Creating Crazy Robotic Librarians

Transcript

1. Creating Crazy Robotic Librarians Marwan AlSabbagh
2. 1. Building 2. Teaching 3. Controlling Robots 4. Pushing Books Outline
3. 1. Building
4. Boards Adafruit CRICKIT HAT $35 Raspberry Pi 3 Model B+ $35 AA Battery Holder $3
5. Robot Chassis Kit Complete Kit $25 (separate DC motors $3 each)
6. Servo Standard servo - TowerPro SG-5010 $12.00
7. Exploded View
8. 2. Teaching
9. Angles
10. Crickit API >>> from adafruit_crickit import crickit >>> # DC motor 1 full speed, half speed, off, reverse >>> crickit.dc_motor_1.throttle = 1 >>> crickit.dc_motor_1.throttle = 0.5 >>> crickit.dc_motor_1.throttle = 0 >>> crickit.dc_motor_1.throttle = -1 >>> # servo configure, set angle to 0 and 90 degrees >>> crickit.servo_1.actuation_range = 140 >>> crickit.servo_1.angle = 0 >>> crickit.servo_1.angle = 90 >>> # check state of capacitive touch >>> crickit.touch_1.value False
11. Teach API >>> from teach import r >>> # DC motor 1 full speed, half speed, off, reverse >>> r.wheel = 1 >>> r.wheel = 0.5 >>> r.wheel = 0 >>> r.wheel = -1 >>> # servo set angle to 0 and 90 degrees >>> r.arm = 0 >>> r.arm = 90 >>> # check state of capacitive touch >>> r.touch False
12. Kid’s REPL Session >>> r.wheel =1 >>> r.wheel =0 >>> 1+1 2 >>> 365*7 2555 >>> 365*41 14965 >>> r.arm =0 >>> r.arm =30 >>> r.arm =90 >>> r.arm =140 >>> r.wheel =-1 >>> r.wheel =0.5 >>> r.touch False >>> r.touch True (robo) pi@raspberrypi:~/tmp $ date Fri 17 May 09:20:01 BST 2019 (robo) pi@raspberrypi:~/tmp $ whoami pi (robo) pi@raspberrypi:~/tmp $ poweroff Connection to robopi closed by remote host. Connection to robopi closed.
13. 3. Controlling Robots
14. Setup • Install Raspbian on Raspberry Pi • Enable ssh and I2C in Raspbian • pip install adafruit-circuitpython-crickit tornado
15. Remote Control 1. Forward 2. Backward 3. Stop 4. Right 5. Left 6. Raise Hand 7. Lower Hand
16. Button Overlay
17. App Structure ├── conf.py ├── motors.py ├── server.py ├── static │ ├── main.css │ └── remote.jpg └── templates └── main.html
18. main.html <!DOCTYPE HTML> <html lang="en"> <head> <title>Robot Remote</title> <link rel="stylesheet" href="{{ static_url('main.css') }}"> <meta charset="UTF-8"> <meta name="viewport" content="width=device-width"> </head> <body> <h1>Robot Remote</h1> <div class="container"> <img src="{{ static_url('remote.jpg') }}" alt="ui"> <form method=post> <input type=submit name=action value=forward> <input type=submit name=action value=right> <input type=submit name=action value=left> <input type=submit name=action value=back> <input type=submit name=action value=stop> <input type=submit name=action value=raise> <input type=submit name=action value=lower> </form> </div> </body> </html>
19. main.css h1 { margin: 0px; color: white; text-align:center; padding: 20px; width: 600px; background: linear-gradient(MediumTurquoise, BlueViolet); } .container { position: relative; } input { position: absolute; opacity: 0.0; } input[value="forward"] { left: 240px; top: 0px; width:150px; height:220px; }
20. conf.py from os.path import dirname import os PORT = 8080 APP_SETTINGS = dict( debug=bool(os.environ.get('APP_DEBUG')), static_path=(dirname(__file__) + '/static'), template_path=(dirname(__file__) + '/templates'), ) SERVO_MAX_ANGLE = 140 DC_SPEED = 1.0 TURN_DURATION = 0.2 DIRECTION = dict( forward=[1, 1], right=[1, 0], left=[0, 1], back=[-1, -1], stop=[0, 0], ) ANGLES = {} ANGLES['raise'] = SERVO_MAX_ANGLE ANGLES['lower'] = SERVO_MAX_ANGLE – 90
