Robobot bridge - Revision history

Jca at 11:48, 3 March 2025

2025-03-03T11:48:46Z

2023-02-02T12:12:23Z

Port server

← Older revision		Revision as of 14:12, 2 February 2023
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	This function is intended to see if someone else - by accident - is fiddling with the robot.		This function is intended to see if someone else - by accident - is fiddling with the robot.

			== Data logging ==

			Logged files can be displayed in MATLAB using a script like this

			ir = load('log_irdist_20200105_133333.297.txt'); %
			h = figure(300)
			hold off
			plot(ir(:,1) - ir(1,1), ir(:,2));
			hold on
			plot(ir(:,1) - ir(1,1), ir(:,3));
			grid on
			grid MINOR
			axis([5,12,0,1])
			legend('IR 1 distance', 'IR 2 distance','location','southwest')
			xlabel('sec')
			ylabel('distance [m]')
			saveas(h, 'ir1-ir2.png')

			The filename depends on the interface.
			The first column is the timestamp, and to avoid extremely high numbers on the time axes, the first-time value is subtracted from the plot.
			And in this case, the plot shows:

			[[File:ir1-ir2.png \| 400px]]

			The plot shows longer distances (IR2) have more noise than shorter distances (IR1).
			In this case, the drive is started by an IR2 distance less than 0.3m (at 6 seconds); hereafter, the robot moves, and the IR 1 distance (looking right) sees different obstacles.

2023-02-02T09:45:25Z

Doxygen description

← Older revision		Revision as of 11:45, 2 February 2023
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	This function is intended to see if someone else - by accident - is fiddling with the robot.		This function is intended to see if someone else - by accident - is fiddling with the robot.

	~~== Doxygen description ==~~

	~~An automated software documentation is available here: hppt://not_there_yet.dk~~

	~~This documentation is not very clear, and you would probably not want to make major changes.~~

2023-02-02T09:45:08Z

Robobot_bridge

2019-12-27T10:39:28Z

Bridge command line

← Older revision		Revision as of 12:39, 27 December 2019
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	===Bridge command line===		===Bridge command line===

	The ~~destination~~ can be ~~stated explicitly with an extra keyword in front of the regular keyword ('robot', 'bridge' or 'oled'), but most~~ commands ~~will be identified on the basis~~ of the ~~regular keyword.~~		The bridge command line (when started in a console) can be used to issue commands and view status of the bridge.
	~~The~~ bridge ~~handles these extra keywords and any special commands related to the bridge itself~~.		This feature is mostly for debug.

	~~The bridge also handles the commands that can be input from the console (if the bridge~~ is ~~started from a console)~~.

	The command-line single-character commands are handled by the bridge:		The command-line single-character commands are handled by the bridge:

2019-12-27T10:36:49Z

Bridge

← Older revision		Revision as of 12:36, 27 December 2019
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	sudo ./robobot_bridge		sudo ./robobot_bridge

	===Bridge===		===Bridge command line===

	The destination can be stated explicitly with an extra keyword in front of the regular keyword ('robot', 'bridge' or 'oled'), but most commands will be identified on the basis of the regular keyword.		The destination can be stated explicitly with an extra keyword in front of the regular keyword ('robot', 'bridge' or 'oled'), but most commands will be identified on the basis of the regular keyword.
Line 62:		Line 62:
	# All data items has reserved subcommands, see:		# All data items has reserved subcommands, see:
	# item h Help for data item 'item'		# item h Help for data item 'item'


	=== Handler ===		=== Handler ===

2019-12-27T10:36:13Z

automatic start

← Older revision		Revision as of 12:36, 27 December 2019
Line 20:		Line 20:
	The exchange format is always a line-oriented clear text. The gamepad generates a status line with all switches and axes and is input only. The O-Led display takes a command text and sets the displat, this is output only. The REGBOT is already clear text line-oriented and communicates two ways - as two independant channels.		The exchange format is always a line-oriented clear text. The gamepad generates a status line with all switches and axes and is input only. The O-Led display takes a command text and sets the displat, this is output only. The REGBOT is already clear text line-oriented and communicates two ways - as two independant channels.

	=== ~~automatic~~ start ===		=== Automatic start ===

	Robobot_bridge is started from the startup script /etc/rc.local, and thus need a reboot to start the new version,		Robobot_bridge is started from the startup script /etc/rc.local, and thus need a reboot to start the new version,

2019-12-27T10:35:28Z

← Older revision		Revision as of 12:35, 27 December 2019
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	== Robobot_bridge ==		== Robobot_bridge ==

			The robobot_bridge is a communication interface that handles communication between the clients and (most of) the robot hardware.

			Main features are:

			* Interface with REGBOT hardware (motors and sensors)
			* Interface with a gamepad (joystick) - e.g. manual control of robot.
			* interface to a small display (8 lines each 20 characters).
			* interface to clients, e.g. REGBOT GUI and mission control application.


	[[File:robobot_bridge_blocks.png \| 600px]]		[[File:robobot_bridge_blocks.png \| 600px]]

2019-12-27T10:28:35Z

← Older revision		Revision as of 12:28, 27 December 2019
Line 9:		Line 9:
	There are three interface modules - one for each of the interfaces, these handles the direct communication with the device.		There are three interface modules - one for each of the interfaces, these handles the direct communication with the device.
	The exchange format is always a line-oriented clear text. The gamepad generates a status line with all switches and axes and is input only. The O-Led display takes a command text and sets the displat, this is output only. The REGBOT is already clear text line-oriented and communicates two ways - as two independant channels.		The exchange format is always a line-oriented clear text. The gamepad generates a status line with all switches and axes and is input only. The O-Led display takes a command text and sets the displat, this is output only. The REGBOT is already clear text line-oriented and communicates two ways - as two independant channels.

			=== automatic start ===

			Robobot_bridge is started from the startup script /etc/rc.local, and thus need a reboot to start the new version,

			- or start it manually (is also better for debugging, as it has some on-line help (type help after start):
			sudo pkill robobot_bridge
			cd ~/robobot_bridge/build
			sudo ./robobot_bridge

	===Bridge===		===Bridge===

2019-12-21T17:22:55Z

Port server

← Older revision		Revision as of 19:22, 21 December 2019
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	All communication is in clear text and line-oriented.		All communication is in clear text and line-oriented.
	On connection ~~the~~ the bridge will send the following message		On connection the bridge will send the following message

	# Welcome to REGBOT bridge - send 'help' for more info		# Welcome to REGBOT bridge - send 'help' for more info
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	# help: This help text		# help: This help text

	And the command client list gives something like this:		And the command 'client list' gives something like this:

	# Client list requested from client 4		# Client list requested from client 4