project:brmrat:sketch

Anonymous (anonymous@undisclosed.example.com) — 2010-09-28T22:09:25+00:00

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	+	<code>
	+	/*
	+	* brmrat -- button-based roomba control
	+	*
	+	* based on: http://roombahacking.com/software/arduino/RoombaBumpTurn.pde
	+	*-
	+	* brmrat
	+	* ------
	+	* Implement the RoombaComm BumpTurn program in Arduino
	+	* A simple algorithm that allows the Roomba to drive around-
	+	* and avoid obstacles.
	+	*-
	+	* Arduino pin 3 is connected to Roomba TXD
	+	* Arduino pin 4 is connected to Roomba RXD
	+	* Arduino pin 5 is conencted to Roomba DD
	+	*-
	+	* In addition, three buttons are available:
	+	*-
	+	* Arduino pin 10 is connected to button LEFT
	+	* Arduino pin 11 is connected to button FORWARD
	+	* Arduino pin 12 is conencted to button RIGHT
	+	*-
	+	*/

	+
	+	/* Three modes - uncomment one: */
	+	//#define NO_CONTROL // buttons are ignored
	+	//#define DIR_CONTROL // left/right honored, going forward all the time
	+	#define FULL_CONTROL // left/right/forward honored
	+
	+	#include <NewSoftSerial.h>
	+
	+	/// serial ports
	+	int rxPin = 0;
	+	int txPin = 1;
	+	int rxPin_nss = 3;
	+	int txPin_nss = 4;
	+	// we want both the SCI conn to the roomba and the USB (for debugging) to be available,
	+	// one to the hardware UART and one via NewSoftSerial (NSS).
	+	// --------> SCI on NSS / USB on the UART:
	+	int ddPin = 5; // keep ddPin next to SCI
	+	#define usbSerial Serial
	+	NewSoftSerial sciSerial(rxPin_nss,txPin_nss);
	+
	+	int ledPin = 13;
	+
	+	int leftPin = 10;
	+	int forwardPin = 11;
	+	int rightPin = 12;
	+
	+	char sensorbytes[10];
	+	#define bumpright (sensorbytes[0] & 0x01)
	+	#define bumpleft (sensorbytes[0] & 0x02)
	+
	+	int butleft, butright, butfwd;
	+
	+	void setup() {
	+	pinMode(ddPin, OUTPUT);
	+	pinMode(ledPin, OUTPUT);
	+
	+	pinMode(leftPin, INPUT);
	+	pinMode(forwardPin, INPUT);
	+	pinMode(rightPin, INPUT);
	+	// pull up...
	+	digitalWrite(leftPin, HIGH);
	+	digitalWrite(forwardPin, HIGH);
	+	digitalWrite(rightPin, HIGH);
	+
	+	//sciSerial.begin(57600);
	+	sciSerial.begin(19200);
	+
	+	usbSerial.begin(9600);
	+	usbSerial.print("starting up... ");
	+
	+	digitalWrite(ledPin, HIGH); // say we're alive
	+
	+	// wake up the robot
	+	//digitalWrite(ddPin, HIGH);
	+	//delay(100);
	+	//digitalWrite(ddPin, LOW);
	+	//delay(500);
	+	//digitalWrite(ddPin, HIGH);
	+	//delay(2000);
	+	// set up ROI to receive commands--
	+	sciSerial.print(128, BYTE); // START
	+	delay(50);
	+	sciSerial.print(130, BYTE); // CONTROL
	+	delay(50);
	+
	+	digitalWrite(ledPin, LOW); // say we've finished setup
	+	usbSerial.println("ready!");
	+
	+	// [re]set baud rate to 57600
	+	//sciSerial.print(129, BYTE); // BAUD
	+	//sciSerial.print(10, BYTE); // 57600
	+	//delay(100);
	+
	+	//dance(); // demonstrate that controls work
	+	}
	+
	+	void loop() {
	+	digitalWrite(ledPin, HIGH); // say we're starting loop
	+	updateSensors();
	+	digitalWrite(ledPin, LOW); // say we're after updateSensors
	+
	+	if(bumpleft) {
	+	usbSerial.println("left bump!");
	+	stopMoving();
	+	delay(500);
	+	spinRight();
	+	delay(1000);
	+	stopMoving();
	+	delay(500);
	+	}
	+	else if(bumpright) {
	+	usbSerial.println("right bump!");
	+	stopMoving();
	+	delay(500);
	+	spinLeft();
	+	delay(1000);
	+	stopMoving();
	+	delay(500);
	+	}
	+
	+	#ifdef NO_CONTROL
	+	goForward();
	+	#else
	+	updateButtons();
	+
	+	signed short velocity = 200, dir = 0;
	+	signed short dir = butleft ? 1 : (butright ? -1 : 0);
	+	#ifdef FULL_CONTROL
	+	if (!butfwd && !dir)
	+	velocity = 0;
	+	#endif
	+	goAnywhere(velocity, dir);
	+	#endif
	+	}
	+
	+	void goAnywhere(signed short velocity, signed short radius)
	+	{
	+	sciSerial.print(137, BYTE); // DRIVE
