RoRoRoomba - Ruby on Rails on Roomba - RailsConf 2012

RoRoRoomba slides about the github.com/tokyorails/rrroomba project. Given at RailsConf 2012 in Austin, TX.

Transcript

1. RoRoRoomba Roomba on Ruby on Rails Friday, April 27, 2012
2. Thanks! • Nancy Dussault-Smith • Joshua Lifton • and iRobot for the Roombas! Friday, April 27, 2012
3. Thanks! Friday, April 27, 2012
4. Introductions Friday, April 27, 2012
5. My Roomba Friday, April 27, 2012
6. • Charles Abbott • • Life in Japan www.forthecode.org • “The greatest obstacle... konnichiwa Friday, April 27, 2012
7. “The greatest obstacle to discovery “Greatest obstacle... Friday, April 27, 2012
8. “The greatest obstacle to discovery is not ignorance “Greatest obstacle... Friday, April 27, 2012
9. “The greatest obstacle to discovery is not ignorance, but “Greatest obstacle... Friday, April 27, 2012
10. “The greatest obstacle to discovery is not ignorance, but the illusion of knowledge” - Daniel J. Boorstin “Greatest obstacle... Friday, April 27, 2012
11. “Hack Me” Friday, April 27, 2012
12. 3 R’s tokyorails.org Friday, April 27, 2012
13. Ruby Friday, April 27, 2012
14. Rails Friday, April 27, 2012
15. Roomba Friday, April 27, 2012
16. Roomba on Ruby on Rails • SerialPort + Ruby controls Roomba • Rails site that routes remote requests • ??? • Profit! Friday, April 27, 2012
17. Resources • http://hackingroomba.com/ (Open source Java package) • http://www.dprg.org/projects/ 2009-07a/ • http://roombahacking.com/ roombahacks/roombacmd/ • http://www.arduino.cc/ Friday, April 27, 2012
18. Getting Started Friday, April 27, 2012
19. Getting Supplies Friday, April 27, 2012
20. and then... Friday, April 27, 2012
21. my firstborn Friday, April 27, 2012
22. Back on Track Friday, April 27, 2012
23. Arduino Layout RX = receive TX = transmit Friday, April 27, 2012
24. iRobot OI or SCI? Friday, April 27, 2012
25. ROI? API? Friday, April 27, 2012
26. Wired Up Friday, April 27, 2012
27. Roomba + Arduino What’s next? Friday, April 27, 2012
28. Arduino Sandwich Friday, April 27, 2012
29. Arduino Sketches void setup(){} void loop(){} Friday, April 27, 2012
30. RAD? Friday, April 27, 2012
31. Example Roomba Sketch Friday, April 27, 2012
32. Debugging Arduino Friday, April 27, 2012
33. Debugging Pains [137] [255] [56] [1] [244] Disconnect, Connect, Disconnect Headless Documentation woes Friday, April 27, 2012
34. Past First Base Friday, April 27, 2012
35. Arduino Friday, April 27, 2012
36. Arduino Wireless XBEE Friday, April 27, 2012
37. Bluetooth Friday, April 27, 2012
38. USB to Serial Friday, April 27, 2012
39. Wifi Friday, April 27, 2012
40. Where to Start? Friday, April 27, 2012
41. Simple Serial Friday, April 27, 2012
42. Writing Code def initialize(port, baud=115200) @serial = SerialPort.new(port, baud, 8, 1, SerialPort::NONE) sleep 0.2 api_setup_start sleep 0.1 api_setup_control end Friday, April 27, 2012
43. Writing Opcodes # Must call this first to start the serial command interface def api_setup_start write(128) end # Enables user control of Roomba, puts SCI in safe mode def api_setup_control write(130) end # Starts a normal cleaning cycle. def api_clean write(135) end Friday, April 27, 2012
44. Modeling the ROI # api_drive(255, 0, 0, 0) //go backward # api_drive(0, 255, 0, 0) //go forward # api_drive(0, 0, 0, 0) // stop def api_drive(velocity_high, velocity_low, radius_high, radius_low) write(137, velocity_high, velocity_low, radius_high, radius_low) end Friday, April 27, 2012
45. Complex Write and Read def api_querylist(*bytes) write(149, bytes.length, *bytes) wait_for_rx read end Friday, April 27, 2012
46. The Bottom of the Barrel def write(*args) args.each do |a| @serial.write a.chr end end Friday, April 27, 2012
47. The Bottom of the Barrel def read(timeout=50) @serial.read_timeout= timeout bytes = [] until (x = @serial.getbyte).nil? bytes.push(x) end bytes end Friday, April 27, 2012
48. Pulling it Together ls /dev/tty.* find your serial device then jump into rails console roo = Roomba.new(“/dev/tty.usbserial-xxx”) => #<Roomba:0x00000103e5bec0 @serial=#<SerialPort:fd 9>> Friday, April 27, 2012
