Robot Raconteur M1K Board Service

Prerequisites

• RobotRaconteur
• libsmu_Windows (check yes for binding installation)
• libsmu_Linux (build from source)
• pysmu
• ALICE (GUI tools)

Service Definition

service edu.rpi.robotics.m1k

stdver 0.9
struct sample
	field double[] A
	field double[] B
end

object m1k_obj
	function void setmode (string channel, string mode)
	function void setled(int8 val)
	function sample{list} read(int16 number)
	function void write(string channel, double val)
	function void setpio(string port, int8 val)
	function double getpio(string port)
	wire sample samples [readonly]
	function void StartStreaming()
	function void StopStreaming()
	function void wave(string channel, string wavename, double value1, double value2, double periodvalue, double delayvalue, double dutycyclevalue)
end

Usage:

Simply run $ python m1k_service.py to start the RR service.

Example Clients:

client_led.py: light up on-board LED in binary format

client_read.py: get a number of samples from the board, and plot them using matplotlib

client_streaming.py: get real time reading from the board

client_write.py: write the output to the board channel

client_pio.py: toggle the pio pins on/off

client_sin.py: generate sine wave to channel A, connect channel A to B IN, display reading from channel B

client.m: simple MATLAB client, same as client_read.py

Web Cliet:

To access the web client version, checkout this repo: https://github.com/hehonglu123/m1k_rr_web