Shape Robotics Fable Operation & User’s Manual

The Fable System.........................................................................................................................................................................................2 Hub....................................................................................................................................................................................................................5 Joint Module..................................................................................................................................................................................................6 Spin Module...................................................................................................................................................................................................8 PC Software.................................................................................................................................................................................................10 Interface of the PC Software................................................................................................................................................................11 Chapter 2: Get Started....................................................................................................................................................12 Install Fable Blockly..................................................................................................................................................................................12 Install Fable Blockly on Windows.......................................................................................................................................................13 Install Fable Blockly on Mac.................................................................................................................................................................14 Install Fable Blockly on iOS for iPad..................................................................................................................................................15 Install the Hub Driver (Windows 7 and 8)......................................................................................................................................16 How to Write a Program.........................................................................................................................................................................18 Chapter 3: Basics.............................................................................................................................................................19 Turning the Joint Module On/Off......................................................................................................................................................19 Turning the Spin Module On/Off.......................................................................................................................................................20 Battery Management..............................................................................................................................................................................21 Wireless Communication.......................................................................................................................................................................22 Chapter 4: Troubleshooting...........................................................................................................................................23 Hub Not Found..........................................................................................................................................................................................23 Module Not Found...................................................................................................................................................................................24 Module Overloaded.................................................................................................................................................................................24 Unable to Connect Fable Face to Hub.............................................................................................................................................24 Chapter 5: Safety, Handling, and Support...................................................................................................................25 Important Safety and Handling Information................................................................................................................................25

The Fable robot system is a modular robotic system that makes it easy and fun for anybody to build their own robots. While creating robots, students can learn about math, physics, programming, innovation, engineering, and more. The Fable system consists of the components shown here, and many more module types are under development. 2 CHAPTER 1: FABLE AT A GLANCE

and are assembled using a strong magnetic connector system. Magnetic connector 3 CHAPTER 1: FABLE AT A GLANCE

4 CHAPTER 1: FABLE AT A GLANCE

PC: To use with a PC, the hub must be connected with a USB cable. On some operating systems, a driver must be installed. iPad: To use with a tablet or smartphone, the hub must be powered using a USB charger or PC. The tablet or smartphone can then connect via Bluetooth. Pairing: To pair a group of modules with a hub, users must select the same light color by pressing the color selector buttons on each device. USB cable Color selector Color light pair indicator 5 CHAPTER 1: FABLE AT A GLANCE

Wireless communication: Joint modules are controlled wirelessly using the hub. Servos: The two servos are identified as X and Y, and their position can be set from -90 to 90 degrees. The speed of movement can be controlled, and the angle can be measured. Pairing: Joint modules have a button that, if pressed, will change the LED color. The color of the light indicates the type of hub that would be able to detect the module. Only matching colored devices can communicate with each other (for example, red modules with red hubs). Self-protection: Joint modules continuously monitor the load and temperature on the servos and the battery level. As a self-protection mechanism, modules will automatically turn off if an overload or low-battery-level event is detected. You should avoid overloading, blocking, or pulling locked servos because they can be damaged. Servo Y Servo X Color selector 6 CHAPTER 1: FABLE AT A GLANCE

On/off: An on/off switch is located on the back of the joint module. Battery: The joint module contains a rechargeable battery capable of two to three hours of normal operation. The battery is charged using a standard micro USB charger. Charging can take several hours depending on how depleted the battery is and the type of charger used. Module ID On/off switch USB connector 7 CHAPTER 1: FABLE AT A GLANCE

and B. It also uses 10 sensors: three light sensors, three color sensors, three proximity sensors, and an infrared sensor with a transmitter and receiver. Wireless communication: Spin modules are controlled wirelessly using the hub. DC motors: The two motors are identified as A and B, and their position can be set from -32,768 to 32,767 degrees, marking a complete revolution every 360 degrees in each direction. The direction of the two motors is mirrored, which means that to move in the same direction, one of the motors has to be set to an angle opposite of the other. The speed of movement can be controlled, and the angle can be measured at any time. Headlights: The spin module has two headlights on the front (the side with the glass protector on it). The user can turn these on or off. Light sensors: The spin module contains three light sensors that detect light sources in the surrounding area (for example, sunlight or room lights) or directed light (for example, a camera flash). The intensity of these light sources can be measured as a percentage, from 0 (no light) to 100 (strong light). The intensity can be measured at any time. Color sensors: The spin module contains three color sensors that detect a color that is positioned up to three centimeters away. The color will have a red-green-blue (RGB) value. The observed color is strongly sensitive to light. The headlights should be on before you try to detect a color. The color detected can be measured at any time. Proximity sensors: The spin module contains three proximity sensors that can detect objects in front of the module. The sensors work similar to a parking assistance system in a vehicle, which alerts drivers to obstacles in the way. The proximity of an obstacle can range from 0 (no obstacles detected) to 100 (obstacle detected very close to the module). The proximity to a detected obstacle can be measured at any time. 8 CHAPTER 1: FABLE AT A GLANCE

