Robotics 101

Presented at Hackference 2.0.14

Transcript

1. ROBOTICS 101
2. ANDREW NESBITT
3. MY ROBOT STORY
7. BEng Robotics & Automated Systems University of Plymouth
9. Advanced Mathematics Mechanical Engineering Digital Electronics Analogue Electronics Computer Science Control Theory Neural Networking Microprocessor Design Playing with Robots LEARNING ROBOTICS
10. Advanced Mathematics Advanced Mathematics Advanced Mathematics Advanced Mathematics Advanced Mathematics Advanced Mathematics Advanced Mathematics Advanced Mathematics Observing Robots behind glass LEARNING ROBOTICS
11. Robotics was expensive, complicated and not fun
12. APIs Open Source Hardware Smart phones Dynamic Programming Languages GitHub Mobile Internet 3D Printing 2014
13. robot /ˈrəʊbɒt/ a machine capable of carrying out a complex series of actions automatically, especially one programmable by a computer.
14. FICTIONAL ROBOTS ENTERTAINMENT ROBOTS
15. INDUSTRIAL ROBOTS
16. DOMESTIC ROBOTS
17. MEDICAL ROBOTS
18. HOBBY ROBOTS
19. EDUCATIONAL ROBOTS
20. MILITARY ROBOTS
22. It's a UNIX system! I know this!
23. LEGO
24. EV3
25. ROBOT RABBIT FEEDER
26. ! var Ev3 = require ("ev3-nodejs-bt");
 var Ev3_base = Ev3.base;
 
 var XboxController = require('xbox-controller');
 var xbox = new XboxController;
 
 var robot = new Ev3_base("/dev/tty.EV3-SerialPort");
 
 var maxAngle = 32768;
 var maxSpeed = 100;
 
 var speeds = { a: 0, b: 0, c: 0, d: 0 };
27. ! robot.connect(function(){
 robot.start_program(function(ev3){
 var setSpeed = function(){
 var output = ev3.getOutputSequence(speeds.a,speeds.b,speeds.c,speeds.d);
 ev3.sp.write(output);
 }
 
 setInterval(setSpeed, 100)
 
 xbox.on('left:move', function(position){
 var x = -(position.x / maxAngle)*-maxSpeed
 var y = (position.y / maxAngle)*-maxSpeed
 
 var left = y-x
 var right = y+x
 
 speeds.b = left
 speeds.a = right
 })
 
 xbox.on('a:press', function(){
 speeds.d = 100
 })
 
 xbox.on('a:release', function(){
 speeds.d = 0
 })
 });
 });

30. github.com/andrew/node-ev3-robot
31. github.com/clebert/ev3
33. ARDUINO
34. FIRMATA
35. Cat Laser Toy
36. Cat Laser Toy Rabbit | v
37. Demo Time
38. Demo Time
39. Demo Time
40. Demo Time
41. Demo Time
42. Demo Time
43. Demo Time
44. Demo Time
45. Demo Time
46. ! var five = require("johnny-five"),
 board = new five.Board();
 
 function randomFromInterval(from,to){
 return Math.floor(Math.random()*(to-from+1)+from); 
 }
 
 board.on("ready", function() {
 var servoX = new five.Servo(10);
 var servoY = new five.Servo(9);
 var laser = new five.Led(8);
 
 laser.on()
 
 setInterval(function(){
 x = randomFromInterval(80, 120)
 y = randomFromInterval(95, 145)
 servoX.move(x)
 servoY.move(y)
 }, 400)
 }) 

