMPORTANT NOTE: BEFORE RUNNING THE PROGRAM ON REAR-RCX, FIRST MANUALLY TEST THE NECK-TOUCH-SENSOR : 

• Press the RUN-button twice
• Press the VIEW-button 3-times (the little arrow should point to the green sensor connector)
• The display should show values around 750-800
• Now press the Neck-touch-sensor
• The values should pass to less than 100

There's no matter which RCX is started first. So run the RCX-programs. GASTON executes some calibration operations. The head is turning to the left (GASTON's left side) until the neck-fixed LEGO-plate hits the gear-shaft. Now the head returns to zero position. Simultanously the head is moving back until the button is pressed. Then the head moves fore to vertical rest-position. GASTON runs a test of its facial functions and makes a short beep. Switch on the noise-sensor. Now the robot is ready to interact with its environment.