AXON EXAMPLES

Need examples of what the Axon can do? Check out these robots for designs and source code.

Experimental Robot Platform (ERP) This Axon-controlled robot has two arms, pan/tilt camera vision, scanning sharp IR, and hopefully the intelligence of a dog when it's done. It is being built as a platform for my future robot sensor/intelligence experiments. RoboRealm + Servo Controller RoboRealm has partnered with SoR to allow for RoboRealms amazing free computer vision software to control the Axon. It includes an interface to control servos from your PC - and its all open source. Robot Fish A project I've been working on for the Navy for the last 3+ years. Two research papers are currently posted, and video will come when the project is completed. No source or designs will be posted, but it demonstrates the power of the Axon (actually, an early prototype of it). IR Transceiver and Bluetooth Demo I custom made an IRDA compatible transceiver complete with encoding/decoding. I'm demonstrating it using the Axon microcontroller, and using Bluetooth to upload data to my PC. X Robot Arm undocumented I built this robot arm for a client of mine in mid-2008, but I'm not allowed at the moment to talk about it. It was basically an Axon controlled robot arm. I'll release more details and video maybe at the beginning of 2009. Sorry! Axon Controlled Laser Cat Toy Afroman's tutorial video and source code on how to use the Axon for controlling a laser to use as a toy for his cat, Pikachu.

Transformers Artwork Afroman's tutorial video and Axon source code on how to make some nice transformer logo artwork using PWM and LED arrays. Axon fits on BRAT biped perfectly! airman00 reports that by freaky coincidence the Axon fits perfectly on the lexan plate screw holes that come with the Lynxmotion BRAT biped. He also has a BRAT Axon video up. Others have also gotten the Axon to work with the Brat (videos). Axon, Mac, Bluetooth, LEDs airman00 demonstrates the Axon being sent commands to control LEDs from a Mac through Bluetooth. He also has a nice video, some pictures, and source code. Axon with PS2 Controller dunk shows how to interface a PS2 controller with the Axon. Additionally, he did this using a Linux virtual machine running Windows XP (not required, just shows it can be done with no problem). Here is his demo video. If you have any questions, check out the Axon with PS2 controller forum post. Nuisance Nuisance uses multiple scanning Sharp IR to generate a map for navigation decisions. It is driven with DC motors by interfacing with the Sabertooth motor driver. Vone "Based on the Lynxmotion Tri-Track, it has two 12 volt DC motors, controlled by the sabertooth 2X10 and, of course, the Axon, which is incredible." Stampy Algorithm for Axon Jdog converts my Stampy algorithm for use with the Axon. See his demo video. Download the commented source code. SoR Scope (USB oscilloscope) Free access to plug-n-play SoR Scope, software that converts your Axon into a 16 channel oscilloscope. Who wants to spend hundreds or thousands on a clunky oscilloscope anyway? No programming necessary.

SoR Biped Engine The SoR Biped Engine is simple to use software to get your robot biped walking within ~30 minutes by PC control.

Axon FAQ
I have never built a robot before, is the Axon right for me? This really depends on two factors. First is your budget. If you have a very tight budget, the Axon will probably not be right for you. The Axon comes with many features that you will probably never use for an ultra low budget project. The second is on your long-term plans. All of the cheap boards out there are designed to be cheap - they are not abundant with features. They tend to not have a power bus (meaning they require additional wiring), and they tend to support up to only 8 servos and 8 sensors maximum. The Axon however has 3x more features available for your future growth and future robots. If you plan to build more advanced robots in the future, the Axon would be the better long term choice.

I am a very weak programmer, is that a problem? No, it is not! All the complicated programming has already been done for you. Almost any feature can be used by calling simple one-line functions, of which is listed in the Axon function list.

Do you offer full customer support? SoR offers more support than any other controller or website on the market: admin's proven personal support, plus the fairly large and growing SoR forum community. If you have problems or questions, there are three steps you should take: 1) Check the guides and datasheets 2) Search the forum for similar questions 3) Ask your question in the forum, including 'Axon' in the subject line And if you have a more general 'how do I ...' question, remember to always search the SoR site first before asking in the forum. Its probably been already asked!

You might also find the general robot FAQ and the must read robot tutorials list very useful.

Is there a warranty, or refund, for a damaged product? No. I individually test all Axon boards before shipping, and so I guarantee that no product is shipped damaged. If your board fails due to improper use, post a question in the forum for help to revive or at least partially revive your Axon. This may often involve soldering and/or replacing individual components on the board, or modifications in software.

