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Domo Arigato, Mr(uby) Roboto
This document summarizes a presentation given at RubyConf 2015 about building self-balancing robots using Ruby and various hardware platforms. The presentation covered: 1. Using the LEGO Mindstorms EV3 with mruby-ev3rt to build an inverted pendulum robot that balances itself. 2. A DIY approach using a Raspberry Pi, gyroscope sensor, DC motors, and motor driver to implement the same balancing behavior from scratch. 3. The balancing algorithm, which calculates motor power needed to balance based on angle, angular velocity, velocity, and position measurements from the gyroscope.
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Domo Arigato, Mr(uby) Roboto
- 1. Domo Arigato, Mr(uby) Roboto 2015-11-17RubyConf 2015 Yurie Yamane, Masayoshi Takahashi Team Yamanekko
- 2. ドモ アリガト ミスター ロボット おかげで今年もここに立つことができたよ！ DOMO ARIGATO, MRROBOTO WE ARE HAPPY TO MEET YOU AT RUBYCONF 2015! Unfortunately, we are not kilroy and don’t sing a song.Kilroy was not here. But we would like to say heartily, we are very happy to talk at rubyconf again, and say thank you to give us a chance. どうもありがとう！
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- 5. http://global.yamaha-motor.com/jp/showroom/event/2015tokyomotorshow/sp/exhibitionmodels/mgp/ “There are probablysome things in this world that only I can do.”
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- 7. About Us •Yurie Yamane@yuri_at_earth •Masayoshi Takahashi @takahashim
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- 14. ET Robot Contest •aka “ET ROBOCON” • ET means “Embedded Technology” • To develop the advanced skills of embedded technology such as modeling, designing, and developing embedded systems • “one-make racing” style (all robots have same designs)
- 15. EV3way • Self-Balancing Two- WheeledRobot • have a light sensor and track a line on the floor • Hardware: LEGO Mindstorms EV3 • Old EV3way used Mindstorms NXT
- 16. EV3way: Software System OSLanguage TOPPERS/EV3RT TOPPERS RTOS C, C++ MonoBrick Linux C# leJOS EV3 Linux Java
- 17. EV3way: Software System OSLanguage TOPPERS/EV3RT TOPPERS RTOS C + mruby
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- 19. mruby-ev3rt demo Sep. 20th,2015 at Fukuyama, Hiroshima Pref. Movie by A. Hirai with ET Robocon Staff@chu-shikoku
- 20. • TOPPERS（Toyohashi OPenPlatform for Embedded Real-time Systems） • TOPPERS’ Products • RTOS Kernel • TINET (TCP/IP Protocol Stack) • SafeG (dual-OS monitor) • TOPPERS + TSUBAME(swallow) -> TOPAME TOPPERS Project TOPAME
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- 23. TOPPERS Kernel Roadmap ATK1ATK2 ATK3 FMP3 HRP3 ASP3 2000 2010 2020 1st generation 3rd generation2nd generation ITRON Automotive FDMP HRP FI4 JSP Dynamic gen. ASP Safety HRP2 FMP ASP SSP http://toppers.jp/docs/intro-invite.pdf
- 24. TOPPERS EV3RT unprivileged mode (user mode) privileged mode (kernelmode) http://dev.toppers.jp/trac_user/ev3pf/wiki/WhatsEV3RT
- 25. TOPPERS EV3RT • usesNewlib API https://sourceware.org/ newlib/ • File systems are limited (FatFs) • no STDIO • Not POSIX API MRI
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- 27. 🎉mruby 1.2.0 releasedtoday!👏
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- 38. How Robot Works TargetBoard Sensors Actuator
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- 40. How Robot Works TargetBoard Sensors Actuator Read
- 41. How Robot Works TargetBoard Sensors Actuator Move
- 42. How Robot Works sense calculate controlmotor execute periodically
- 43. What’s RTOS • OSfor Real Time System • Real time system: to make much of Deadlines • NOTICE: “Real-Time” has several meanings • “Real-Time” in RTOS is completely different from such as “Real-time Web”
- 44. Time is Resource •In real time system, Tasks should be done in a given time (deadline) • RTOS manage “Time” as resources (like memories) https://www.flickr.com/photos/arjanrichter/3886579525/
- 45. Priority of tasks •Every tasks have their own priority • Lower-priority tasks never execute when higher-priority tasks alive • While higher-priority task is running, lower-priority tasks are not running (into READY status)
- 46. RTOS Tasks main_task balance_task watch_task controller observe button initialize-> sleep HIGH priority LOW priority
- 47. All tasks aremruby main_task balance_task watch_task HIGH priority LOW priority balancer.rb watch.rb app_ruby.rb
- 48. balancer.rb loop do forward =30 color = colorSensor.brightness if color >= (LIGHT_WHITE + LIGHT_BLACK)/2 turn = 20 ## turn left else turn = -20 ## turn right end pwm_left, pwm_right, *args = balancer.calculate_auto(forward, turn, GYRO_OFFSET) leftMotor.pwm = pwm_left rightMotor.pwm = pwm_right EV3RT::Task.sleep end
- 49. watch.rb loop do break ifback_button.pressed? EV3RT::Task.sleep end