can be instructed to transmit a message through the IR transmitter, while it and other modules can be instructed to wait for a message through the IR receiver. The user can trigger the module to do an action (such as spin around) when it receives the message. Alternatively, the user can trigger an action to occur when a message is not received (such as detect a ball that passes in front of the IR sensor). Pairing: Spin modules have a button that, if pressed, will change the LED color. The color of the light indicates the type of hub that would be able to detect the module. Only matching colored devices can communicate with each other (for example, red modules with red hubs). Self-protection: Spin modules continuously monitor the load and temperature on the motors and the battery level. As a self-protection mechanism, modules will automatically turn off if an overload or low-battery-level event is detected. You should avoid overloading, blocking, or pulling locked servos because they can be damaged. ID: Each spin module has a unique ID on the back of the module. This ID is used to identify the module in the Fable programming app. On/off: A button is located on the front of the spin module, over the glass protector. Pressing and holding it for three seconds will turn the module on or off. Battery: The module contains a rechargeable battery capable of two or three hours of normal operation. The battery is charged using a standard micro USB charger. Charging can take several hours depending on how depleted the battery is and the type of charger used. Light Sensor 2 Color Sensor 2 Proximity Sensor 2 Light Sensor 1 Color Sensor 1 Proximity Sensor 1 Light Sensor 3 Color Sensor 3 Proximity Sensor 3 IR Receiver IR Transmitter Motor B Motor A 9 CHAPTER 1: FABLE AT A GLANCE

programming: The software supports three complexity levels: Simple: Block-based programming for beginners or younger pupils. A limited number of blocks makes the interface easily accessible. Advanced: Block-based programming for more experienced users or older pupils. It supports more advanced features such as math, functions, logic and variables. Python: Text-based programming using the Python programming language. Simple Python Advanced 1 Based on Google Blockly 2 Based on Python 10 CHAPTER 1: FABLE AT A GLANCE

The interface contains the following sections: The main menu contains buttons for: • Running or stopping a program. • Setting up a project – starting a new project and loading, saving, or opening an example. • Opening the settings menu. • Turning on the camera, which can be used for some programs. • Reading the getting-started guide. • Switching between block-based (Blockly) and text-based programming (Python). Programming categories are visible when you use block-based programming. All available blocks are sorted and placed in a category based on their function (for example, all available arithmetic operations are placed in the Math category). Drag blocks from the programming categories to the programming area. These blocks will now be a part of the program that will be executed when the user presses the Run button in the main menu. The application uses vertical order to determine which block gets executed first. If the program is in Python mode, this area is replaced by a big space that allows code editing. The status bar shows the connected hub and all active modules that are paired with it. If a program is executed and has errors, those errors will be shown in the status bar. All available blocks correspond directly to Python code, which makes the transition to text-based programming a bit easier. The Python code section visualizes how the constructed program in the programming area will look like if it were written in Python. Some blocks allow users to plot data, such as the data read from a sensor. The result is shown in the plotting area of the app. 11 CHAPTER 1: FABLE AT A GLANCE

The newest version of the software can be downloaded and installed from Pitsco.com/Shop/Fable. From there, select the product you purchased and navigate to the Downloads section of the product detail page. Supported operating systems: • Windows 7, 8, and 10 • Mac OS starting with Mac OS X 10.10 Yosemite • iOS for iPad Please note that: • On Windows 7 and 8: You need a driver for the Fable Hub. Please refer to the section Install the Hub Driver (Windows 7 and 8). • On iPad: Some of the features are not available. If you are using an older hub (purchased before spring 2019), you might need a firmware update to make it compatible with iPad. Please contact Pitsco Education support for more information at [email protected]. 12 CHAPTER 2: GET STARTED