21. server.py from tornado.web import RequestHandler, Application from tornado.ioloop import IOLoop from tornado.log import enable_pretty_logging from .conf import PORT, APP_SETTINGS from .motors import move, init_servo class MainHandler(RequestHandler): def get(self): self.render('main.html') def post(self): move(self.get_body_argument('action')) self.redirect('/') def main(): init_servo() enable_pretty_logging() app = Application([('/', MainHandler)], **APP_SETTINGS) app.listen(PORT) IOLoop.current().start() if __name__ == "__main__": main()
22. motors.py from adafruit_crickit import crickit import time from .conf import SERVO_MAX_ANGLE, DC_SPEED, TURN_DURATION, DIRECTION, ANGLES def move_servo(action): crickit.servo_1.angle = ANGLES[action] def move_dc(action): direction = DIRECTION[action] crickit.dc_motor_1.throttle = direction[0] * DC_SPEED crickit.dc_motor_2.throttle = direction[1] * DC_SPEED if action in ['right', 'left']: time.sleep(TURN_DURATION) crickit.dc_motor_1.throttle = 0 crickit.dc_motor_2.throttle = 0 def move(action): if action in ['raise', 'lower']: move_servo(action) else: move_dc(action) def init_servo(): crickit.servo_1.actuation_range = SERVO_MAX_ANGLE
23. Robot Challenge
24. 4. Pushing Books
25. Robotic Librarian 1. Push specific book 2. Push random book 3. Push all books
26. Wooden Frame
28. App Structure ├── conf.py ├── push.py ├── server.py └── templates └── main.html
29. conf.py from os.path import dirname, expanduser import os PORT = 8080 APP_SETTINGS = dict( debug=bool(os.environ.get('APP_DEBUG')), static_path=expanduser('~/bookpusher_images'), template_path=(dirname(__file__) + '/templates'), ) BOOKS = list(range(1, 7)) DC = dict( speed=0.8, step_duration=0.38, forward=1, back=-1, ) SERVO_MAX_ANGLE = 140 HAND = dict( up=SERVO_MAX_ANGLE, down=SERVO_MAX_ANGLE - 90, delay=0.7, )
30. server.py import random from tornado.web import RequestHandler, Application from tornado.ioloop import IOLoop from .conf import PORT, APP_SETTINGS, BOOKS from .push import init_servo, push_book, push_all class MainHandler(RequestHandler): def get(self): self.render('main.html', books=BOOKS) def post(self): book = self.get_body_argument('book') if book == 'all': push_all() else: book = random.choice(BOOKS) if book == 'random' else book push_book(int(book)) self.redirect('/') def main(): init_servo() app = Application([('/', MainHandler)], **APP_SETTINGS) app.listen(PORT) IOLoop.current().start()
31. from adafruit_crickit import crickit import time, random from .conf import BOOKS, DC, SERVO_MAX_ANGLE, HAND def move_dc(direction, steps): crickit.dc_motor_1.throttle = direction * DC['speed'] crickit.dc_motor_2.throttle = direction * DC['speed'] time.sleep(DC['step_duration'] * steps) crickit.dc_motor_1.throttle = 0 crickit.dc_motor_2.throttle = 0 def swipe_hand(): crickit.servo_1.angle = HAND['down'] time.sleep(HAND['delay']) crickit.servo_1.angle = HAND['up'] time.sleep(HAND['delay']) def push_book(position): if position > 1: move_dc(DC['forward'], position - 1) swipe_hand() move_dc(DC['back'], position) def push_all(): books = list(BOOKS) random.shuffle(books) for book in books: push_book(book) def init_servo(): crickit.servo_1.actuation_range = SERVO_MAX_ANGLE push.py
32. main.html <!DOCTYPE HTML> <html lang="en"> <head> <title>Robotic Librarian</title> <meta charset="UTF-8"> <meta name="viewport" content="width=device-width"> </head> <body> <h1>Robotic Librarian</h1> <form method=post> <button type=submit name=book value=random>Random</button> <button type=submit name=book value=all>All Books(Crazy Mode)</button><br/><br/> {% for book in books %} <button type=submit name=book value={{ book }}> <img src="{{ static_url('book%s.jpg' % book) }}" alt="book{{ book }}"> </button> {% end %} </form> </body> </html>
35. The End https://marwano.com/