# Using Built-in Example Programs ## Usage Instructions （1）Power On: Press and hold the power button for 2s. The tail light will turn on, and the LED matrix will display an emoji to indicate successful startup. （2）Select and Use Built-in Programs: The robot comes pre-installed with 5 built-in programs. These programs are represented on the screen in the order <1>, <2>, <3>, <4>, and <5>. After powering on, you can switch between the programs using the A and B buttons. Press the power button to run the selected program. For example: To run Program 2, power on the robot, switch to <2>, and press the power button to select and run it. Note: In download mode on the software, the built-in sample programs can be replaced by custom-written content. You can also download the sample programs from the software. ![](img/U1.gif) ## Descriptions of 5 Built-in Programs ### <1> : Line-Following Robot **Program Introduction:** After entering the program, the robot does automatic line patrol. Built-in Code Overviews ```plain time.sleep(0.5) icrobot.display.show_image([0x0,0x0,0x0,0x10,0x7E,0x91,0x81,0x81,0xC1,0x82,0x84,0x84,0x84,0x84,0x82,0xC1,0x81,0x81,0x91,0x7E,0x10,0x0,0x0,0x0],0) time.sleep(0.5) icrobot.rgb_sensor.line_tracking(2) ``` **Demonstration** ![](img/U2.gif) ### <2> : Voice-Controlled Robot **Program Introduction:** When the robot detects that the sound exceeds the set threshold of 65, the robot performs the action of moving forward for one second. **Built-in Code Overviews** ```plain time.sleep(0.5) icrobot.display.show_image([0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0xC,0x90,0xEF,0xEF,0x90,0xC,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0],0) while True: if (icrobot.asr.vol()) > 65: icrobot.motor.move_forward(50,duration=1,distance=-1) time.sleep(1) time.sleep_ms(50) ``` **Demonstration** ![](img/U3.gif) ### <3> : AprilTag Recognition **Program Introduction:** The ICRobot performs corresponding actions by recognizing AprilTag codes: When the robot detects the number 0, it turns left 90°. When it detects the number 1, it moves backward 10 cm. When it detects the number 2, it moves forward 10 cm. When it detects the number 3, it plays a bicycle bell sound. When it detects the number 4, it plays a police siren sound. When it detects the number 5, it plays a car horn sound. When it detects the number 6, it plays an ambulance siren sound. When it detects the number 7, it plays a train whistle sound. When it detects the number 8, it plays a cat meow sound. When it detects the number 9, it turns right 90°. **Built-in Code Overviews** ```plain icrobot.camera.open(0) icrobot.ai.set_model(icrobot.ai.apriltag_recognition) while True: if icrobot.ai.apriltag_isrecognized(): if icrobot.ai.get_apriltag_information() == None: continue num = icrobot.ai.get_apriltag_information() icrobot.display.show_text(str(num)) if num == 0: icrobot.motor.turn_left(50,duration= -1,distance= 90) elif num == 1: icrobot.motor.move_backward(50,duration= -1,distance= 10) elif num == 2: icrobot.motor.move_forward(50,duration=-1,distance=10) elif num == 3: icrobot.speaker.play_music_until_done('/flash/bicycle.wav') elif num == 4: icrobot.speaker.play_music_until_done('/flash/police.wav') elif num == 5: icrobot.speaker.play_music_until_done('/flash/car.wav') elif num == 6: icrobot.speaker.play_music_until_done('/flash/ambulance.wav') elif num == 7: icrobot.speaker.play_music_until_done('/flash/train.wav') elif num == 8: icrobot.speaker.play_music_until_done('/flash/cat.wav') elif num == 9: icrobot.motor.turn_right(50,duration= -1,distance= 90) time.sleep(0.5) ``` **Demonstration** ![](img/U4.gif) ### ### <4> : App Remote Control **Program Introduction:** Mobile APP connects with the ICRobot robot via Bluetooth. Control the ICRobot robot through the APP. **Operation steps:** a. Connect the powered-on ICRobot robot to the