1. After you have selected your operating system, click Save File on the dialog box. 2. After the file has finished downloading, go to the destination folder and double-click the Fable Setup icon. After you have double-clicked the Fable Setup icon, you should see a dialog box with a progress bar indicating the status of the installation process. 3. Plug in the hub to your PC’s USB port. If you’re running Windows 7 or 8, see the Install the Hub Driver (Windows 7 and 8) section. 4. Start the PC program by clicking this icon located on your desktop: 13 CHAPTER 2: GET STARTED

1. On Yosemite, download the version of the software specifically made for that version of Mac OS. Otherwise, download the standard Mac OS version. 2. Open the downloaded file to start the installation process. 3. Drag the Fable icon on top of Applications. This will install the app. 4. Plug in the hub to your Mac’s USB port. Fable Blockly can be started from the Launchpad or the list of applications. 14 CHAPTER 2: GET STARTED

1. Launch the AppStore and find Fable Blockly. 2. Press the install button. 3. Once downloaded, plug in the hub either to a computer’s USB port or to a power supply. 15 CHAPTER 2: GET STARTED

A driver for the hub only needs to be installed on Windows 7 and 8. 1. Windows will alert you that the driver is not installed. When this happens, visit Pitsco.com/Shop/Fable, select the product you purchased, and navigate to the Downloads section of the product detail page. From here, download the driver and unzip the folder to your device. 2. Locate the hub in the Windows Device Manager under Other devices, right-click it, and select Update Device Software. Note: Your hub might be called a dongle in your installation files. Note: Your hub might be labeled as a dongle in your device manager. 16 CHAPTER 2: GET STARTED

you that the driver is unsigned. 4. The hub driver should now be installed. It can be checked in the Ports drop-down in the Device Manager window. The hub will automatically be assigned as a COM port. 17 CHAPTER 2: GET STARTED

To get started with programming Fable, follow these instructions: 1. Turn on a joint module. 2. Pair the hub with the module (make sure to match the light colors). 3. Create a test program like this: 4. Click the Run button located in the software’s main menu. 5. Observe the behavior. If the program was created correctly, the joint module should move back and forth between two positions at one-second intervals. 6. You can stop the program by clicking the Stop button. You can experiment with this program by changing the example code. Endless loop Angle of Servo X Angle of Servo Y ID of joint module Servo speed in percent 18 CHAPTER 2: GET STARTED

An on/off switch can be found on the back of the joint module. On: When the module is on, it can be programmed wirelessly. The module’s button will light up, and the color will change when you press the button. Off: When the module is off, the colored light is off unless the module is charging or the button is being pressed. If the button is pressed while the module is off, the light will turn on and display the module’s battery level. On/off switch 19 CHAPTER 2: GET STARTED

The spin module can be put into sleep mode by pressing and holding the Fable logo button. Press and hold the button for three seconds to turn sleep mode on or off. On: When the module is on, it can be programmed wirelessly. The module’s button will light up, and the color will change when you press the button. Off: When the module is off, the colored light is off unless the module is charging or the button is being pressed. If the button is pressed while the module is off, the light will turn on and display the module’s battery level. 20 CHAPTER 3: BASICS

Charging: The battery is recharged with a USB charger and can be charged while the module is either on or off. Time-out: To save battery power, the module will automatically turn off after being inactive for 10 minutes. To be turned on again, the on/off switch must be toggled (the joint module only) or the module’s button pressed (joint or spin modules). Battery level: The color of the battery level indicator will show the module’s battery level in the off state when: • It is charging. • The button is pressed. Battery level is indicated in a scale: Green = full level, yellow = medium level, red = low level. Self-protection: To protect the battery, the module will automatically power down if the battery level becomes too low. Recharge the module to make it functional again. Lifetime: To maximize battery lifetime, avoid full battery depletion before recharging. Storage: If a module is to be stored for months without being used, it should be charged to at least the yellow battery level before being stored. Each module shows a different battery level. Green depicts full battery, yellow is medium level, and red is low level. 21 CHAPTER 3: BASICS

Channels: The radio signals can be on different channels; each of the channels is indicated by the hub’s or module’s LED color. If a hub and a group of modules are on the same channel, they are able to communicate. Color pairing: The color on the modules and hub indicates the radio channel. To pair modules with a hub, simply match the color by pressing their buttons. Interference: Several hubs and modules can be on the same channel; however, performance will gradually decrease due to interference. In environments where many users work with Fable robots, interference can be reduced by distributing users evenly on different channels. Color-paired hub and modules 22 CHAPTER 3: BASICS

