Robobuilder
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Ruby Examples
Using the RBC controller
You need to make sure that your serial controller is capable of 115200 Baud. Some USB-serial adapters are not capable of this!!!
#!/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
Kernel::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' )
puts "Opening port #{serial_device}"
@serial = SerialPort.new serial_device, RATE, BITS, STOP_BITS, PARITY
# @serial.flow_control = SerialPort::SOFT
# @serial.read_timeout = 1 # milliseconds
# @serial.write_timeout = 2000 # milliseconds
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
read_back( type )
end
def read_back( type )
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
# puts "#{size} bytes of data"
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 0.2
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 run( n )
case n
when 1 .. 10
motion n + 11
when 11 .. 20
motion n + 22
else
raise "Program number must be in 1 .. 20 (was #{n})"
end
end
def serial_number
command( 0x0C, 1 ).to_i
end
def firmware
command( 0x12, 1 ).unpack 'CC'
end
def voice( n )
command( 0x15, n ).unpack( 'C' ).first
end
def distance # problem when lower than 20 cm
command( 0x16, 1 ).unpack( 'n' ).first / 256.0
end
def sound( min )
data = [ min ].pack( 'n' ).unpack 'CC'
command( 0x17, *data ).unpack( 'S' ).first
end
def button
command( 0x18, 1 ).unpack( 'S' ).first
end
def remote
command( 0x19, 1 ).unpack( 'S' ).first
end
def accelerometer
command( 0x1A, 1 ).unpack( 'sss' )
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
i = 0
# COM2
robot = Robot.new '/dev/ttyS1'
robot.basic
#robot.a
while true
print "#{ "%10d" % i }\r"
robot.forward if robot.distance >= 50
robot.backward if robot.distance <= 10
i += 1
end
# for i in 1 .. 1000
# puts "#{i}: #{ "%20s" % robot.accelerometer.inspect } #{ "%10d" % robot.distance}"
# end
# robot.basic
# robot.backward
# robot.direct true
# robot.direct false
External Links
- Robobuilder Ltd. (Korean manufacturer)
- Robosavvy (UK distributor)
