aabdelfattah / quickbot_bbb

QuickBot files for the BeagleBone Black

QuickBot_RPi

This project aims to port the QuickBot_BBB to Raspberry PI Goals:

1- Keep the interface with MATLAB intact (The commands over UDP part).

2- Modify the pin assignments and sensors capture parts to be compatible with RPi.

Overview

Essentially this code establishes socket (UDP) connection with another device (BASE) and waits for commands. The commands are either of the form of directives or queries. An example directive is setting the PWM values of the motors. An example query is getting IR sensor values.

Installation

Work ongoing. Clone the repo into home directory:

cd

git clone https://bitbucket.org/rowoflo/quickbot_bbb.git

Running

Check IP address of BASE and ROBOT (run command on both systems and look for IP address):

ifconfig

Example output from BBB:

ra0       Link encap:Ethernet  HWaddr 00:0C:43:00:14:F8
          inet addr:192.168.1.101  Bcast:192.168.1.255  Mask:255.255.255.0
          inet6 addr: fe80::20c:43ff:fe00:14f8/64 Scope:Link
          UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
          RX packets:315687 errors:1113 dropped:1 overruns:0 frame:0
          TX packets:12321 errors:0 dropped:0 overruns:0 carrier:0
          collisions:0 txqueuelen:1000
          RX bytes:66840454 (63.7 MiB)  TX bytes:1878384 (1.7 MiB)

Here the IP address for the robot is 192.168.1.101. Let's assume the IP address for the BASE is 192.168.1.100.

Change into working directory:

cd ~/quickbot_bbb

Launch QuickBotRun python script using IP addresses of BASE and ROBOT:

./QuickBotRun.py 192.168.1.100 192.168.1.101

Command Set

• Check that the QuickBot is up and running:

  • Command

    "$CHECK*\n"
    

  • Response

    "Hello from QuickBot\n"
    

• Get PWM values:

  • Command

    "$PWM?*\n"
    

  • Example response

    "[50, -50]\n"
    

• Set PWM values:

  • Command

    "$PWM=[-100,100]*\n"
    

• Get IR values:

  • Command

    "$IRVAL?*\n"
    

  • Example response

    "[800, 810, 820, 830, 840]\n"
    

• Get encoder position:

  • Command

    "$ENVAL?*\n"
    

  • Example response

    "[200, -200]\n"
    

• Get encoder velocity (tick velocity -- 16 ticks per rotation):

  • Command

    "$ENVEL?*\n"
    

  • Example response

    "[20.0, -20.0]\n"
    

• Reset encoder position to zero:

  • Command

    "$RESET*\n"
    

• End program

  • Command:

    "$END*\n"