marvin:ecp5
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marvin:ecp5 [2009/01/28 16:24] – deva | marvin:ecp5 [2009/01/29 10:58] (current) – rieper | ||
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======Lab report 5 - Bluetooth controlled robot====== | ======Lab report 5 - Bluetooth controlled robot====== | ||
- | **Date:** January 19nd and 20th 2009\\ | + | **Date:** January 19nd 2009\\ |
- | **Duration of activity:** 8-16 (both days)\\ | + | **Duration of activity:** 8-16\\ |
**Participants: | **Participants: | ||
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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 | + | =====Theory==== |
- | From wikipedia: //" | + | ====The |
- | Lejos has built an entire framework for bluetooth communication, | + | {{ :marvin:bluetoothlogo.png |The Bluetooth |
- | (([[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 ' | + | 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:// | ||
- | =====The Client===== | + | 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/ |
- | FIXME: Insert | + | LeJOS has put a lot of effort into making |
- | [[http:// | + | |
+ | 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 | ||
+ | |||
+ | Here is a movie of the resulting remote controlled robot, with all other behaviours disabled:\\ | ||
+ | [[http:// | ||
{{youtube> | {{youtube> | ||
- | =====The BTControl | + | 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, |
+ | |||
+ | =====Implementation===== | ||
+ | ====The BTControl | ||
{{ : | {{ : | ||
- | 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; | ||
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</ | </ | ||
- | And on the PC a window (JFrame) | + | ====The PCController Class==== |
+ | On the PC, we use a window (JFrame) | ||
<code java> | <code java> | ||
NXTComm nxtComm = NXTCommFactory.createNXTComm(NXTCommFactory.BLUETOOTH); | NXTComm nxtComm = NXTCommFactory.createNXTComm(NXTCommFactory.BLUETOOTH); |
marvin/ecp5.1233156290.txt.gz · Last modified: 2009/01/28 16:24 by deva