48. hobbytronics.co.uk/sparkfun-inventors-kit-v3 Sparkfun Inventors Kit
49. node-ardx.org
50. hobbytronics.co.uk/zumo-robot-kit
51. var five = require("johnny-five"), board = new five.Board(); ! var Zumo = function(){ this.leftMotor = new five.Motor({ pins: { pwm: 10, dir: 8 } }); ! this.rightMotor = new five.Motor({ pins: { pwm: 9, dir: 7 } }); ! this.move = function(x,y){ var left = y-x var right = y+x ! if(left > 0){ this.leftMotor.reverse(left) } else { this.leftMotor.forward(-left) } ! if(right > 0){ this.rightMotor.reverse(right) } else { this.rightMotor.forward(-right) } } }
52. var XboxController = require('xbox-controller'), xbox = new XboxController; ! maxAngle = 32768 maxSpeed = 255 ! board.on("ready", function() { var zumo = new Zumo ! var x = 0 var y = 0 ! xbox.on('left:move', function(position){ x = (position.x / maxAngle)*-maxSpeed zumo.move(x,y) }) ! xbox.on('lefttrigger', function(position){ y = -position zumo.move(x,y) }) ! xbox.on('righttrigger', function(position){ y = position zumo.move(x,y) }) })
54. AUTONOMOUS ROBOTS
55. CONTROL LOOPS
56. INPUTS ! PROCESSING ! OUTPUTS
57. AUDIO, VISION, MOTION, TEMPERATURE, POSITION, DISTANCE, TOUCH, FORCE, MAGNETIC, LIGHT, VIBRATION, MOISTURE, PRESSURE, PROXIMITY, CHEMICAL, ELECTRICAL, COLOR AND MORE INPUT SENSORS
58. WHEELS, GRIPPERS, ARMS, ROTORS, SERVOS, LIGHTS, SOUNDS,VISUALS, SWITCHES, RELAYS OUTPUTS
59. ELECTRICAL CIRCUITS, MICROCONTROLLERS, COMPUTERS, SERVER FARMS PROCESSING
62. npm install cylon
63. var Cylon = require('cylon'); ! Cylon.robot({ connection: { name: 'sphero', adaptor: 'sphero', port: '/dev/cu.Sphero-GGP-AMP-SPP' }, device: { name: 'sphero', driver: 'sphero' }, ! work: function(my) { var color = 0x00FF00, bitFilter = 0xFFFF00; ! after((1).seconds(), function() { console.log("Setting up Collision Detection..."); my.sphero.detectCollisions(); my.sphero.setDataStreaming(['locator', 'accelOne', 'velocity'], { n: 200, m: 1, pcnt: 0,}); my.sphero.setBackLED(255); my.sphero.setRGB(color); my.sphero.stop(); every(5..seconds(), function() { my.sphero.roll(128, Math.floor(Math.random() * 360)); }); }); ! my.sphero.on('data', function(data) { app.io.broadcast('draw', {color:color.toString(16), x:data[0], y:data[1]}) }); ! my.sphero.on('collision', function(data) { color = color ^ bitFilter; my.sphero.setRGB(color); my.sphero.roll(128, Math.floor(Math.random() * 360)); app.io.broadcast('collision', {color:color.toString(16)}) }); ! } }).start();
64. // Input my.sphero.on('collision', function(data) { // Processing color = color ^ bitFilter; direction = Math.floor(Math.random() * 360) // Output my.sphero.roll(128, direction); my.sphero.setRGB(color); app.io.broadcast('collision', {color:color.toString(16)}) }); ! ! ! // Input my.sphero.on('data', function(data) { ! // Processing if(Math.abs(data[0]) > 1000 || Math.abs(data[1]) > 1000) { // Output my.sphero.roll(128, Math.abs(direction - 180)); } ! // Output app.io.broadcast('draw', {color:color.toString(16), x:data[0], y:data[1]}) });
65. var express = require('express.io') var app = express().http().io() ! app.get('/', function(req, res) { res.sendfile(__dirname + '/client.html') }) ! app.listen(7076)
66. <script src="//ajax.googleapis.com/ajax/libs/jquery/1.8.3/jquery.min.js"></script> <script src="//cdn.techpines.io/jquery.event.drag-2.0.js"></script> <script src="/socket.io/socket.io.js"></script> <script> App = {} App.socket = io.connect() ! var startX = 950; var startY = 500; ! var previousX = 950; var previousY = 500; ! App.draw = function(data) { App.ctx.beginPath() App.ctx.moveTo(previousX, previousY); App.ctx.lineWidth = 5; App.ctx.lineTo(data.x+startX,data.y+startY) App.ctx.strokeStyle = "#" + data.color App.ctx.stroke() previousX = data.x+startX; previousY = data.y+startY; } ! App.socket.on('draw', App.draw) ! $(function() { App.ctx = $('canvas')[0].getContext("2d") }) </script> <canvas width="1900px" height="1000px" style="margin: 0 auto;border:1px solid #eee;"></canvas>
71. ARDRONE AUTONOMY
72. PID CONTROLLER KALMAN FILTER CAMERA PROJECTION MISSION PLANNER
73. PID CONTROLLER
74. // Plan mission mission.takeoff() .zero() .hover(500) .altitude(3) .forward(2) .right(2) .backward(2) .go({x:0, y:0}) .hover(500) .land(); ! // Execute mission mission.run(function (err, result) { if (err) { console.trace("Oops: %s", err.message); mission.client().stop(); mission.client().land(); } else { console.log("We are done!"); process.exit(0); } });
75. ! // Land on ctrl-c var exiting = false; process.on('SIGINT', function() { if (exiting) { process.exit(0); } else { console.log('Landing, Control-C again to force exit'); exiting = true; mission.control().disable(); mission.client().land(function() { process.exit(0); }); } }); !
76. NoDebots.io
77. robotsconf.com
78. No animals were harmed in the making of this presentation Thanks!
79. github.com/andrew Thanks!
80. Thanks! @teabass