Roboticsprogramming101

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Robotics Programming 101 shows you how to plan your first robotics program, pick a brain, language and operating system for your first robot. This book is also filled with programming examples in PBASIC, Arduino, Java and JRuby. Some of these examples include: serial communication, servo and microcontroller programs, sensors like sonar and a digital compass, text-to-speech, speech-recognition, computer-vision, differential drives, robot arms, basic navigation, and much more!

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Roboticsprogramming101

  1. 1.
  2. 2. About Me<br />First Book – The Definitive Guide To Building Java Robots, 2006 Apress<br />Web & Java Consultant<br />Small Business Owner – Web & Mobile Application Development (CodeGin LLC)<br />Speaking at OSCON Java 2011<br />
  3. 3. What’s a Robot?<br />What’s the first thing that comes to mind???<br />
  4. 4. A Terminator?<br />
  5. 5. Asimo?<br />
  6. 6. Packbot<br />
  7. 7. What about this?<br />
  8. 8. Is This A Robot?<br />Is This A Robot?<br />
  9. 9. How do you go from this?<br />
  10. 10. Simple 4 Legged Robot<br />
  11. 11. Big Dog<br />
  12. 12. How Do Get From Here There?<br />Time<br />Better Sensors<br />Better Motors<br />Faster Computers<br />Eventually… Money or wait until price comes down.<br />
  13. 13. Just About All Robots Have:<br />Motion Control (Actuators, Servos, Motors, Etc.)<br />Sensors (GPS, Compass, Sonar, Laser, Vision, Audio)<br />Computers (Stand-Alone or Clusters)<br />
  14. 14. Microcontrollers ~ $50BASIC Stamp or Arduino<br />
  15. 15. Servo Controllers ~ $40<br />
  16. 16. Speed Controllers<br />
  17. 17. Motors & Chassis ~ $25 - $1,000<br />
  18. 18. Compass ~ $30<br />
  19. 19. Sonar ~ $30<br />
  20. 20. Where do you start?<br />(Show Robot Parts)<br />
  21. 21. You have to start somewhere!<br />
  22. 22. Parallax BOE-Bot ~ $150<br />
  23. 23. Lynxmotion – Biped ~ $800 <br />
  24. 24. Feynman Jr 2 ~ $1,500<br />
  25. 25. How do you Program a Robot?<br />
  26. 26. Volunteers?<br />To Be A Robot & Robot Brain?<br />
  27. 27. You’re A Robot<br />Compass<br />2 Sonars<br />Two Wheels<br />
  28. 28. What is this robot going to do?<br />Move Around Room, Get Something, Bring it Back?<br />
  29. 29. How do you code this?<br />
  30. 30. Robotics API – Part 1<br />ScottsBots Robot API<br />JNI Layer (Comm, Sound, Vision)<br />Microcontroller Code<br />
  31. 31. Robotics API – Part 2<br />COMPASS<br />Sonar<br />JrStamp<br />ServoController<br />Jserial Port (COM1)<br />Jserial Port (COM2)<br />Basic Stamp<br />PBASIC<br />
  32. 32. Robotics API – Part 3<br />Simon Says Behavior<br />Navigation Task<br />Person Identification Task<br />COMPASS<br />Sonar<br />Voice<br />Ear<br />Left Eye<br />Right Eye<br />Drive<br />JrStamp<br />ServoController<br />Sound Card<br />Web Camera<br />
  33. 33. Microcontroller Code<br />
  34. 34. PBASIC<br />
  35. 35. Arduino<br />
  36. 36. Two Ways To Get Telemetry<br />Request  Response <br />(Send Serial Byte) <br />Wait…<br />Receive Bytes/Strings<br />Continuous Stream (Multi-Threaded) In Development<br />
  37. 37. Java Microcontroller Code<br />
  38. 38. JSonar & JCompass<br />
  39. 39. Navigation Sample<br />
  40. 40. Real Robot Examples<br />Through Unit Testing<br />
  41. 41. Limitations of this Robot?<br />
  42. 42. What would make it better?<br />Text to Speech?<br />Speech Recognition?<br />Vision?<br />
  43. 43. Jvoice<br />
  44. 44. JSpeechRecognizer<br />Two Methods <br />(Dictaction) – MicrosoftSR<br />Train  Guess<br />(Grammar) – SphinxSR<br />Tell it what to expect  Only responds to commands<br />
  45. 45. Vision (JCamera)<br />First Get The Image<br />public BufferedImagegetImage();<br />Windows – Java Media Framework<br />Linux – Custom C Libraries<br />Mac – Quicktime For Java???<br />
  46. 46. Image Processing – Part 1<br />
  47. 47. Image Processing – Part 2<br />
  48. 48. Image Processing<br />Basics (Threshholding)<br />Color Detection<br />Motion Detection<br />Region of Interest Detection<br />Object Detection<br />
  49. 49. Real Robot Examples<br />
  50. 50. Summary<br />Real Robots Start Small<br />You Need Sensors<br />You need Speech & Vision<br />
  51. 51. Thank You!<br />@scottpreston / @scottsbots<br />scott@scottsbots.com<br />

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