49. “Hello Roomba” Demo “Don’t Assume It--Prove It” - Tip, The Pragmatic Programmer Friday, April 27, 2012
50. Forgetting to say “when” Pitfall #1 Friday, April 27, 2012
51. Status Reports Friday, April 27, 2012
52. Flash Your Sign down the rabbit hole Friday, April 27, 2012
53. Binary and Signed Integers down the rabbit hole Friday, April 27, 2012
54. Dealing With Binary down the rabbit hole def signed_integer(bytes) case bytes.size when 1 return (bytes[0] & ~(1 << 7)) - (bytes[0] & (1 << 7)) when 2 sixteenbit = bytes[0] << 8 | bytes[1] return (sixteenbit & ~(1 << 15)) - (sixteenbit & (1 << 15)) end end learn more: http://en.wikipedia.org/wiki/Two%27s_complement#Calculating_two.27s_complement Friday, April 27, 2012
55. A Hex Digression down the rabbit hole Friday, April 27, 2012
56. Better Abstraction Friday, April 27, 2012
57. Distance & Time # distance is in mm # velocity is in mm/s (-500 to 500) def move(distance, degree=0, velocity=200) distance = distance.to_i.abs #distance can never be negative if distance == 0 #not moving, just spinning on axis # time = wheelbase * PI / 360degrees * degrees / velocity ABS time_in_seconds = calculate_spin_time(velocity, degree) else time_in_seconds = (distance.to_f / velocity.to_f).abs end Friday, April 27, 2012
58. High Byte, Low Byte # distance is in mm # velocity is in mm/s (-500 to 500) def move(distance, degree=0, velocity=200) distance = distance.to_i.abs #distance can never be negative if distance == 0 #not moving, just spinning on axis # time = wheelbase * PI / 360degrees * degrees / velocity ABS # wheelbase might be different for different roombas time_in_seconds = calculate_spin_time(velocity, degree) # now that we know how long to spin, set degree to 1 so it will spin roomba instead of put it on an arc degree = 1 else time_in_seconds = (distance.to_f / velocity.to_f).abs end set_velocity(velocity) set_degree(degree) Friday, April 27, 2012
59. Move! api_drive(@velocity_high, @velocity_low, @radius_high, @radius_low) start_moving = Time.now until (start_moving - Time.now).abs >= time_in_seconds sensors = get_readings(:bumps_and_drops, :wall) break if sensors[:bumps_and_drops][:formatted].to_i(2) > 0 end api_drive(0,0,0,0) sensors Friday, April 27, 2012
60. ‘Move’ Demo Friday, April 27, 2012
61. L...a...te..n....c..y Pitfall #2 ... no! no! yes! no! ... Friday, April 27, 2012
62. Cut out the Middle Men *Arduino is still awesome, and I encourage you to try it. Friday, April 27, 2012
63. What Freedom Looks Like Friday, April 27, 2012
64. Logic Level Converter http://www.sparkfun.com http://www.sparkfun.com Friday, April 27, 2012
65. Prototyping! Friday, April 27, 2012
66. SerialPort || TCPSocket All we need is an IP address and a Port! Friday, April 27, 2012
67. Connected and then... ............................never ending silence.......... Friday, April 27, 2012
68. UART Universal Asynchronous Receiver (RX) Transmitter (TX) Friday, April 27, 2012
69. UART an Angel Friday, April 27, 2012
70. All you get is #$@#! Pitfall #3 .4....U. ......V. .-....L. .7....T. ./....S. .0....O. .4....V. .-....S. .0....Y. .*....V. .-....U. ......R. .1....W. .,....R. .1....V. .-....S. .0....N. .5....[. .(....M. .6....R. .1....Q. .2....V. .-....P. .3....Y. .*....S. .0....U. ......L. .7....T. ./....R. .1...... ......+. .`....N. .=...... ........ ......H. .B...... ........ ........ ......e. .!...... ........ .l....,. .W....V. .-....R. .1....M. .6....B. .A....V. .-....V. .-....N. .5....H. .;....T. ./....L. .7....M. .6....H. .;....K. .8....S. .0....U. ......O. .4....U. ......Q. .2....P. .3....R. .1....W. .,....U. ......I. .:....T. ./....L. .7....M. .6....Q. .2....L. .7....U. ......P. .3....O. .4....W. .,....L. .7....U. ......V. .-....Z. .)....Q. .2....V. .-....^. .%....Q. .2....O. .4....M. .6....Q. .2....T. ./....M. .6....X. .+....N. .5....N. .5....U. ......R. .1....`. .#....Q. .2....U. ......R. .1....J. .9....P. .3....O. .4....[. .(....R. .1....X. .+....Y. .*....S. .0....T. ./....Y. .*....Y. .*....\. .'....T. ./....W. .,....U. ......Q. .2....L. .7....T. ./....[. .(....V. .-....N. .5....Q. .2....U. ......N. .5....V. .-....Q. .2....T. ./....O. .4....U. ......Q. .2....O. .4....W. .,....N. .5....W. .,....S. .0....X. .+....S. .0....Q. .2....T. ./....L. .7....T. ./....V. .-....N. .5....S. .0....O. .4....N. .5....N. .5....P. .3....O. Friday, April 27, 2012
