Robobuilder

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=Ruby Examples=
 +
==Using the RBC controller==
 +
<pre>
 +
#!/usr/bin/env ruby
 +
# http://robosavvy.com/forum/viewtopic.php?p=19030
 +
# http://robosavvy.org/forum/viewtopic.php?p=20035
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# http://robosavvy.com/RoboSavvyPages/Robobuilder/RBC_over_Serial_Protocol_v1.13.pdf
 +
require 'rubygems'
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require 'serialport'
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class Array
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  def checksum
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    inject( 0 ) { |a,b| a ^ b }
 +
  end
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end
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class Robot
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  RATE = 115200
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  BITS = 8
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  STOP_BITS = 1
 +
  PARITY = SerialPort::NONE
 +
  GETUP_A = 1
 +
  GETUP_B = 2
 +
  TURN_LEFT = 3
 +
  MOTION_FORWARD = 4
 +
  TURN_RIGHT = 5
 +
  MOVE_LEFT = 6
 +
  MOTION_BASIC_POSTURE = 7
 +
  MOVE_RIGHT = 8
 +
  ATTACK_LEFT = 9
 +
  MOVE_BACKWARD = 10
 +
  ATTACK_RIGHT = 11
 +
  def initialize( serial_device = '/dev/ttyUSB0' )
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    @serial = SerialPort.new serial_device, RATE, BITS, STOP_BITS, PARITY
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    # command 0x10, 1
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  end
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  def header
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    [ 0xFF, 0xFF, 0xAA, 0x55, 0xAA, 0x55, 0x37, 0xBA ].pack 'C' * 8
 +
  end
 +
  def synchronise
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    x = nil
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    begin
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      x = @serial.read( 1 ).unpack( 'C' ).first
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      # puts "%X" % x
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    end until x == 0x37
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    x = nil
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    begin
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      x = @serial.read( 1 ).unpack( 'C' ).first
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      # puts "%X" % x
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    end until x == 0xBA
 +
  end
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  def command( type, *contents )
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    cmd = header + [ type, 0x00, contents.size ].pack( 'CCN' ) +
 +
      contents.pack( 'C' * contents.size ) + [ contents.checksum ].pack( 'C' )
 +
    @serial.write cmd
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    @serial.flush
 +
    synchronise
 +
    #if feedback[ 0 ... 8 ] != header
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    #  puts 'Problem with header'
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    #  raise "Error executing command 0x#{ "%X" % type }:\n" +
 +
    #    "Send    : " + cmd.unpack( 'C' * cmd.size ).
 +
    #    collect { |x| "%X" % x }.join( ' ' ) + "\n" +
 +
    #    "Received: " + feedback.unpack( 'C' * feedback.size ).
 +
    #    collect { |x| "%X" % x }.join( ' ' )
 +
    # end
 +
    if @serial.read( 1 ).unpack( 'C' ).first != type
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      puts 'Problem with command feedback'
 +
    end
 +
    @serial.read( 1 )
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    size = @serial.read( 4 ).unpack( 'N' ).first
 +
    data = @serial.read size
 +
    checksum = @serial.read( 1 ).unpack( 'C' ).first
 +
    if data.unpack( 'C' * data.size ).checksum != checksum
 +
      puts 'Problem with checksum'
 +
    end
 +
    sleep 0.1
 +
    data
 +
  end
 +
  def motion( n )
 +
    command( 0x14, n ).unpack( 'C' ).first
 +
  end
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  def a
 +
    motion GETUP_A
 +
  end
 +
  def b
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    motion GETUP_B
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  end
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  def turn_left
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    motion TURN_LEFT
 +
  end
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  def forward
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    motion MOTION_FORWARD
 +
  end
 +
  def turn_right
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    motion TURN_RIGHT
 +
  end
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  def left
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    motion MOVE_LEFT
 +
  end
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  def basic
 +
    motion MOTION_BASIC_POSTURE
 +
  end
 +
  def right
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    motion MOVE_RIGHT
 +
  end
 +
  def attack_left
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    motion ATTACK_LEFT
 +
  end
 +
  def backward
 +
    motion MOVE_BACKWARD
 +
  end
 +
  def attack_right
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    motion ATTACK_RIGHT
 +
  end
 +
  def sound( n )
 +
    command( 0x15, n ).unpack( 'C' ).first
 +
  end
 +
  def direct( on )
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    if on
 +
      # Alternatively press and hold button PF2 and then turn on the RBC.
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      command 0x10, 1
 +
    else
 +
      @serial.write [ 0xFF, 0xE0, 0xFB, 0x01, 0x00, 0x1A ].pack( 'C' * 6 )
 +
      @serial.flush
 +
    end
 +
  end
 +
end
 +
robot = Robot.new
 +
robot.basic
 +
robot.forward
 +
# robot.direct true
 +
# robot.direct false
 +
</pre>
  
