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Be “Android”
           Robocat: robot control system




Tick Chen & Matt Hsu
<tick@0xlab.org>
<matt@0xlab.org>
Agenda   Motivation
         Robocat
         Architecture
         HW
         HAL
         JNI
         Case Study
     ...
每個宅男的夢想
Robocat
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
Architecture
Hardware Platform
       Bluetooth dongle




USB
                                 OMAP3530 Beagleboard




I2C
 I2C      ...
Libcatcan, User mode I2C driver
Libcatcan is an user space
driver for device catcan ss14+
Catcan SS14+
  I2C interface
  P...
Libcatcan (cont)
                                          No kernel driver needed,
        libcatcan-360        libcatcan...
Librobocat
Abstract robot
control system
Position aware
Sync and Async
control
Grouping cats
Robocat (cont)
librobocat-jni
Very thin layer glues
librobocat and
Robocat Java API
Robocat Java API
Java library controls
the librobocat
Work flawlessly with
Android API
Case Study
– 0xSpider –
Spider Architecture
0xspiderClient: UI
JSON (JavaScript Object Notation)
         User Interface                   We need a simple
                             ...
Synaptic
Inverse Kinematics
Cosine Law
Degree Calibration
Command Flow
DEMO
Reference
Robocat Project: http://code.google.com/p/0xrobocat/
Robocat Source: http://gitorious.org/robocat/robocat
0xdroi...
Sponsored
by

      http://0xlab.org




         15 Aug 2010
         Conference
2010 coscup be_android
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2010 coscup be_android

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- Robocat: A Robot Control System -

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Transcript of "2010 coscup be_android"

  1. 1. Connect your device to application
  2. 2. Be “Android” Robocat: robot control system Tick Chen & Matt Hsu <tick@0xlab.org> <matt@0xlab.org>
  3. 3. Agenda Motivation Robocat Architecture HW HAL JNI Case Study Demo
  4. 4. 每個宅男的夢想
  5. 5. Robocat
  6. 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. 7. Architecture
  8. 8. Hardware Platform Bluetooth dongle USB OMAP3530 Beagleboard I2C I2C BB Mouse -I2C Level Translator 1V8 ↔ 5V SS-14+ Servo
  9. 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. 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. 11. Librobocat Abstract robot control system Position aware Sync and Async control Grouping cats
  12. 12. Robocat (cont)
  13. 13. librobocat-jni Very thin layer glues librobocat and Robocat Java API
  14. 14. Robocat Java API Java library controls the librobocat Work flawlessly with Android API
  15. 15. Case Study – 0xSpider –
  16. 16. Spider Architecture
  17. 17. 0xspiderClient: UI
  18. 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. 19. Synaptic
  20. 20. Inverse Kinematics Cosine Law
  21. 21. Degree Calibration
  22. 22. Command Flow
  23. 23. DEMO
  24. 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. 25. Sponsored by http://0xlab.org 15 Aug 2010 Conference
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