Last updated 31 Jan. 2003
There are a couple important setup parameters in using CotsBots that you
should read first before doing any CotsBots programming.
Several things have changed since the MotorBoard was last programmed, so
it is important to do this first. The MotorBoard uses the ATmega8L
microcontroller, a relatively recent addition to the Atmel family. Therefore,
in order to program, you must be using avr-gcc3.2 or higher.
Programming the MotorBoard
Please re-program your MotorBoards first! Many things have been
added since code was last downloaded to the motorboards.
You will notice that you may need to add a sensorboard in the
programming board stack as shown below. In addition, a 3V power supply
(available from Radio Shack) needs to be used while programming. This
is taken care of when using the latest mica2 programming board.
Because the CotsBots software is placed in the separate tinyos-1.x/contrib
directory, one small addition must be made if using a Makelocal file in your
standard tinyos-1.x/apps directory. You may be using this if you are
working on an IBM Thinkpad, where you need to set the extra -dlpt=3 flag. Just
modify the Makelocal file in tinyos-1.x/contrib/cotsbots/apps/ to be the
same as that in your primary apps directory.
If you would like to have external control of the robot (for the TestMotorBoard
and TestNavigation applications), you will need to use the RobotCmdGUI
provided in the tinyos-1.x/contrib/cotsbots/tools directory. Once again,
because the software is installed in the contrib directory, you will need
to modify your CLASSPATH environment variable. Often you need to be
a computer administrator to do this. Add the following directory to the
And that should be it! You are ready to play with the CotsBots!
If you have problems with any of the above, please email: