HOW TO DOWNLOAD IC pcoder ONTO THE TJ PRO ROBOT FROM WIN95
			      by
			Keith L. Doty

			  MEKATRONIX
			Copyright 1999


MEKATRONIX
316 NW 17 Street
Gainesville, FL 32603	Date: October, 1998

Web Site:     www.mekatronix.com

Address technical questions by email to tech@mekatronix.com

*****************************************************************************


IC was designed originally to execute on the MIT Handy Board, which has a rather obscure hack on the serial input. IC takes advantage of that hack, but it makes for strange initial loading of the pcoder onto the TJ Pro.

		INSTRUCTIONS FOR DOWNLOADING THE IC pcoder IN WIN95

1.Turn on the robot.

2. Place the DOWNLOAD/RUN toggle switch into DOWNLOAD.

3. From Windows execute IC.
IC will give an error message that the board is not responding. Not to worry! The board is not responding because you have not had a chance to load the p-coder and relevant libraries into the robot. Select the Yes button in the IC error Window to configure the board.

4. The system is configured to enable COM1 for serial communication.
If you wish to use another COM port select it on the screen that now appears. To make your selection the default, you will need to change the Port = 1 command in the ic.ini file to Port = n, where n is the COM port number you picked.

5. Select the Download Pcode button in the opened IC Window.
IC will now open the Libs directory.

6. Select the file TJ-pro.icd file to open.

7. Press the red RESET button on the robot.

8. Select the OK button in the window.
You will observe a flurry of loading activity with the green LEDs on the MB2325 board rapidly flashing, and then another error message! IC just realizes there is no p-coder program to communicate with. Don't worry, go to the next step!

9. Switch the robot DOWNLOAD/RUN toggle switch to RUN.

10. Press the red RESET button

11. Select the Yes button in the IC errorWindow.
IC will then load the remaining library files onto the robot and you are ready to go. 

				IMPORTANT!

As long as you keep the batteries are charged and connected to the robot controller, the p-coder will not have to be reloaded and you can turn the power switch on-and-off at will. If the batteries drain or are disconnected or you otherwise overwrite memory you will have to repeat the first time load procedure described above.