Symptoms: The hub is not detected by the computer/software. The issue can be confirmed by inspecting the status window in the PC software. Possible issues and suggested solutions: • Hub is frozen – unplug the hub from the USB port and plug it back in. • Port is frozen – restart the computer. • Operating system is not supported – check the list of supported operating systems. • Driver not installed (Windows 7 and 8) – install driver and inspect Device Manager to verify. See the Install Hub Driver section in Chapter 2. • USB cable is broken – replace cable. • Hub is broken – contact Pitsco Education. 23 CHAPTER 4: TROUBLESHOOTING

Possible issues and suggested solutions: • A servo on the module has been overloaded (for example, it was commanded to perform a movement that it does not have the strength to perform) – modify the program and/or robot configuration to avoid damaging the servo. • A servo has overheated – let the servo cool down. Unable to Connect Fable Face to Hub Symptoms: The Fable Face app is unable to find a hub or fails to connect to it. Possible issues and suggested solutions: • On Android, use the phone’s settings menu to ensure the location permission is enabled for Bluetooth to be used on apps. • If no devices are found and permissions are enabled, make sure Bluetooth is turned on. • Wait sufficient time before restarting the search or stopping the connection to a hub. Module Not Found Symptoms: The desired module does not show up with its ID in the graphical user interface. Possible issues and suggested solutions: • The hub is not connected – unplug the hub from the USB port and plug it back in. • The module is not turned on. Even if the LED has a color, the module might be turned off while it’s charging. Press the module’s button to see if the color changes; if it does, it means it is turned on; if not, then check the on/off switch. • The module has crashed – try restarting the module by toggling the on/off switch. • The module is broken – contact Pitsco Education. 24 CHAPTER 4: TROUBLESHOOTING

This device complies with FCC Part 15. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Notice: Any changes or modifications not expressly approved by Shape Robotics for compliance could void the user's authority to operate the equipment. Warning: Failure to follow these safety instructions could result in fire, electric shock, injury, or damage to Fable or other property. Read all the safety information below before using Fable. Not a toy: Fable is intended for use for educational purposes in schools and other pedagogical contexts under the surveillance of an adult instructor. Do not let children use Fable without supervision. Handling: Handle Fable with care. It is made of plastic and has sensitive electronic components inside. Fable can be damaged if dropped, stalled, pulled, overloaded, burned, punctured, or crushed, or if it comes in contact with liquids. Do not use a damaged or malfunctioning Fable module. Repairing: Do not open any Fable modules, nor should you attempt to repair Fable yourself. Disassembling Fable may damage it or may cause injury to you. If Fable is damaged, malfunctions, or comes in contact with any liquids, contact Shape Robotics. Battery: Don’t attempt to replace the battery in a Fable module yourself - you may damage the battery or module, which could cause overheating and injury. The LiPo battery in the module’s should be replaced only by Shape Robotics. Charging: Charge Fable with the included USB cable and power adapter, or with another certified USB charger or cable, with a maximum rating 5 V and 2.1 A. The USB cable should have a maximum of 3 m in length. Using damaged cables or chargers, or charging when moisture is present, can cause fire, electric shock, injury, or damage to Fable or other property. Medical device interference: Fable contains magnets, electronic components and radios that emit electromagnetic fields. These fields may interfere with pacemakers, defibrillators, or other medical devices. Maintain a safe distance of separation between your medical device and Fable. Consult your physician and medical device manufacturer for information specific to your medical device. If you suspect Fable is interfering with your pacemaker, defibrillator, or any other medical device, stop using Fable. Extreme risks: Fable is not intended for use where the failure of the device could lead to death, personal injury, or environmental damage. Choking hazard: Some Fable accessories may present a choking hazard to small children. Keep these accessories away from small children. Operating climatic conditions: Fable is designed to work only in an indoor environment with ambient temperatures between 0°C and 35°C (32°F and 95°F) and stored in temperatures between 0°C and 45° C (32°F and 113°F). Fable should not be used in high-humidity or wet environments. Fable can be damaged and battery life shortened if stored or operated outside of these temperature ranges. Avoid exposing Fable to dramatic changes in temperature or humidity. When you’re using Fable or charging the battery, it is normal for Fable to get warm. 25 CHAPTER 5: SAFETY, HANDLING, AND SUPPORT

robots at Pitsco.com/Fable Pitsco Education is the proud sole US distributor of the Fable robot. For technical support issues or questions, please contact us at: Phone: 800-835-0686 Email: [email protected] Online: www.pitsco.com/support