Robobuilder

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=Ruby Examples=
 
=Ruby Examples=
 
==Using the RBC controller==
 
==Using the RBC controller==
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You need to make sure that your serial controller is capable of 115200 Baud. Some USB-serial adapters are not capable of this!!!
+
[[Image:New.gif]] You can download the Ruby-extension for controlling the Robobuilder here: [http://vision.eng.shu.ac.uk/jan/robobuilder-0.1.tar.bz2 robobuilder-0.1.tar.bz2]
 +
 
 +
Here is a small example program which makes the robot get up if it's lying on its back or its front.
 
<pre>
 
<pre>
 
#!/usr/bin/env ruby
 
#!/usr/bin/env ruby
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# http://robosavvy.com/forum/viewtopic.php?p=19030
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require 'robobuilder'
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# http://robosavvy.org/forum/viewtopic.php?p=20035
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require 'matrix'
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# http://robosavvy.com/RoboSavvyPages/Robobuilder/RBC_over_Serial_Protocol_v1.13.pdf
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class Vector
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Kernel::require 'serialport'
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   def norm
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class Array
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     Math.sqrt inner_product( self )
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   def checksum
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     inject( 0 ) { |a,b| a ^ b }
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   end
 
   end
 
end
 
end
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class Robot
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robot = Robobuilder.new '/dev/ttyS1'
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  RATE = 115200
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puts "Robobuilder"
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  BITS = 8
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puts "Serial number: #{robot.serial_number}"
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  STOP_BITS = 1
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acceleration = Vector[ *robot.accelerometer ]
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  PARITY = SerialPort::NONE
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if acceleration.inner_product( Vector[ 0, 0, 1 ] ) > acceleration.norm / 2
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  GETUP_A = 1
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   robot.basic
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  GETUP_B = 2
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   robot.a
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  TURN_LEFT = 3
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elsif acceleration.inner_product( Vector[ 0, 0, 1 ] ) < -acceleration.norm / 2
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  MOTION_FORWARD = 4
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   robot.basic
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  TURN_RIGHT = 5
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   robot.b
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  MOVE_LEFT = 6
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  MOTION_BASIC_POSTURE = 7
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  MOVE_RIGHT = 8
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  ATTACK_LEFT = 9
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  MOVE_BACKWARD = 10
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  ATTACK_RIGHT = 11
+
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  def initialize( serial_device = '/dev/ttyUSB0' )
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    puts "Opening port #{serial_device}"
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    @serial = SerialPort.new serial_device, RATE, BITS, STOP_BITS, PARITY
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    # @serial.flow_control = SerialPort::SOFT
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    # @serial.read_timeout = 1 # milliseconds
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    # @serial.write_timeout = 2000 # milliseconds
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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
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  end
+
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  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
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  end
+
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  def command( type, *contents )
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    cmd = header + [ type, 0x00, contents.size ].pack( 'CCN' ) +
+
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      contents.pack( 'C' * contents.size ) + [ contents.checksum ].pack( 'C' )
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    @serial.write cmd
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    # @serial.flush
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    read_back( type )
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  end
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  def read_back( type )
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    synchronise
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    #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" +
+
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    #    "Send    : " + cmd.unpack( 'C' * cmd.size ).
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    #   collect { |x| "%X" % x }.join( ' ' ) + "\n" +
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    #    "Received: " + feedback.unpack( 'C' * feedback.size ).
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    #    collect { |x| "%X" % x }.join( ' ' )
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    # end
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    if @serial.read( 1 ).unpack( 'C' ).first != type
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      puts 'Problem with command feedback'
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    end
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    @serial.read( 1 )
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    size = @serial.read( 4 ).unpack( 'N' ).first
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    # puts "#{size} bytes of data"
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    data = @serial.read size
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    checksum = @serial.read( 1 ).unpack( 'C' ).first
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    if data.unpack( 'C' * data.size ).checksum != checksum
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      # puts 'Problem with checksum'
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    end
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    # sleep 0.2
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    data
+
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  end
+
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  def motion( n )
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    command( 0x14, n ).unpack( 'C' ).first
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  end
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  def a
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    motion GETUP_A
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  end
+
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  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
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  end
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  def forward
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    motion MOTION_FORWARD
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  end
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  def turn_right
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    motion TURN_RIGHT
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  end
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  def left
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    motion MOVE_LEFT
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  end
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  def basic
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    motion MOTION_BASIC_POSTURE
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  end
+
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  def right
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    motion MOVE_RIGHT
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  end
+
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  def attack_left
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    motion ATTACK_LEFT
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  end
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  def backward
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    motion MOVE_BACKWARD
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  end
+
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  def attack_right
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    motion ATTACK_RIGHT
+
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  end
+
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  def run( n )
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    case n
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    when 1 .. 10
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      motion n + 11
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    when 11 .. 20
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      motion n + 22
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    else
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      raise "Program number must be in 1 .. 20 (was #{n})"
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    end
+
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  end
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  def serial_number
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    command( 0x0C, 1 ).to_i
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   end
+
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  def firmware
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    command( 0x12, 1 ).unpack 'CC'
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   end
+
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  def voice( n )
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    command( 0x15, n ).unpack( 'C' ).first
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  end
+
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  def distance # problem when lower than 20 cm
+
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    command( 0x16, 1 ).unpack( 'n' ).first / 256.0
+
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  end
+
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  def sound( min )
+
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    data = [ min ].pack( 'n' ).unpack 'CC'
+
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    command( 0x17, *data ).unpack( 'S' ).first
+
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  end
+
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  def button
+
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    command( 0x18, 1 ).unpack( 'S' ).first
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   end
+
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  def remote
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    command( 0x19, 1 ).unpack( 'S' ).first
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   end
+
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  def accelerometer
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    command( 0x1A, 1 ).unpack( 'sss' )
+
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  end
+
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  def direct( on )
+
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    if on
+
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      # Alternatively press and hold button PF2 and then turn on the RBC.
+
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      command 0x10, 1
+
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    else
+
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      @serial.write [ 0xFF, 0xE0, 0xFB, 0x01, 0x00, 0x1A ].pack( 'C' * 6 )
+
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      # @serial.flush
+
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    end
+
−
  end
+
 