APP, refer to [Bluetooth Mode (BT)](https://icreaterobot-icrobot-docs.readthedocs.io/en/latest/docs/ICRobot/04OperationManual/01ConnectionMethod/03BluetoothModeBTMode.html) for connection operation. b. Press ICRobot A/B button to switch to programme <4> and select it. c. APP Bluetooth remote control ICRobot movement. **Built-in Code Overviews** ```plain R_Rocker = {"x": 0, "y": 0, "key": 0} L_Rocker = {"x": 0, "y": 0, "key": 0} Xkey = Ykey = Akey = Bkey = 0 UPkey = DOkey = Lkey = Rkey = 0 Lshoulder = Rshoulder = 0 Ltrigger = Rtrigger = 0 icrobot.display.show_image([0x0,0x0,0x0,0x0,0x7C,0x82,0x91,0xB9,0x91,0x83,0x85,0x85,0x85,0x85,0x83,0xA9,0x91,0xA9,0x82,0x7C,0x0,0x0,0x0,0x0],0) def get_all_bluetooth_data(): global Xkey, Ykey, Akey, Bkey, UPkey, DOkey, Lkey, Rkey global Lshoulder, Rshoulder, Ltrigger, Rtrigger global R_Rocker, L_Rocker if ble.flag: temporary = ble.BLE_MESSAGE if temporary and temporary[0] == 0xff: R_Rocker["x"] = temporary[1] if temporary[1] <= 127 else temporary[1] - 256 R_Rocker["y"] = temporary[2] if temporary[2] <= 127 else temporary[2] - 256 L_Rocker["x"] = temporary[3] if temporary[3] <= 127 else temporary[3] - 256 L_Rocker["y"] = temporary[4] if temporary[4] <= 127 else temporary[4] - 256 Rtrigger = ((temporary[5] >> 0) & 1) Rshoulder = ((temporary[5] >> 1) & 1) Ltrigger = ((temporary[5] >> 2) & 1) Lshoulder = ((temporary[5] >> 3) & 1) R_Rocker["key"] = ((temporary[5] >> 4) & 1) L_Rocker["key"] = ((temporary[5] >> 5) & 1) Ykey = ((temporary[6] >> 0) & 1) Xkey = ((temporary[6] >> 1) & 1) Bkey = ((temporary[6] >> 2) & 1) Akey = ((temporary[6] >> 3) & 1) Rkey = ((temporary[6] >> 4) & 1) Lkey = ((temporary[6] >> 5) & 1) DOkey = ((temporary[6] >> 6) & 1) UPkey = ((temporary[6] >> 7) & 1) while True: get_all_bluetooth_data() l_speed = 0 r_speed = 0 lx = L_Rocker["x"] ly = L_Rocker["y"] if Ltrigger == 1 or Rtrigger == 1: icrobot.gun.fire(1,1) if Xkey == 1: icrobot.gripper.open(2) if Ykey == 1: icrobot.gripper.close(2) if R_Rocker["key"]==1 or L_Rocker["key"]==1: icrobot.speaker.play_music_until_done("/flash/car.wav") if abs(lx) > 20 or abs(ly) > 20: l_speed = ly + lx r_speed = ly - lx l_speed = max(-100, min(100, l_speed)) r_speed = max(-100, min(100, r_speed)) icrobot.motor.drive(l_speed,r_speed) time.sleep_ms(100) ``` **Demonstration** ![](img/U5.gif) ### <5> : Transport Robot **Program Introduction:** The ICRobot activates its camera and moves to a designated position to locate the AprilTag code (target position). If the recognized AprilTag code value is 1, the robot executes the following sequence of actions: grab → turn left → move forward → turn left → move forward → turn right → move backward → release, placing the object within the designated boundary area. **Built-in Code Overviews** ```plain time.sleep(0.5) icrobot.display.show_image([0x0,0x0,0x0,0x0,0x0,0x0,0x38,0x47,0x91,0x8A,0x92,0x82,0x82,0x92,0x8A,0x91,0x47,0x38,0x0,0x0,0x0,0x0,0x0,0x0],0) icrobot.camera.open(0) icrobot.ai.set_model(icrobot.ai.apriltag_recognition) icrobot.gripper.open_until_done(2) icrobot.motor.move_forward(50,duration=-1,distance=0.7*10) icrobot.motor.turn_right(50,duration=-1,distance=90) icrobot.motor.move_forward(50,duration=-1,distance=2.1*10) while True: if icrobot.ai.apriltag_isrecognized(): if icrobot.ai.get_apriltag_information() == None: continue if icrobot.ai.get_apriltag_information() ==1: num = icrobot.ai.get_apriltag_information() icrobot.gripper.close_until_done(2) icrobot.motor.turn_left(50,duration=-1,distance=90) icrobot.motor.move_forward(50,duration=-1,distance=1.4*10) icrobot.motor.turn_left(50,duration=-1,distance=90) icrobot.motor.move_forward(50,duration=-1,distance=2.1*10) icrobot.motor.turn_right(50,duration=-1,distance=90) icrobot.motor.move_backward(50,duration=-1,distance=0.7*10) icrobot.gripper.open_until_done(2) break time.sleep(0.3) ``` **Demonstration** ![](img/U6.gif)