GENERAL TROUBLESHOOTING

The green LED is flashing but nothing is working, what's wrong? The green LED flashes when the Axon is reset - usually when battery power drops too low. Unpower your board, swap to a fully charged battery with the proper voltage, and try again. Note that the green LED could also flash if you write code to do just this, so if the battery is fine, then your code could be wrong . .. Or if you are using noisy electronics on the ADC line (like Sharp IR), resets can occur.

Why am I getting gibberish from the UART? Giberish means your COM port is correct but baud rate is set improperly. Here is your checklist, basically three places to set it: hyperterminal hardware settings in device manager (step 3) axon software I usually just set *everything* by default at a specific baud rate for *all* of my projects to avoid potential conflicts.

What happens if I 'brick' the Axon? The term 'bricking' is what happens when you play around with the fuse settings not knowing what you are doing. If you set the wrong fuse, you could end up preventing the Axon from reprogramming again - including preventing the changing of the fuse settings. This is a very common 'stupid' mistake - all the experts have bricked a microcontroller at least once in their lifetime! I definitely

have. The most likely event is that you set the frequency clock wrong in the fuses, and that you will need to apply an external clock using a function generator. Unsolder the crystal and the two small capacitors next to it, apply a 16MHz square wave to XTAL1, then using a hardware programmer change the fuse settings back to a 16MHz crystal. Lastly, solder the crystal and caps back on. These are the correct Axon fuse settings and more instructions.

What happens if I fried a port pin? The ATmega640 is very resilient to abuse. If for example you accidentally plug in ground to an output pin while the pin is set to high, the pin will most likely fry. However, the rest of the microcontroller should still work - just use a different pin. A very likely way to fry a port pin is plugging in the battery wrongly to it, or a device attached to it doesn't act as expected. If you are worried about damaging a pin, place a resistor of about 4kohm between the port pin and your external device signal pin.

I'm using the 3.3V line, and the USB isn't working! The 3.3V line can only supply a limited amount of current - please see Current Tolerances. Make sure you aren't over drawing current. Also, add a 4.7uF tantalum capacitor (polarized) between 3.3V and ground. A ceramic capacitor may work for your application, so its worth a try if you have one on hand.

The Axon resets often, what's wrong with it? Chances are this is a battery problem. First, use a multimeter to check the input voltage while your Axon is turned on. The original source code is designed to flash the green status LED during a reset - constant flashing means constant resetting. Also, make sure you do not have the WDT (watch dog timer) fuse set, and that your code isn't directly causing the reset.

The Axon resets randomly on rare occasions, and the batteries are fine. This could be because electrical noise is causing a hardware reset on the reset pin. Flip the Axon over, and on the ISP header solder a 0.1uF to 1.0uF ceramic capacitor between RESET and GND. This could also be because you are drawing huge amounts of power when a motor is turned on, or perhaps you have something occasionally shorting power.

I just saw sparks/smoke come from my Axon! This means something was shorted. Make sure everything is plugged in correctly.

The Axon is designed to resist damage, so you have a good chance it will still retain functionality after you identify and rectify the problem.

Why does the voltage regulator get really hot? There are two reasons it could overheat. First, something could be shorting. Unplug your power and check your wiring. The other reason could be you are over-drawing power - the voltage regulator is rated to not handle more than about 1.5A of current. The voltage regulator has thermal shutdown features, meaning that if it overheats, it will turn off until it cools down. If you'd like to push the power limits, add a heat sink onto the back of the voltage regulator as shown here:

What's up with that big capacitor on the Axon?! The Axon was designed to handle abuse and unpredictable noise environments. The big capacitor acts as a noise suppression device. Where does this noise come from? Well, your external hardware connected to the Axon! For example, suppose you have 40 servos connected to the Axon, and suddenly it turns all 40 on at the same time. A huge sudden power drain will occur! If your batteries cannot handle it, the voltage will suddenly drop, causing a hardware reset of your microcontroller. The big capacitor is there to help mitigate this problem.

How do I reconfigure the USB?

The CP2102 USB to UART setup has been designed so that it can be powered from both USB and/or a battery. However, sometimes you may wish to change the internal configurations of the USB - such as define the power source, or change the device name. To learn more, have a look at the general information and app notes. For customization, please read the customization guide, and download the customization software. Make sure you have the USB plugged in and that no other software is using the USB port (such as hyperterminal) before connecting.

