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Introduction

R+m.Task 2.0 provides identical functions on Android / iOS devices as R+Task 2.0 does on PC.
Downloading, editing, debugging tasks, and remote controller is supported.

System Requirements

Please keep the lastest firmware for the controller.
The device must support bluetooth in order to use download feature.

Android

OS : Android 2.3
Hardware : 1.2 dual-core CPU, 1GB RAM, Bluetooth/IMU sensor
BT-410 Support (Android 4.4 or above)
BT-210, BT-110 Support

Apple

OS : iOS 8.0
Hardware : iPhone4S, iPod 5G, iPad mini, iPad 2
BT-410 Support
BT-210, BT-110 NOT supported

Supported Products

Supported Controllers

CM-50 - COMMING SOON
CM-150
CM-200
CM-510
CM-530
CM-700
OpenCM9.04
OpenCM7.0

App Download

App Installation

Launch Google Play from the smart device.
Search for ROBOTIS in the search form.
From the list, select R+ m.Task2 and Install.
Accept the request for accessing device.

Function Tabs

Workspaces are divided into Home, Programming, and Debugging.

Start Screen

At the start screen, user can select Editor or Remote Controller and set the Bluetooth Device.

Home Tab

Below is the initial screen when user selects Editor in the start screen.

File Menu
Preferences and Software Information
Menu Tab
Example Select Menu
Remote Controller

Programming Tab

In the Programming Tab, user can edit the task source code.

Source Code Area
Programming Tools
Menu
Device and Download

Debugging Tab

Debugging Tab helps to debug the written code.
(Auto connect feature has been applied for easier use)

Program Output Window
Debugging Tools
Virtual Remote Controller
Device and Terminal Control

Practice

Open Example

Move to Home tab. (Home tab is the default location when program starts)
Select the Examples button.
Select the Product, Level, and Example Name.
Confirm the selection.

Create New File

Move to Home tab. (Home tab is the default location when program starts)
Select the New Task button.
Select Firmware Version(Protocol Version) and the Controller.
Confirm the selection to create the new task.

Instructions

Move to Programming tab. (When creating a new task, Programming tab will be selected by default)
Select Instructions button.
Select Loop category.
Select ENDLESS LOOP and drag the instruction.
Drop the selected instruction where it should be inserted.

Edit Parameters

Select Instructions button.
Select Execute category.
Select LOAD instruction.
Drag and drop the instruction where it should be inserted.
Double tap on the left side block of the inserted instruction.
Select Controller Device in the Category 1.
Select Accessory Device in the Category 2.
Select Port 1 and select Geared Motor.
Confirm the selection to finish editing.
Double tap on the right side block of the instruction.
Select Controller Constant in the Category 1.
Select Motor Value in the Category 2.
Select CCW for rotational direction and enter 500 for the Power.
Confirm the selection to finish editing.
Make sure that the instruction is properly edited.

Task Download

Select Device button.
Select the Bluetooth device of the robot (If Bluetooth device has not been connected before, search the device by using Filter button on the right)
Confirm the selection and close the Device window.
Select Download button to start downloading.
When download is completed the controller executes Task (Some controllers are shut off after the download).

Program Output Monitor

Move to Debugging tab.
Select Device button.
Select the Bluetooth device of the robot (If Bluetooth device has not been connected before, search the device by using Filter button on the right)
Confirm the selection and close the Device window.
Select Start Terminal button.
When robot is connected, Program Output Monitor and Virtual Remote Controller are enabled.
If Print Screen with Line instruction is used in the source code as shown below,
New line feed will be applied in the Program Output Monitor.

Remote Controller

Move to Home tab. (Home tab is the default location when program starts)
Select Device button.
Select the Bluetooth device of the robot (If Bluetooth device has not been connected before, search the device by using Filter button on the right)
Confirm the selection and close the Device window.
Tap the Remote Controller button.
Buttons mode is the default setting for the Remote Controller.
Select Joystick to use virtual joystick instead of directional buttons.
Select Sensor to use tilt sensor as a directional control.

Programming(Edit)

Insert/Edit Instruction

Select Instructions button (or double tap the location where the instruction will be inserted).
Drag and drop the instruction.
The inserted instruction can be changed to other instructions by double tapping the instruction block.

