2010 coscup be_android
- 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 –
- 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
- 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