I deleted the bootloader, how do I reupload it? To reupload the bootloader, you will need a hardware programmer. I recommend the ATAVRISP2 which you can buy for about $36 plus shipping:

There are many benefits to using a hardware programmer over the included bootloader - faster uploading, easier to change fuses, and much more. To connect it to your Axon, just match the triangle on both the ISP header and the Axon board:

Next, power up the Axon and open up AVR Studio. Click on the AVR button to connect to the Axon:

A new connection window should come up. Select MKII as the programmer. Then, browse for the bootloader.hex file and upload it. You can download the bootloader .hex to go onto the Axon here: Axon USB Bootloader Remember to power up your Axon *before* programming it. If you don't, sometimes it will program but the power delivered is not always enough to keep the commands from getting corrupted. On very rare occasions it could modify the fuses, potentially the clock fuse, and thereby 'brick' your Axon (a bad thing).

What fuses does the Axon use? How do I change them?

The best way to change/set fuses is to use a hardware programmer (such as the MKII). Open up AVR Studio, connect to the Axon, and go to the fuses tab as shown below. Enter in the fuses as shown, then press Program. DO NOT CHANGE FUSES IF YOU DO NOT KNOW WHAT YOU ARE DOING

Is the Axon RoHS compliant and lead-free? Due to an unfortunate manufacturer error (not the fault of SoR), the first batch of Axon microcontrollers (June 2008) were made using lead-based solder. All

boards made in this batch have a small black L written on the backside. Future batches will be RoHS compliant and lead-free, most likely April of 2009.

The bootloader isn't working! If you are having trouble getting the bootloader to work, there are several steps you need to follow. Most likely, you simply selected the incorrect COM port. Go to the device manager to verify the comport you selected is the COM port your Axon is connected to. For an example, see STEP 3: Configure BAUD. If still no luck, read through the Bootloader Debug List

How do I set up JTAG? A JTAG Debugger is useful for code debugging, but requires external hardware. Here are instructions on setting up JTAG as provided by an Axon user. wiring: TDI connects to ADC 7 TDO connects to ADC 6 TMS connects to ADC 5 TCK connects to ADC 4 nTRST connects to ISP pin 5 IRST GND connects to ADC 0 GND Vsupply connects to ADC +5V Enable the JTAGEN fuse in AVR Studio. Note that this will disable ADC 4-7. Warning: When finished using JTAG, disable the JTAG fuse before attaching sensors to ADC 4-7! Otherwise, you could potentially damage those pins (and maybe your sensors) permanently. setting up software: Under debug menu set the debug platform and device to JTAGICE MKII. Then change the following lines in the Axon makefile:
# Debugging format. # Native formats for AVR-GCC's -g are stabs [default], or dwarf-2. # AVR (extended) COFF requires stabs, plus an avr-objcopy run. DEBUG = dwarf-2

The option DEBUG='stabs' must be changed to 'dwarf-2' so that the object file can be used by the debugger.

In configuration properties you have to set up the location where the object file (i.e. Axon.elf) is located in the filesystem if you use the Axon's makefile. Next, 'clean' before you build your object file. And then you build and debug away with jtag.

The USB bootloader is really slow! If you are using Windows XP, do not upgrade to SP3. The bootloader takes about ~6 seconds with SP2, and ~45 seconds with SP3. There are no actual benefits to using SP3, however many problems with it have been reported. To remove SP3, go to: Start -> Control Panel -> Add Remove Applications -> Windows XP SP3 and remove it.

Got 'CRC-Error', USB stops working Do you get a 'CRC-Error' from the bootloader and then the USB stops working? We aren't entirely sure the cause yet for this rare error, but we have a few temporary solutions you can follow at this forum post. It is believed that if you allow the Axon about ~5 seconds between resets that the problem won't occur.

Axon resetting, and I'm using Sharp IR Several users have reported that simply placing three Sharp IR rangefinders on the Axon can cause constant reseting. The reason is because these sensors are extremely noisy electrically. There are two solutions, and I recommend doing both. The first is to place a ~10uF or higher ceramic capacitor connecting ADC power and ground. This will keep the voltage more stable. The second is to place a surface mount 10nF ceramic capacitor and a 530 ohm resistor directly on the Sharp IR shorting ground and the sensor output pin (the capacitor and resistor placed/stacked in parallel). This will greatly improve Sharp IR accuracy.

Can I use Mac or Linux? The bootloader is not directly Linux/Mac compatible. You could use a Windows emulator like wine or dosbox. You could also use an external hardware programmer for programming - please see the FAQ on how to upload code with a programmer.