	+	sciSerial.print(velocity >> 8,BYTE);
	+	sciSerial.print(velocity & 0xff,BYTE);
	+	sciSerial.print(radius >> 8,BYTE);
	+	sciSerial.print(radius & 0xff,BYTE);
	+	}
	+
	+	void goForward() {
	+	sciSerial.print(137, BYTE); // DRIVE
	+	sciSerial.print(0x00,BYTE); // 0x00c8 == 200
	+	sciSerial.print(0xc8,BYTE);
	+	sciSerial.print(0x80,BYTE);
	+	sciSerial.print(0x00,BYTE);
	+	}
	+	void goBackward() {
	+	sciSerial.print(137, BYTE); // DRIVE
	+	sciSerial.print(0xff,BYTE); // 0xff38 == -200
	+	sciSerial.print(0x38,BYTE);
	+	sciSerial.print(0x80,BYTE);
	+	sciSerial.print(0x00,BYTE);
	+	}
	+	void spinLeft() {
	+	sciSerial.print(137, BYTE); // DRIVE
	+	sciSerial.print(0x00,BYTE); // 0x00c8 == 200
	+	sciSerial.print(0xc8,BYTE);
	+	sciSerial.print(0x00,BYTE);
	+	sciSerial.print(0x01,BYTE); // 0x0001 == spin left
	+	}
	+	void spinRight() {
	+	sciSerial.print(137, BYTE); // DRIVE
	+	sciSerial.print(0x00,BYTE); // 0x00c8 == 200
	+	sciSerial.print(0xc8,BYTE);
	+	sciSerial.print(0xff,BYTE);
	+	sciSerial.print(0xff,BYTE); // 0xffff == -1 == spin right
	+	}
	+	void stopMoving() {
	+	sciSerial.print(137, BYTE); // DRIVE
	+	sciSerial.print(0x00,BYTE); // 0x0000 == 0
	+	sciSerial.print(0x00,BYTE);
	+	sciSerial.print(0x00,BYTE);
	+	sciSerial.print(0x00,BYTE); // 0x0000
	+	}
	+
	+	void updateSensors() {
	+	//usbSerial.println("in updateSensors()");
	+	sciSerial.print(142, BYTE);
	+	sciSerial.print(1, BYTE); // sensor packet 1, 10 bytes
	+	//delay(100); // wait for sensors
	+	delay(64);
	+
	+	// wipe old sensor data
	+	char i = 0;
	+	while (i < 10) {
	+	sensorbytes[i++] = 0;
	+	}
	+	i = 0;
	+	while(sciSerial.available()) {
	+	//usbSerial.println("rsd"); // reading sensor data
	+	int c = sciSerial.read();
	+	if( c==-1 ) {
	+	usbSerial.println("error read()ing sensors");
	+	for( int i=0; i<5; i ++ ) { // say we had an error via the LED
	+	digitalWrite(ledPin, HIGH);
	+	delay(50);
	+	digitalWrite(ledPin, LOW);
	+	delay(50);
	+	}
	+	}
	+	sensorbytes[i++] = c;
	+	}
	+	if (i != 10) { // debug: print # bytes read (should always be 10?)
	+	usbSerial.print("error: only ");
	+	usbSerial.print(i,DEC);
	+	usbSerial.println(" bytes read");
	+	}
	+
	+	/*
	+	i = 0;
	+	while (i < 10) {
	+	if (sciSerial.available()) {
	+	usbSerial.println("rsd"); // reading sensor data
	+	int c = sciSerial.read();
	+	if( c==-1 ) { // shouldn't happen
	+	usbSerial.println("error read()ing sensors");
	+	}
	+	sensorbytes[i++] = c;
	+	}
	+	*/
	+
	+	}
	+
	+	void updateButtons() {
	+	/* We are connected through pull-up resistors, so we need to negate
	+	* the readings. */
	+	butleft = !digitalRead(leftPin);
	+	butfwd = !digitalRead(forwardPin);
	+	butright = !digitalRead(rightPin);
	+	}
	+
	+	</code>

BrmRat

Anonymous (anonymous@undisclosed.example.com) — 2016-11-28T01:51:17+00:00

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	sw=GPLv2+\|		sw=GPLv2+\|
	status=suspended}}		status=suspended}}
		+
		+	~~META:
		+	status = suspended
		+	&relation firstimage = :project:brmrat-algernon.jpg
		+	~~

	This is an extension of [[project:brmbot_turing:start]]. We would like to equip the Roomba vacuum cleaner with rat-in-a-box and allow the rat to control the Roomba's movements. We aim to setup and execute a scientifically plausible experiment on whether a rat can learn the abstract concepts required to control a vehicle such as Roomba.		This is an extension of [[project:brmbot_turing:start]]. We would like to equip the Roomba vacuum cleaner with rat-in-a-box and allow the rat to control the Roomba's movements. We aim to setup and execute a scientifically plausible experiment on whether a rat can learn the abstract concepts required to control a vehicle such as Roomba.

brmlab project:brmrat

project:brmrat:sketch

BrmRat