Be Android - Robocat: A Robot Control System -

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

5. 每個宅男的夢想

6. Robocat

7. 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

8. Architecture

9. Hardware Platform
Bluetooth dongle
USB
OMAP3530 Beagleboard
I2C
I2C BB Mouse -I2C Level Translator
1V8 ↔ 5V
SS-14+ Servo

10. 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

11. 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

12. Librobocat
Abstract robot
control system
Position aware
Sync and Async
control
Grouping cats

13. Robocat (cont)

14. librobocat-jni
Very thin layer glues
librobocat and
Robocat Java API

15. Robocat Java API
Java library controls
the librobocat
Work flawlessly with
Android API

16. Case Study
– 0xSpider –

17. Spider Architecture

18. 0xspiderClient: UI

19. 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

20. Synaptic

21. Inverse Kinematics
Cosine Law

22. Degree Calibration

23. Command Flow

24. DEMO

25. 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/

26. Sponsored
by
http://0xlab.org
15 Aug 2010
Conference