DATASHEET
Technical details for those technically inclined.

Total weight is 34 grams. Four 4-40 screw holes make mounting onto your robot easy. VOLTAGE TOLERANCES The Axon is designed to be fully functional from a single battery source, although you can easily plug in additional parallel batteries to the power bus. Absolute minimum required voltage is 5.35V, while the recommended battery voltage is 6V to 7.2V. Maximum voltage at 20V, however most servos cannot handle above 7.2V before being damaged. There are two power buses. ADC pins 0 to 15 are regulated at 5V, while all other pins are directly connected to your battery. There is also a 3.3V output pin (see current tolerances). The Axon has polarity protection features, meaning that it is designed to protect itself if you accidentally plug your battery in reverse. However, it will NOT protect any external component connected to the unregulated battery bus. This is how the pins are set up in terms of power and signal. Refer to your Axon board for pin numbers.

Pins E2-E7 H2-H6 Bat battery A0-A7 J6 battery C0-C7 0-15 3.3V G ground + battery - ground

Voltage battery battery (input) battery battery 5V regulated 3.3V (output)

CURRENT TOLERANCES All ADC power bus pins get power from the 5V LDO voltage regulator with maximum allowable current of 1.5A. Adding a heat sink to the regulator can raise this amount depending on various environmental factors. The Axon has been tested to handle at least 5A on each power bus, but can in theory handle ~13A. Placing your high current draw components near the battery can up this number. This limitation is entirely based on power bus tracing thickness, meaning that if you require higher currents you must make your own separate power bus. Individual I/O pins can supply about ~20mA power, each. Exceeding this number could damage the I/O pin. The Axon also has a special regulated 3.3V output connector if you have any components or sensors that require this voltage. This pin cannot supply more than about 73mA, or 90mA if you aren't using USB. If you

find that USB becomes unstable or fails to work when using this output, make sure you aren't overdrawing current and place a 4.7mF tantalum capacitor (polarized) between 3.3V and ground. You must also keep in mind the current tolerances of the included Hitec 572125S on/off switch. These are the limits they quoted it at: "A conservative estimate would be in the 10 amp range for the 572125S and 16 amp range for the 54407S. But again these are just estimates." - Hitec Sales Manager NOISE SUPPRESSION All electronics creates electronic noise and sudden voltage spikes/drops that can potential cause problems. The Axon has been intentionally designed to minimize this noise, and in fact during extensive tests I found no detectable (non-negligible) noise. However, your needs may be different. If you find you are using highly sensitive sensors, I recommended attaching additional noise suppression ceramic capacitors in parallel to the regulated power bus.

GETTING STARTED Installing Software

STEP 1: Install WinAVR
While waiting for your Axon to arrive in your mail, here are several programs you need to download and install to make full use of your Axon microcontroller. Follow the self-explanatory installers. WinAVR will install the GNU Compiler and a ton of useful utilities. WinAVR (22.8mb) You can also download the latest version, but it has not been tested.

STEP 2: Install AVR Studio

AVR Studio is an IDE, assembler, and programming software all in one. When you want to write and compile code, this is the software you will be using. (install in this order) 1 AVR Studio, version 4.13, build 528 (73.8mb) 2 AVR Studio 4.13 SP1 (build 557) (37mb) 3 AVR Studio 4.13 SP2 (build 571) (45mb) Further AVR Studio upgrades (untested by SoR) can be found on the AVR Studio Download page. Or for direct links to download tested upgrades go here. Because AVR Studio is not compatible with Mac or Linux, you might find this post and this post helpful. If you use Vista 64 bit, read this.

STEP 3: Download AVRlib (Optional)

Procyon AVRlib is a "C-Language Function Library for Atmel AVR Processors." AVRlib has tons of simple to use source code for you to use. Procyon AVRlib (1.5mb) You will probably not use it right away, but its good to have available when you need open-source help.

STEP 4: Setup AVR Studio

Now that we have installed all the essential software, lets set up AVR Studio. Find the new AVR Studio 4 icon in your start menu, click, and you should immediately see this window come up:

Select 'New Project' The next window that comes up will look like this:

Copy the options that I have chosen, but whatever file name you like. Make sure there are NO spaces in the file name. For example, do not do 'C:\Documents and Settings\User\Desktop . . .' Also, the project file name must be the same name as the initial file. These are 'features' (bugs) in AVR Studio that will cause you problems otherwise!