Select Multiple Lines

Drag the line number to select multiple lines.
Dragging on the selected lines will deselect them.
Tapping on the source code will cancel the line selection.

Insert/Delete Line

Select the line to insert a new line or delete the line.
Select Insert(+) button to insert a new line before the selected line.
Select Delete(-) button to delete the selected line.

Enable/Disable Line

Select the line to enable or disable.
By tapping the Enable/Disable button, selected lines will be commented or uncommented.
Disabled(Commented) lines will be displayed in gray font.

Copy/Cut/Paste

Select lines to copy or cut.
Tap on the Additional Menu.
Select Copy or Cut to save selected lines in the clipboard.
Select the line where saved lines to be pasted.
Tap on the Additional Menu.
Select Paste to insert saved lines in the clipboard.
The code will be look like the below image.

Undo/Redo

While editing the code, Undo button will undo the recent change.
Redo button will repeat the change made by Undo.

Programming(Instructions)

R+m.Task 2.0 uses identical instructions from R+Task 2.0.
Please refer to Programming(Instructions) section of the R+Task 2.0 manual.

Programming(Parameters)

R+m.Task 2.0 uses identical parameters from R+Task 2.0.
Please refer to Programming(Parameters) section of the R+Task 2.0 manual.

Useful Tips

Search Variables/Functions

User can easily search and rename Variables or Functions used in the source code.

Select Variables or Functions button (There should be at least one variable or function to use this feature).
Select items to search in the Variable List or the Function List.
Tap the Search button in the below.
Select an item in the Reference Results to search.
Close the search result by tapping the Find Reference button.
Use Rename button to change the name of variable or function used in the source code.

Search Keyword

User can also find a specific object in the source code.

Select Find button.
Enter the term to search.
The result will be listed.
Select an item to move to the code line.

Grammar Check/Compile

In order to download the task code into the controller, syntax check and compile have to be done.
When try downloading or tapping Error button will perform the procedure automatically.

Syntax Check : This process check whether the instructions are valid and compatible to the selected controller. User must correct any errors listed in the result to proceed downloading.

Compile : After checking the syntax, this process will convert the source code into the machine language. During this process, number of variables and callbacks, and memory usage will be checked.

Copy Task to Android Devices

Task files written in the PC can be copied into Android devices.

Use USB cable to connect Android device to PC (Proper Android drivers have to be installed on PC).
Go to file explorer and open the Android Device.
Open the RoboPlus folder. (If RoboPlus folder does not exist, create the folder manually.)
Copy the task file(*.tsk) into the RoboPlus folder.
Launch the R+ m.Task 2.0 and select Open Task button.
Select the copied file and confirm the selection to open the file.

Copy Task to iOS Devices

Task files written in the PC can be copied into iOS devices.

Use USB cable to connect iOS device to PC (Proper drivers have to be installed on PC).
Launch iTunes on PC.
Select the connected device from the iTunes.
Select File Sharing category on the left column.
Wait for a while until Applications are listed, then select R+ mTask2 from the list
Drag and dropo the task file(*.tsk) on the document area on the right.
Launch the R+ m.Task 2.0 and select Open Task button.
Select the copied file and confirm the selection to open the file.

FAQ

Supported Products?

See Product Compatibility Guide, and check if your controlelr is compatible with R+Task 2.0

Can TSK files that were used in the previous Task 1.0 also be used on Task 2.0?

Yes. If the TSK file is loaded with Task 2.0 and saved, it will be converted to the TSKX file so it will no longer be compatible with Task 1.0.

The controller will not shut down after downloading a task.

In R+ Task 2.0, downloaded task will be executed automatically. (For controllers : CM-150, OpenCM9.04, OpenCM7.0…)

Can I use Bluetooth module in R+ Task 2.0?

Each controller could support different Bluetooth module, so please check the compatibility.
- BT-110, BT-210, BT-410

The controller does not connect well.

Restart the controller by turning it off and then on, and try again. If the problem continues, please update the controller’s firmware to the latest version.
- R+ Manager 1.0 Firmware Update
- R+ Manager 2.0 Firmware Update

I do not want to see the help animation any more.

Go to Home Tab > Preferences and uncheck the Tutorial Animation under the Miscellaneous.