 
=External Links=
 
=External Links=

Revision as of 18:37, 29 September 2009

Working.gif

Contents

Gallery

The Robobuilder Kit contains components for assembling a humanoid robot
Assembled Robobuilder Huno

Ruby Examples

Using the RBC controller

#!/usr/bin/env ruby
# http://robosavvy.com/forum/viewtopic.php?p=19030
# http://robosavvy.org/forum/viewtopic.php?p=20035
# http://robosavvy.com/RoboSavvyPages/Robobuilder/RBC_over_Serial_Protocol_v1.13.pdf
require 'rubygems'
require 'serialport'
class Array
  def checksum
    inject( 0 ) { |a,b| a ^ b }
  end
end
class Robot
  RATE = 115200
  BITS = 8
  STOP_BITS = 1
  PARITY = SerialPort::NONE
  GETUP_A = 1
  GETUP_B = 2
  TURN_LEFT = 3
  MOTION_FORWARD = 4
  TURN_RIGHT = 5
  MOVE_LEFT = 6
  MOTION_BASIC_POSTURE = 7
  MOVE_RIGHT = 8
  ATTACK_LEFT = 9
  MOVE_BACKWARD = 10
  ATTACK_RIGHT = 11
  def initialize( serial_device = '/dev/ttyUSB0' )
    @serial = SerialPort.new serial_device, RATE, BITS, STOP_BITS, PARITY
    # command 0x10, 1
  end
  def header
    [ 0xFF, 0xFF, 0xAA, 0x55, 0xAA, 0x55, 0x37, 0xBA ].pack 'C' * 8
  end
  def synchronise
    x = nil
    begin
      x = @serial.read( 1 ).unpack( 'C' ).first
      # puts "%X" % x
    end until x == 0x37
    x = nil
    begin
      x = @serial.read( 1 ).unpack( 'C' ).first
      # puts "%X" % x
    end until x == 0xBA
  end
  def command( type, *contents )
    cmd = header + [ type, 0x00, contents.size ].pack( 'CCN' ) +
      contents.pack( 'C' * contents.size ) + [ contents.checksum ].pack( 'C' )
    @serial.write cmd
    @serial.flush
    synchronise
    #if feedback[ 0 ... 8 ] != header
    #  puts 'Problem with header'
    #  raise "Error executing command 0x#{ "%X" % type }:\n" +
    #    "Send    : " + cmd.unpack( 'C' * cmd.size ).
    #    collect { |x| "%X" % x }.join( ' ' ) + "\n" +
    #    "Received: " + feedback.unpack( 'C' * feedback.size ).
    #    collect { |x| "%X" % x }.join( ' ' )
    # end
    if @serial.read( 1 ).unpack( 'C' ).first != type
      puts 'Problem with command feedback'
    end
    @serial.read( 1 )
    size = @serial.read( 4 ).unpack( 'N' ).first
    data = @serial.read size
    checksum = @serial.read( 1 ).unpack( 'C' ).first
    if data.unpack( 'C' * data.size ).checksum != checksum
      puts 'Problem with checksum'
    end
    sleep 0.1
    data
  end
  def motion( n )
    command( 0x14, n ).unpack( 'C' ).first
  end
  def a
    motion GETUP_A
  end
  def b
    motion GETUP_B
  end
  def turn_left
    motion TURN_LEFT
  end
  def forward
    motion MOTION_FORWARD
  end
  def turn_right
    motion TURN_RIGHT
  end
  def left
    motion MOVE_LEFT
  end
  def basic
    motion MOTION_BASIC_POSTURE
  end
  def right
    motion MOVE_RIGHT
  end
  def attack_left
    motion ATTACK_LEFT
  end
  def backward
    motion MOVE_BACKWARD
  end
  def attack_right
    motion ATTACK_RIGHT
  end
  def sound( n )
    command( 0x15, n ).unpack( 'C' ).first
  end
  def direct( on )
    if on
      # Alternatively press and hold button PF2 and then turn on the RBC.
      command 0x10, 1
    else
      @serial.write [ 0xFF, 0xE0, 0xFB, 0x01, 0x00, 0x1A ].pack( 'C' * 6 )
      @serial.flush
    end
  end
end
robot = Robot.new
robot.basic
robot.forward
# robot.direct true
# robot.direct false

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