After clicking Next, another window should come up. Select AVR Simulator, and choose ATmega640 on the right. Click Finish.

AVR Studio should now load and look something like this:

STEP 5: Download Axon Source Code

The latest Axon code, and instructions on how to use it, can be found at the top of the Axon Function List page.

Unzip all source files into your project folder you just created using AVR Studio. For example, if your project is called Axon, empty all files into the newly created folder C:\My_Robots\Axon (or wherever it is).

STEP 6: Add Source to Project

Now we need to add in the source code that you downloaded for AVR Studio. Open up the file Axon.c (from the source code) in notepad, then copy/paste all code contents of it into the .c file with the same name as the project. For example, if your project is called 'Photovore_v1', paste the code into Photovore_v1.c. Push the 'Save' icon at the top left in AVR Studio. Now, right click 'Source Files' and left click 'Add Existing Source File(s)...'.

Locate hardware.c and control.c in your folder, and add it. You could also just drag and drop. Just like with the source files, now right click 'Header Files' and left click 'Add Existing Header File(s)...'. Add SoR_Utils.h. You will probably not modify the other files, so you don't need to bother adding them.

To write your own code, just use the file control.c. By default it's a photovore program to get you started, but you can overwrite anything in that file. The Axon Function List page will explain more. Note: If you named your project something other than 'Axon', make sure you open up 'makefile' and change TARGET = Axon to TARGET = [your project name].

STEP 7: Configure Make File

Now we must set up the options to compile your source code. Go to Project -> Configuration Options.

Check the box that says 'Use External Makefile' and then browse to locate the makefile (the file in the downloaded source code labeled 'makefile'). Then push OK.

STEP 8: Compile Code

The final programming step is to compile the code. This converts your code written in C to machine code in a .hex that only your specific microcontroller can read. You should do a Rebuild All the first time you compile the downloaded source code. But after that, if you only make changes to the .c source file, you only need to do the faster Build command.

If all went well, you should see this message after compiling:

The memory used in this example is 16016, or about 16kb. The Axon can store up to 64kb. If you run out of memory (highly unlikely), just comment out header files that you aren't using in Axon.c. Note: if you run the latest beta software, you will see the improved below message showing exactly how much memory you have used:

If you get errors, and you are new to programming, it may be a little difficult to debug at first. Go back and check to make sure you followed all the steps, especially properly naming the files (a common error).

Note that a new .hex file can be found in your project folder. That is the compiled program. Whenever you modify your program, just click 'Build' and it will recompile a new .hex for you. Note: A common error you may get is
"gcc plug-in: Error: Object file not found on expected location C:\Documents and Settings\User\My Documents\My_Robots\[your project name]\[your project name].elf Make sure your makefile specifies the output .elf file as [your project name].elf"

If you get that error, it simple means you made a mistake naming your files. Start at the beginning, and read instructions more carefully.

STEP 9: Save Everything

Lastly, save your project configuration.

STEP 1: Install USB Drivers

To use the USB for the first time you must first install the USB driver file. Simply download the .exe file appropriate for your operating system and install it. Next, plug in your USB cable (you do not need to power the Axon to do this).

Your computer should now detect the new hardware and ask you about drivers for the CP2102 (the USB converter chip on the Axon). Follow the installer directions given until complete.

STEP 2: Connect Power

Now you must plug in your battery. Look for the pin labeled 'B' or 'Bat' on your Axon at the bottom left side. The middle pin is for power, and the left pin is for ground. A 6V NiMh battery with Hitec connector is recommended, but you can also use 7.2V and/or a NiCad battery type. Be aware that some servos may over heat at greater than 6V. See the Axon datasheet for more info on voltage/current tolerances.

STEP 3: Configure BAUD

In Windows, click: Start->Settings->Control Panel->System A new window will come up called 'System Properties'. Open the Hardware tab and click 'device manager'. A new window should then pop up:

Go to Ports, select the one you are using, and right click it. Select 'Properties'. A new window should come up, and select the 'Port Settings' tab:

Use 115200 for 'Bits per second' for this tutorial, although the Axon can handle all main rates. When done, click 'OK'. Also notice the COM port that the Axon is plugged into for future reference. To learn more about BAUD rates, check out the UART tutorial.

STEP 4: Test USB

Download this hyperterminal config file, then double click it. For instructions on configuring it correctly, check out my hyperterminal tutorial. Select your COM port and baud rate (115.2kbps), then click connect. You should immediately start seeing data.

