deltarobotone / one_easy_protocol

One easy protocol for c++

Delta-Robot One recieve data in a very simple structure which is developed for this arduino based robot system. This repository includes libraries to provide an high level interface to control Delta-Robot One from other systems or devices using One easy protocol. Use an example project to do the first steps...

Supported systems

Operating System	Programming Language	IDE	Link/Path
Windows/Linux	Python	Every Python IDE	one-easy-protocol
Windows	C++	Visual Studio	C++/VisualStudio

All SDK's for One Easy Protocol are released as single files to provide an easy usage in your project. Copy the sources in your project folder and include the headerfile. Follow the instructions on this readme file for a quick startup or use the example console application.

Tested successfully with Visual Studio 2015 & 2019. VS 2015 only supported at version 0.1. Please use >>release v0.1<< for Visual studio 2015 (without flowchart support). Check out the example project for this IDE's. You also can use the precompiled ones for first communication tests.

NEW!!! Flowchart support

Flowcharts can be used to write your own robot control programs for Delta-Robot One. Flowcharts can be stored in the flowchart data format (.fc). The One Smart Control Software (actually supported on Windows 10 and Android) provides functions to use (play), create, change, save and load flowcharts. Check out One Smart Control Software on your Device (direct download for Windows 10 or Play Store for Android). Additionally the One Easy Protocol development packages provide some basic functions for Flowcharts (actually supported with python on Linux and Windows and c++ on Windows). Load, print and start your flowchart file you have been created with One Smart Control. Check out One Easy Protocol on your Device (pip install one-easy-protocol for python or direct download for c++). With Flowcharts you are able to use your robot on an easy way.

Prepare the robot

First you have to set the robot in remote control mode with the switch on the circuit board (right side of display)

If you have the FullSystemDemo of the OneSystemLibrary examples installed on your robot navigate to remote using rotary encoder. Press the rotary encoder button and navigate to USB. Press the rotary encoder button again.

The second option is to set the robot in the right mode for the remote control. You have to do it in your programm code. Use the API of the OneSystemLibrary in your arduino sketch like this:

DeltaRobotOne robot(0, 0, 0, 0, 0, 0, 0x27);

void setup()
{
  robot.setup();
  robot.power.mainOn();
}

void loop()
{
  robot.remote.control();
}

For more instructions like bluetooth remote control have a look on the full remote contol example of the library.

Import the library (C++)

#include "easyprotocol.h"

Option 1: Connect the robot automatically

//Option 1: Automatic with console info enabled
EasyProtocol robot(true);

//Find robot port an ID automatically
robot.findRobot();

//Start communication
robot.start();

Option 2: Connect robot manually

//Option 2: Manual with console info enabled
EasyProtocol robot(true);

//Set port, baudrate and timeout of serial communication
char robotid = '1';
char deviceid = '1';
int baudrate = 9600;
robot.setPort("COM37",baudrate);

//Start communication and set ID's
robot.start(robotid, deviceid);

Robot control functions of this package

Note: All functions are waiting for robot response after a command was transmitted. In the case of a robot movement command the package function is waiting until the robot reached the target position. After that your code continue with the next given command.

//Gripper
robot.gripper.open();
robot.functions.waitFor(2000);
robot.gripper.close();
robot.functions.waitFor(2000);

//Move(pick and place)
//ptp(X - Position, Y - Position, Z - Position, Speed)
//Note: Only one number after the comma is used by the protocol and the robot
robot.move.ptp(0.0, 0.0, 85.0, 50.0);
robot.move.ptp(-30.0, 0.0, 105.0, 85.0);
robot.move.ptp(-30.0, 0.0, 115.0, 20.0);
robot.move.ptp(-30.0, 0.0, 105.0, 50.0);
robot.move.ptp(30.0, 0.0, 105.0, 85.0);
robot.move.ptp(30.0, 0.0, 115.0, 20.0);
robot.move.ptp(30.0, 0.0, 105.0, 50.0);
robot.move.ptp(0.0, 0.0, 105, 5.0);

//Disable console info
robot.printInfo(false);
	
//Light intensity
robot.light.setColour(Colour::red, 10.0);
robot.functions.waitFor(1000);
robot.light.setColour(Colour::red, 50.0);
robot.functions.waitFor(1000);
robot.light.setColour(Colour::red, 100.0);

//Light colours
robot.functions.waitFor(1000);
robot.light.setColour(Colour::blue);
robot.functions.waitFor(1000);
robot.light.setColour(Colour::green);
robot.functions.waitFor(1000);
robot.light.setColour(Colour::yellow);
robot.functions.waitFor(1000);
robot.light.setColour(Colour::magenta);
robot.functions.waitFor(1000);
robot.light.setColour(Colour::cyan);
robot.functions.waitFor(1000);
robot.light.setColour(Colour::white);
robot.functions.waitFor(1000);

//Light off
robot.light.off();
robot.functions.waitFor(1000);

//External motor control
robot.extmotor.start();
robot.functions.waitFor(2000);
robot.extmotor.setSpeed(50.0); //0.0-255.0
robot.functions.waitFor(2000);
robot.extmotor.stop();

Flowchart support

Load and start a flowchart file (.fc) created with One Smart Control Desktop or Mobile

//Load Flowchart from file
robot.flowchart.load("<path to your file>.fc");

//Print Flowchart to console
robot.flowchart.print();

//Start Flowchart
robot.flowchart.start();

Deconnect robot

//Stop communication
robot.stop();

Protocol information

One easy protocol is based on a simple 22 byte long data sequence shown in the picture below. The sequence consists of human readable characters.

Move sequence

Move example

Light sequence

Light example

Gripper sequence

Gripper example

External motor sequence

External motor example