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2010 coscup be_android

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Be Android …

Be Android
- Robocat: A Robot Control System -

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  • 1. Connect your device to application
  • 2. Be “Android” Robocat: robot control system Tick Chen & Matt Hsu <tick@0xlab.org> <matt@0xlab.org>
  • 3. Agenda Motivation Robocat Architecture HW HAL JNI Case Study Demo
  • 4. 每個宅男的夢想
  • 5. Robocat
  • 6. Robocat Google Android / GNU Linux 下的機器人控制系統 整合於 0xdroid 可同時控制多組伺服馬達 無痛開發反饋機器人系統 可支援多種伺服馬達
  • 7. Architecture
  • 8. Hardware Platform Bluetooth dongle USB OMAP3530 Beagleboard I2C I2C BB Mouse -I2C Level Translator 1V8 ↔ 5V SS-14+ Servo
  • 9. Libcatcan, User mode I2C driver Libcatcan is an user space driver for device catcan ss14+ Catcan SS14+ I2C interface Power: 6v2~7v5 Dynamic PID setting Plug and play Group call Asynchonous Synchonous
  • 10. Libcatcan (cont) No kernel driver needed, libcatcan-360 libcatcan but enabling I2C bus 2 is requisite Easy and convenient to i2c-dev integrate with application Features: i2c-core Seek/get position Group action I2C I2C host I2C host Change I2C address slave controller controller I2C Bus
  • 11. Librobocat Abstract robot control system Position aware Sync and Async control Grouping cats
  • 12. Robocat (cont)
  • 13. librobocat-jni Very thin layer glues librobocat and Robocat Java API
  • 14. Robocat Java API Java library controls the librobocat Work flawlessly with Android API
  • 15. Case Study – 0xSpider –
  • 16. Spider Architecture
  • 17. 0xspiderClient: UI
  • 18. JSON (JavaScript Object Notation) User Interface We need a simple protocol for remote Command Manager controlling Robjson extends JSONObject { enum ReqType{ STANDBY, Lightweight data interahcnage: FORWARD, BACKWARD, RIGHT, LEFT, TICKLE, serialize/de-serialize UNDIFINED} → {“CMD”: “STANDBY”} } → {“CMD”: “STANDBY”} Natively support in Rfcomm Android Bluetooth Easy to have extension 0xSpiderClient
  • 19. Synaptic
  • 20. Inverse Kinematics Cosine Law
  • 21. Degree Calibration
  • 22. Command Flow
  • 23. DEMO
  • 24. Reference Robocat Project: http://code.google.com/p/0xrobocat/ Robocat Source: http://gitorious.org/robocat/robocat 0xdroid: http://code.google.com/p/0xdroid/ Board: http://beagleboard.org/ Servo BBMouse: http://www.catcan.com.tw/ Inverse Kinematics: http://freespace.virgin.net/hugo.elias/models/m_ik.htm Bluetooth Module: http://www.azurewave.com/ Camera Module: http://www.azurewave.com/
  • 25. Sponsored by http://0xlab.org 15 Aug 2010 Conference

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