Start SoaR by double-clicking on SoaR.py in the main program directory (Windows, Mac), or navigating to the main program directory at a terminal shell and typing "python SoaR.py" (Windows, Mac, UNIX) or "./SoaR.py" (Mac, UNIX)
If everything is set-up correctly, you should be greeted with the following screen:



Now, you must select the Output you would like to use. The Pioneer button will attempt to connect to a robot hooked up to a serial port or a usb-serial adaptor if everything is configured correctly. If it works, the robot will make a few beeping noises. The Simulator button will first ask you to select a World file (see IV. Writing worlds for help writing world files), and will then open a window displaying it.



After the Output is properly set up, SoaR will ask you to choose a Controller. The Brain button will ask you to select a Brain file that contains code SoaR can interpret as a brain (see III. Writing brains for help writing brain files). The Joystick button will open a window with a circle in it.



The circle is on the [v, w] plane where v is translational velocity and w is rotational velocity. Clicking and holding various points on this plane will set the robot's motors to those values while the mouse is down.



After the Controller is properly set up, SoaR will put the last set of buttons into the window, labelled Flow. This allows you to control the flow of signals through SoaR. Start starts whatever controller and output you have set up into motion. Stop, well, stops it. Step Allows you to step through in increments so you can see more slow, detailed results (mostly useful in the Simulator). Step will also not really work very well while the Flow is running, so be sure to stop it before you use the step button.


That's about all. SoaR can be exited by clicking the X in the upper-right of any window SoaR opened. When you click it, it will ask you if you are sure you want to exit, and you should figure out whether you are sure or not at this point.