71. All you get is #$@#! Pitfall #3 Solution #1: RTFM Friday, April 27, 2012
72. All you get is #$@#! Pitfall #3 Solution #2: Factory Defaults Friday, April 27, 2012
73. All you get is #$@#! Pitfall #3 Solution #3: RTFM, again... Friday, April 27, 2012
74. All you get is #$@#! Pitfall #3 Solution #3: RTFM, again... Friday, April 27, 2012
75. Wifly Configuration P195:~ charles$ telnet 169.254.1.1 2000 Trying 169.254.1.1... Connected to 169.254.1.1. Escape character is '^]'. *HELLO* $$$ CMD set comm close 0 AOK <2.23>set comm open 0 <2.23>set sys printlvl 0 <2.23> save Storing in config <2.23> reboot Friday, April 27, 2012
76. Pretty Prototype... Friday, April 27, 2012
77. Roomba Wifi Friday, April 27, 2012
78. Roomba Wifi Friday, April 27, 2012
79. 3 Final Hurdles nope nope huh? Friday, April 27, 2012
80. Wifly Option (a) Hurdle 1 Friday, April 27, 2012
81. “Hold, hold,... Hurdle 1 Friday, April 27, 2012
82. Wifly Option (b) Hurdle 1 Friday, April 27, 2012
83. The Stateless Web Tax def initialize(port, baud=115200) sleep 0.2 api_setup_start sleep 0.1 api_setup_control Hurdle 2 Friday, April 27, 2012
84. Device Busy OK Errno::EBUSY: Resource busy CONCURRENT REQUESTS Hurdle 3 Friday, April 27, 2012
85. Socket Server Roomba Socket Server start server = TCPServer.open(port) # Socket to listen on roomba = Roomba.new(location) Thread.abort_on_exception = true loop do puts "Roomba Socket Server Running! (15 second timeout)" Thread.start(server.accept) do |client| # => Read the incoming TCP Socket request # => Pass the command to the roomba client.close # Disconnect from the client end end Pseudocode Hurdle 2 & 3 Friday, April 27, 2012
86. Extended Demo “Coding Ain’t Done ‘Til All The Tests Run” - Tip 63, The Pragmatic Programmer Friday, April 27, 2012
87. Looking Forward Friday, April 27, 2012
88. Testing Drones • How do you run software tests on something in the physical world? Friday, April 27, 2012
89. Roomba Simulator Friday, April 27, 2012
90. Test the Simulation Friday, April 27, 2012
91. Compare with Live Test Bring it! Friday, April 27, 2012
92. Simulator Scenarios Friday, April 27, 2012
93. Challenges If i tape a marker on Roomba... Map out a room... Friday, April 27, 2012
94. Physical Computing? Jeremiah Palecek http://nerdkore.com Why you should care. Friday, April 27, 2012
95. By 2020 Ericsson White Paper 284 23-3149 Uen | February 2011 Friday, April 27, 2012
96. Already http://techcrunch.com/2012/02/14/the-number-of-mobile-devices-will-exceed-worlds- population-by-2012-other-shocking-figures/ “By 2016, there will be 1.4 mobile devices per capita. That year, there will be over 10 billion mobile- connected devices, including machine-to-machine (M2M) modules.” Friday, April 27, 2012
97. People then Things Ericsson White Paper 284 23-3149 Uen | February 2011 Friday, April 27, 2012
98. People and Things https://trandi.wordpress.com/2011/09/26/vfd-clock-connects-to-the-internet/ Friday, April 27, 2012
99. People and Things http://lifeboat.co.nz/the-finished-wireless-water-sensor/ Friday, April 27, 2012
100. Just Getting Started Friday, April 27, 2012
101. “A Pragmatic Philosophy” Invest Regularly in Your Knowledge Portfolio - Tip 8, The Pragmatic Programmer “Simon Stevin!” Friday, April 27, 2012
102. An Eccentric Friday, April 27, 2012
103. Who is Simon Stevin? •waterway, spillways, sluices •navigation, steering •interest rate tables •The Art of Fortification •Copernican system •treatise on perspective •musical tuning •civil unrest handbook •Trigonometry •hydrostatic paradox •optics, geography, philosophy •and more... Friday, April 27, 2012
104. 1585, De Thiende “The Tenths” 35pg Friday, April 27, 2012
105. Changes the World “What seems a wonder, is not really a wonder.” - Simon Stevin Friday, April 27, 2012
106. Fork it! github.com/tokyorails Charles Abbott www.forthecode.org Friday, April 27, 2012
107. RoRoRoomba Friday, April 27, 2012