marvin:ecp5
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marvin:ecp5 [2009/01/28 16:26] – deva | marvin:ecp5 [2009/01/29 09:24] – deva | ||
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=====The protocol===== | =====The protocol===== | ||
+ | {{ : | ||
+ | |||
From wikipedia: //" | From wikipedia: //" | ||
- | Lejos has built an entire framework for bluetooth communication, | + | LeJOS has built an entire framework for bluetooth communication, |
(([[http:// | (([[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:// | 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:// | ||
- | =====The ' | + | 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/ |
- | =====The Client===== | + | 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 occasions to avoid the robot falling over.\\ | ||
+ | We later discovered that the problem could be worked around by disabling some of the other behaviour threads to release more resources, and make Marvin rebalance itself while driving around remote controlled. | ||
+ | |||
+ | Here is a movie of the resulting remote controlled robot, with all other behaviours disabled:\\ | ||
[[http:// | [[http:// | ||
{{youtube> | {{youtube> | ||
+ | |||
+ | As it can be seen from the video, Marvin is not exactly reacting real-time to the control changes. This is due to the way the BTControl has been implemented, | ||
=====The BTControl class===== | =====The BTControl class===== | ||
{{ : | {{ : | ||
- | Bluetooth control | + | Bluetooth control |
- | It reacts only on the keycodes | + | It reacts only on the keycodes |
^ Key ^ KeyCode ^ Variable | ^ Key ^ KeyCode ^ Variable | ||
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case directionLeft: | case directionLeft: | ||
left(200); | left(200); | ||
+ | |||
break; | break; | ||
Line 86: | Line 95: | ||
</ | </ | ||
- | 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