end
 
end
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i = 0
+
acceleration = Vector[ *robot.accelerometer ]
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# COM2
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if acceleration.inner_product( Vector[ 0, 1, 0 ] ) > acceleration.norm / 2
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robot = Robot.new '/dev/ttyS1'
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   robot.run 1
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robot.basic
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#robot.a
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while true
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  print "#{ "%10d" % i }\r"
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  robot.forward if robot.distance >= 50
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   robot.backward if robot.distance <= 10
+
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  i += 1
+
 
end
 
end
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# for i in 1 .. 1000
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robot.close
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#  puts "#{i}: #{ "%20s" % robot.accelerometer.inspect } #{ "%10d" % robot.distance}"
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−
# end
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# robot.basic
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# robot.backward
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# robot.direct true
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# robot.direct false
+
 
</pre>
 
</pre>
  

Revision as of 18:36, 1 October 2009

Working.gif

Contents

Gallery

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

Ruby Examples

Using the RBC controller

New.gif You can download the Ruby-extension for controlling the Robobuilder here: robobuilder-0.1.tar.bz2

Here is a small example program which makes the robot get up if it's lying on its back or its front. 

#!/usr/bin/env ruby
require 'robobuilder'
require 'matrix'
class Vector
  def norm
    Math.sqrt inner_product( self )
  end
end
robot = Robobuilder.new '/dev/ttyS1'
puts "Robobuilder"
puts "Serial number: #{robot.serial_number}"
acceleration = Vector[ *robot.accelerometer ]
if acceleration.inner_product( Vector[ 0, 0, 1 ] ) > acceleration.norm / 2
  robot.basic
  robot.a
elsif acceleration.inner_product( Vector[ 0, 0, 1 ] ) < -acceleration.norm / 2
  robot.basic
  robot.b
end
acceleration = Vector[ *robot.accelerometer ]
if acceleration.inner_product( Vector[ 0, 1, 0 ] ) > acceleration.norm / 2
  robot.run 1
end
robot.close

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