Remember, if your receiving junk data, that means you improperly set up the baud rate but everything else is working fine. It also means you should read the FAQ on UART gibberish. If you don't like HyperTerminal, another popular terminal program to try is Tera Term. note: The first 15 Axons shipped had an incorrect baud rate pre-installed on the factory installed test program. Nothing major, but if you want to test the USB before programming the Axon (not required), simply bootload up the newest test program to overwrite the old one.

STEP 5: Connect Sensors & Servos

Servos can be connected to any header on the left and right of the Axon. Ground (black wire) is always the outside row, and red (power) is always the center row. Analog sensors, such as the Sharp IR Rangefinder should always be connected to the regulated 5V bus. The 5V bus is the first 16 (ADC #0-15) headers on the top header row of the Axon. An example:

You can also take power from the Axon for other external devices as shown with the red and black connector on the left:

A UART connection is demonstrated on the right.

STEP 6: Connect UART

The UART is a way for the Axon to communicate with other hardware through serial, such as a camera, bluetooth, or GPS. It's as easy as plug and play. T is for transmit, R is for receive, and G is for ground (make sure external devices share a common ground!).

STEP 7: Mount Axon to Robot

It is recommended to mount your Axon to your robot using spacers at least .25" long. Here is an example with 1" spacers and four screws (not included):

Here is an example of it mounted to the ERP:

STEP 8: Mount the On/Off Switch

The included on/off switch has a plate that can be removed to help you mount it to your robot in an easy to reach location.

Here is an example of it mounted to the ERP:

note: If you are using Linux or Mac, please see the FAQ If you already own a hardware programmer, using the bootloader is optional. Just plug into the ISP header and program the Axon directly. The bootloader is just there to save you the $36 of buying a hardware programmer. Note that the hardware programmer will overwrite the bootloader - but you can always reupload the bootloader (or other program) if you wanted.

STEP 1: Download Bootloader

The bootloader is what you use to upload your code through USB to your Axon. Download and install the .exe into the same folder that you have your compiled robot code. FBOOT v1.7 EXE (17kb) Optional: If you'd like to modify the bootloader, download it here: FBOOT17 Axon source code (63kb) latest beta bootloader software is available The latest FBOOT version and source code (not SoR tested) can be found on the fast tiny & mega UART bootloader project page. It comes with zero

documentation, but I have instructions on how to use and adapt this bootloader for your own use on the $50 Robot Bootloader Tutorial. If you are using Linux or Mac OS X, you may try this bootloader.

STEP 2: Go to Code Folder

Now open up a command prompt by going to start->Run... and typing in 'cmd' and pushing ok:

A new command prompt should open up. Using the command 'cd', go into the directory that has your code and FBOOT17.exe. In this example, my code is in the folder called ERP:

STEP 3: Run Bootloader

TURN OFF YOUR AXON

With your Axon turned off and USB ready to go, type in this command: FBOOT17.EXE -b115200 -c1 -pfile.hex -vfile.hex 115200 is your desired baud (9600, 38400, 115200, etc). The bootloader has an 'autobaud' feature, so it's likely to work under most baud settings. Try a lower baud rate such as 38400 if it doesn't work. c1 is your Axon USB COM port (c1, c2, c3, etc) as shown in your Device Manager (see step 3). The bootloader only allows c1 to c4. 'file' is the name of your program you want uploaded. The filename MUST be 8 characters or less or it will not work (a bug in the bootloading software). For example, if Axon.hex was your file, do this: -pAxon.hex -vAxon.hex (yes, you need to say it twice, with p for the first time and v for the second time) Press enter, and now you will see a \ symbol spinning.

STEP 4: Turn On Axon

Turn on your Axon, and it should now upload your .hex file. This is what you should see upon a successful bootload:

Remember, the bootloader must always be activated BEFORE you turn on the Axon or it will not work. note: after typing in a command once into the command prompt, you do not need to type it again. Just push the up arrow key to cycle through previously typed commands. note: if it takes more than about ~8 seconds to load your code, please see the FAQ on how to speed up your bootloader. You can also set up a shortcut that stores your typed information. Check this forum thread for more info. It didn't work? Read the bootloader debugging checklist.

STEP 5: Be Happy!
Congrats, you just programmed your Axon successfully! The next step would be to write your own code. Check out the Axon Function List for programming help. If you want free webspace to post your project, check out the SoR Member Pages. If you make anything neat with the Axon, or want to see what others have done, send me a heads up and I'll post your project on the Axon Examples.