marvin:ecp5
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marvin:ecp5 [2009/01/28 15:58] – deva | marvin:ecp5 [2009/01/29 00:16] – rieper | ||
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+ | <texit info> | ||
+ | author=Johnny Rieper, Bent Bisballe Nyeng and Kasper Sohn | ||
+ | title=Marvin - The Balancing Robot. | ||
+ | </ | ||
+ | |||
======Lab report 5 - Bluetooth controlled robot====== | ======Lab report 5 - Bluetooth controlled robot====== | ||
**Date:** January 19nd and 20th 2009\\ | **Date:** January 19nd and 20th 2009\\ | ||
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=====Plan===== | =====Plan===== | ||
* Make a bluetooth client code Behaviour on the Marvin, that can receive numbers and act on them. | * Make a bluetooth client code Behaviour on the Marvin, that can receive numbers and act on them. | ||
- | * Make pc bluetooth | + | * Make PC bluetooth |
+ | |||
+ | |||
+ | =====The protocol===== | ||
+ | {{ : | ||
+ | |||
+ | From wikipedia: //" | ||
+ | LeJOS has built an entire framework for bluetooth communication, | ||
+ | (([[http:// | ||
+ | We do not want to go further into the details of the protocol itself, but the way the device is shared can eventually end up in data loss(([[http:// | ||
+ | |||
+ | On the PC LeJOS has also made a bluetooth interface. This works exactly the same as the one on the NXT, and we therefore simply had to make a connection (listening on the NXT and connecting on the PC) and then creating input/ | ||
+ | |||
+ | Lejos has put a lot of effort into making the bluetooth communication easy to use, and the implementation were therefore quite straight forward. Observe the resulting code below. | ||
+ | |||
+ | We experienced a lot of slowdown in the balancing thread whenever the bluetooth communication was running, and we had to disable it entirely at numerous occations to avoid the robot falling over.\\ | ||
+ | We later discovered that the problem could be worked around by disabling some of the other behavoir threads to release more resources, and make Marvin rebalance itself while driving around remote controlled. | ||
- | FIXME: Insert | + | Here is a movie of the resulting |
- | [[http:// | + | [[http:// |
- | {{youtube> | + | {{youtube> |
=====The BTControl class===== | =====The BTControl class===== | ||
{{ : | {{ : | ||
- | Bluetooth control behavior. It reads integers from a bluetooth | + | Bluetooth control behavior. It reads integers from a bluetooth input stream, interpreting them as keycodes. |
- | input stream, interpreting them as keycodes. | + | It reacts only on the keycodes connectred with the arrow keys (up, down, left, right) and tells Marvin to drive accordingly. |
- | It reacts only on the keycodes connectred with the arrow keys (up, | + | |
- | down, left, right) and tells Marvin to drive accordingly. | + | |
^ Key ^ KeyCode ^ Variable | ^ Key ^ KeyCode ^ Variable | ||
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</ | </ | ||
- | And on the PC a window (JFrame) captures keyboard input and redirects their keycode values to the bluetooth stream: | + | On the PC, a window (JFrame) captures keyboard input and redirects their keycode values to the bluetooth stream: |
<code java> | <code java> | ||
NXTComm nxtComm = NXTCommFactory.createNXTComm(NXTCommFactory.BLUETOOTH); | NXTComm nxtComm = NXTCommFactory.createNXTComm(NXTCommFactory.BLUETOOTH); |
marvin/ecp5.txt · Last modified: 2009/01/29 10:58 by rieper