The document summarizes an ABB project report about porting an existing calibration app from Windows to iOS and building it into an all-in-one application. The goals were to port the calibration app, provide a way to easily export experiment data to MATLAB, and create a Swiss army knife app for everyday ABB use. It details porting the app to iOS, implementing data recording and measurement using sensors, and adding multi-language support and drawing features to create a versatile tool. Lessons learned include using TCP/IP sockets, Core Graphics drawing, sensor algorithms, data storage, and object-oriented programming. Future work includes improving the server socket, implementing position algorithms, and releasing the app on the App Store.

1. ABB Project Report
ANDREW CHANG
MIKE ZHAO

2. Goals
• Port the existing calibration app running on Windows to the iOS
platform.
• Provide a way to quickly get formatted data from an experiment
for analyzing in MATLAB, etc.
• Build an “all in one”, “Swiss army knife” application for everyday
use at ABB.

3. Porting: Windows to iOS
• Build a TCP/IP Socket for communication between the robot
and iOS device
• Get touch data from the iOS device in millimeters and send to
client
• Get accelerometer, gyroscope, magnetometer data
• Drawing functions

4. Data Measurement and Recording
• MotionManager: accelerometer, gyroscope, magnetometer, tilt,
and position data
• Logger: records MotionManager data and saves it as a .txt file in
an easy to read format for MATLAB, etc.
• Interpreter: communication protocol between server and client

5. Swiss Army Knifing Our App
• Multiple Languages: easy integration with more languages in the
future
• Drawing Features: variable stroke width and 3 stroke colors
• Grid: A checkerboard display for visual calibration, with variable
grid size, adjustable rotation, and an option to display a red dot
and a fiducial

6. Experience:
What
did
we
learn?
• TCP/IP Socket: synchronous server/client socket
• Core Graphics: Fast Display Drawing
• Algorithms: using MotionManager’s data to calculate tilt and
position
• Core Data: Write and read data to/from .txt file
• OOP: complex custom classes

7. TODO:
Future
Work
• Asynchronous server socket: Reduces server related bugs
• POS: implement position algorithm
• Release: release on App Store