- 50. app_ruby.rb ## initialize sensors,motors, clock and tasks touchSensor = EV3RT::TouchSensor.new(EV3RT::PORT_1) gyroSensor = EV3RT::GyroSensor.new(EV3RT::PORT_4) leftMotor = EV3RT::Motor.new(EV3RT::PORT_C, EV3RT::LARGE_MOTOR) rightMotor = EV3RT::Motor.new(EV3RT::PORT_B, EV3RT::LARGE_MOTOR) clock = EV3RT::Clock.new() EV3RT::Task.active(EV3RT::BALANCE_TASK_ID) ## initialize balancer loop do ## waiting button pushed break if touchSensor.pressed? clock.sleep(10) end EV3RT::Task.start_cyclic(EV3RT::BALANCE_CYC_ID) ## start balancer EV3RT::Task.sleep ## do other tasks
- 51. alarm and cyclichandler main_task balance_task watch_task 500msec cycle 4msec cycle balance_handler watch_handler
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- 53. Classes in mruby-ev3rt Motor TailMotor Sensor GyroSensorColorSensor TouchSensor LEDLCD Clock Serial Task Balancer Button
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- 55. DIY Self-balancing Robot Canwe make our own robots from scratch? https://www.flickr.com/photos/84906483@N08/8747337118/
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- 58. Raspberry Pi A+ •Lower battery usage than Pi B+ and Pi 2 • Works with small USB battery • Cheeper (< $30) than Pi B+ and Pi 2
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- 62. How to measurean angle
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- 64. Gyro Sensor • STMicro L3GD20 • 3-axis digital gyroscope • use 8 pin DIP module by Akizuki Denshi
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- 70. How to rotatewheels
- 71. DC Motor • TAMIYAFA-130 Motor • speed control by voltage • IO cannot change voltage • 3.3 V (fixed) • → use PWM
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- 77. Body Tamiya 70157 UniversalPlate Set
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- 84. SPI vs I2C •SPI and I2C are popular protocols • Gyro sensor L3GD20 supports both • SPI is more complex, but faster than I2C • Raspberry Pi supports SPI (see “BCM2835 ARM Peripherals”) • https://www.raspberrypi.org/wp-content/uploads/ 2012/02/BCM2835-ARM-Peripherals.pdf
- 85. Serial Peripheral Interface(SPI) • Master and Slave model • In our case, Raspberry Pi is master • 4 pins (Input, Output, Clock, Select)
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- 87. Gyro Test serial =Serial.new timer = SystemTimer.new gyro = Gyro.new() serial.puts("time,gyro") MESURE_COUNTS = 45 start_time = timer.now cnt = 0 loop do mesure_sum = 0 MESURE_COUNTS.times{ mesure_sum += gyro.read(Gyro::Y) } omega_i = mesure_sum * 0.00875 / MESURE_COUNTS; cnt +=1 now = ((timer.now - start_time) / 1000).floor if cnt == 10 cnt = 0 serial.puts("#{now},#{omega_i}") end end
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- 89. PWM • Pulse-Width Modulation •pseudo-analog signal output http://www.electronics-tutorials.ws/blog/pulse-width-modulation.html
- 90. PWM • Raspberry PiA+/B+/2 supports 2 PWMs • Old Raspberry Pi B support only 1 PWM • So we can control 2 motors (Right/Left)
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- 92. Motor Driver PWMIN1 IN2 OUT1 OUT2 MOTOR MotorDriver Raspberry Pi IN1 IN2 OUT 0 0 STOP 0 1 Forward 1 0 Reverse 1 1 Brake
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- 94. Motor Test # in1,in2, enable, pwm0or1 motor_left = Motor.new(5,6,12,0) motor_right = Motor.new(16,20,19,1) motor_right.drive(50) motor_left.drive(50) RSRobot.delay(3000000) motor_left.drive(200) motor_right.drive(200) RSRobot.delay(3000000) motor_right.drive(50) motor_left.drive(50) RSRobot.delay(3000000) motor_right.drive(-100) motor_left.drive(-100) RSRobot.delay(3000000) motoy_right.stop motor_left.sop
- 95. JTAG • For Debugger •Doesn’t have to use it • but with JTAG, we can use GDB, so it’s very helpful to debug
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- 98. Balancing Equation power =k_1 * (Angular Velocity) + k_2 * (Angle) + k_3 * (Velocity) + k_4 * (Position) P = K!! + K✓✓ + Kvv + Kxx
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- 103. Balancing Equation power =k_1 * omega_i + k_2 * theta_i + k_3 * v_i + k_4 * x_i P = K!! + K✓✓ + Kvv + Kxx
- 104. Balancing Equation power =k_1 * omega_i + k_2 * theta_i + k_3 * v_i + k_4 * x_i P = K!! + K✓✓ + Kvv + Kxx a ≒ Power v ≒ ∫ Power x ≒ ∬ Power
- 105. Balancing Equation P =K!! + K✓✓ + Kvv + Kxx = K!! + K✓ X ! + Kv X P + Kx X X P power = k_1 * omega_i + k_2 * theta_i + k_3 * v_i + k_4 * x_i a ≒ Power v ≒ ∫ Power x ≒ ∬ Power
- 106. Balancing Equation theta_i +=omega_i v_i += power x_i += v_i power = k_1 * theta_i + k_2 * omega_i + k_3 * v_i + k_4 * x_i P = K!! + K✓✓ + Kvv + Kxx = K!! + K✓ X ! + Kv X P + Kx X X P
- 107. Balancer class class Balancer defcalculate(omega_i) @theta_i += omega_i # … t = @k_angle * @theta_i o = @k_omega * omega_i # … power = t + o + … # … return power, power end end
- 108. main loop loop do gyro_value= gyro.measure(Gyro::Y, MESURE_COUNTS) pwm_left, pwm_right = balancer.calculate(gyro_value) motor_left.pwm = pwm_left motor_right.pwm = pwm_right end
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- 112. Thank you &Domo Arigato! ZZZ... You can contact us on Twitter: @yuri_at_earth && @takahashim Special Thanks to: @tenderlove A. Hirai with ET Robocon Staff@chu-shikoku