Dashboard Programmable Teleoperation

A BLE central interface for the Dashboard Peripheral, for programmable telemetry and telecommand of small, lightweight robots

Note: Mac OS X is currently the only supported OS. Linux is possible, but compatibility will be enabled later.

Prerequisites

• Mac (tested with 2009 macbook and newer)
• OSX (tested with 10.9.2 and newer)
• System OR Dongle Bluetooth 4.0
• DashBoard

Install

• Install Node.js: click "INSTALL"
• Download root of this Dashboard Teleoperation repository
• Learn how to customize DashBoard firmware
• Replace the folder "/libraries/DashBot" from the link above with the "/libraries" folder, found inside "custom_ardunio_files" in this repository
  • This is to ensure that the VarSpeedServo and custom DashBot library are both loaded into the DashBoard firmware

Bluetooth Setup

• If you have system bluetooth 4.0, skip to next section
• Else, select your bluetooth 4.0 dongle by selecting host controller in the "Bluetooth Explorer" application

Usage

Run

In root directory:

node main.js 

Set Parameters (PARAMS.js)

Set Keypress Definitions

define( 'Start_Automation1_KEY', 'p' );
define( 'Start_Automation2_KEY', 'o' );
...
define( 'Run_Forward_KEY', 'a' );
define( 'Turn_R_KEY, 'd' );
define( 'Turn_L_KEY, 'a' );
...  
define( 'Set_Servo1_Init_Position_KEY', 'z' );
define( 'Set_Servo1_Final_Position_KEY', 'x' );
...

Set Telemetry Parameters

define( 'Save_Sensor_Data', true );
define( 'Rate_of_Sensor_Data_Arrival', 100 ); //in Hz

Set Telecommand Parameters

//DC Motor Control
define( 'Forward_Speed', 80 ); //unitless 1-100
define( 'R_Turn_Angular_Velocity', 70 ); //unitless 1-100
define( 'L_Turn_Angular_Velocity', 70 );
define( 'Turn_Duration', 300 ); //(ms)
...
//Servo Control
define( 'Servo1_Port', MOSI );
define( 'Servo1_Initial_Position', 0 ); //0-180 degrees
define( 'Servo1_Final_Position', 180 ); //0-180 degrees
define( 'Servo1_Speed',  40 ); //0=no speed, 1-255 slower to faster
...

Functions (main.js)

Control DC Motor

motorDrive(left speed, right speed, run duration); //speed 0-100, run duration 0-16777215ms 

Control Servos 1, 2, and 3

servo1_control(position, speed); //position 0-180 deg, speed 0-255 (50 recommended)
servo2_control(position, speed); //position 0-180 deg, speed 0-255  "
servo3_control(position, speed); //position 0-180 deg, speed 0-255  "

Read Yaw Rate

readGyroDeg(function(yaw_rate){
    //YOUR CODE HERE that depends on yaw_rate
});

Read Ambient Light Intensity

 readAmbLight(function(amb_light){
    //YOUR CODE HERE that depends on amb_light
});   

Read L and R Proximity

readLeftProximity(function(l_IR)){
    //YOUR CODE HERE that depends on l_IR
});

readRightProximity(function(r_IR)){
    //YOUR CODE HERE that depends on r_IR
});

Examples (main.js)

Automated Behvaior: in automode_sketch1, automode_sketch2, or automode_sketch3

function automode_sketch1() {

    servo1_control(180, 50); //t_0
    setTimeout(function(){
        motorDrive(100,100,800);
        servo2_control(0, 50);
        }, 100 //t_1 (ms)
    );
    setTimeout(function(){
        motorDrive(100,50,300);
        }, 1000 //t_2
    );
    setTimeout(function(){
        servo1_control(0, 50);
        servo2_control(0, 50);
        }, 4000 //t_3
    );
}

function automode_sketch2() {
    //YOUR CODE HERE
}

function automode_sketch3() {
    //YOUR CODE HERE
}

Cascade Sensor Reads

function automode_sketch1() {
    readAmbLight(function(amb_light){
        readGyroDeg(function(yaw_rate){
            //YOUR CODE HERE that depends on yaw_rate and amb_light
        });
    }); 
}

Saved Data

Telemetric sensor data is automatically saved and appended in sensorlog.csv Use spreadsheet program to open filetype csv

Roadmap (TODO)

• Mac OS X:
  • Keypress Flash Lights
  • Print Live Sensor Data and save to Log file
  • Keypress Motor Control
  • Automated Behavior
  • VarSpeedServo extension for Servo Control
  • Control PWM at ports (currently MISO, MOSI, and SDA work)
    • Fix timer conflicts for backwards right or left motor speed
  • Program Interactivity, Automation
    • Keypress Turn Right, Turn Left, Go Forward
    • Delayed Events
    • Control Servo Speed
    • Timed Automation
    • Gyro-Assisted Steering
    • Parse external file with parameters
  • Automated Motor Control for Self-Righting Project
  • Send Live IMU Sensor Data to Computer
  • Autonomous Behavior: Apply Control Theory/Machine Learning/Formal Methods Algorithms
• Linux
  • TBD

Useful Links

• Dashboard
• Dash Robotics Open Source Code (Firmware, PCB Schematic, iOS Controller)
• node.js BLE central module
• SoftPWM for Customizing Output of Dashboard Pins

Contact

Michael Tsang themichaeltsang@gmail.com (2014)

Special Thanks to Dr Chen Li, Kaushik Jarayam, Dwight Swingthorpe, Mari Batilando, and Sandeep Mistry