RoRoRoomba - Ruby on Rails on Roomba - RailsConf 2012

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RoRoRoomba Roomba on Ruby on Rails Friday, April 27, 2012

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Thanks! • Nancy Dussault-Smith • Joshua Lifton • and iRobot for the Roombas! Friday, April 27, 2012

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Thanks! Friday, April 27, 2012

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Introductions Friday, April 27, 2012

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My Roomba Friday, April 27, 2012

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• Charles Abbott • • Life in Japan www.forthecode.org • “The greatest obstacle... konnichiwa Friday, April 27, 2012

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“The greatest obstacle to discovery “Greatest obstacle... Friday, April 27, 2012

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“The greatest obstacle to discovery is not ignorance “Greatest obstacle... Friday, April 27, 2012

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“The greatest obstacle to discovery is not ignorance, but “Greatest obstacle... Friday, April 27, 2012

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“The greatest obstacle to discovery is not ignorance, but the illusion of knowledge” - Daniel J. Boorstin “Greatest obstacle... Friday, April 27, 2012

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“Hack Me” Friday, April 27, 2012

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3 R’s tokyorails.org Friday, April 27, 2012

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Ruby Friday, April 27, 2012

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Rails Friday, April 27, 2012

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Roomba Friday, April 27, 2012

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Roomba on Ruby on Rails • SerialPort + Ruby controls Roomba • Rails site that routes remote requests • ??? • Proﬁt! Friday, April 27, 2012

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Resources • http://hackingroomba.com/ (Open source Java package) • http://www.dprg.org/projects/ 2009-07a/ • http://roombahacking.com/ roombahacks/roombacmd/ • http://www.arduino.cc/ Friday, April 27, 2012

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Getting Started Friday, April 27, 2012

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Getting Supplies Friday, April 27, 2012

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and then... Friday, April 27, 2012

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my ﬁrstborn Friday, April 27, 2012

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Back on Track Friday, April 27, 2012

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Arduino Layout RX = receive TX = transmit Friday, April 27, 2012

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iRobot OI or SCI? Friday, April 27, 2012

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ROI? API? Friday, April 27, 2012

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Wired Up Friday, April 27, 2012

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Roomba + Arduino What’s next? Friday, April 27, 2012

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Arduino Sandwich Friday, April 27, 2012

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Arduino Sketches void setup(){} void loop(){} Friday, April 27, 2012

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RAD? Friday, April 27, 2012

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Example Roomba Sketch Friday, April 27, 2012

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Debugging Arduino Friday, April 27, 2012

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Debugging Pains [137] [255] [56] [1] [244] Disconnect, Connect, Disconnect Headless Documentation woes Friday, April 27, 2012

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Past First Base Friday, April 27, 2012

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Arduino Friday, April 27, 2012

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Arduino Wireless XBEE Friday, April 27, 2012

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Bluetooth Friday, April 27, 2012

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USB to Serial Friday, April 27, 2012

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Wiﬁ Friday, April 27, 2012

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Where to Start? Friday, April 27, 2012

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Simple Serial Friday, April 27, 2012

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Writing Code def initialize(port, baud=115200) @serial = SerialPort.new(port, baud, 8, 1, SerialPort::NONE) sleep 0.2 api_setup_start sleep 0.1 api_setup_control end Friday, April 27, 2012

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Writing Opcodes # Must call this first to start the serial command interface def api_setup_start write(128) end # Enables user control of Roomba, puts SCI in safe mode def api_setup_control write(130) end # Starts a normal cleaning cycle. def api_clean write(135) end Friday, April 27, 2012

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Modeling the ROI # api_drive(255, 0, 0, 0) //go backward # api_drive(0, 255, 0, 0) //go forward # api_drive(0, 0, 0, 0) // stop def api_drive(velocity_high, velocity_low, radius_high, radius_low) write(137, velocity_high, velocity_low, radius_high, radius_low) end Friday, April 27, 2012

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Complex Write and Read def api_querylist(*bytes) write(149, bytes.length, *bytes) wait_for_rx read end Friday, April 27, 2012

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The Bottom of the Barrel def write(*args) args.each do |a| @serial.write a.chr end end Friday, April 27, 2012

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The Bottom of the Barrel def read(timeout=50) @serial.read_timeout= timeout bytes = [] until (x = @serial.getbyte).nil? bytes.push(x) end bytes end Friday, April 27, 2012

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Pulling it Together ls /dev/tty.* ﬁnd your serial device then jump into rails console roo = Roomba.new(“/dev/tty.usbserial-xxx”) => #> Friday, April 27, 2012

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“Hello Roomba” Demo “Don’t Assume It--Prove It” - Tip, The Pragmatic Programmer Friday, April 27, 2012

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Forgetting to say “when” Pitfall #1 Friday, April 27, 2012

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Status Reports Friday, April 27, 2012

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Flash Your Sign down the rabbit hole Friday, April 27, 2012

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Binary and Signed Integers down the rabbit hole Friday, April 27, 2012

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Dealing With Binary down the rabbit hole def signed_integer(bytes) case bytes.size when 1 return (bytes[0] & ~(1 << 7)) - (bytes[0] & (1 << 7)) when 2 sixteenbit = bytes[0] << 8 | bytes[1] return (sixteenbit & ~(1 << 15)) - (sixteenbit & (1 << 15)) end end learn more: http://en.wikipedia.org/wiki/Two%27s_complement#Calculating_two.27s_complement Friday, April 27, 2012

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A Hex Digression down the rabbit hole Friday, April 27, 2012

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Better Abstraction Friday, April 27, 2012

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Distance & Time # distance is in mm # velocity is in mm/s (-500 to 500) def move(distance, degree=0, velocity=200) distance = distance.to_i.abs #distance can never be negative if distance == 0 #not moving, just spinning on axis # time = wheelbase * PI / 360degrees * degrees / velocity ABS time_in_seconds = calculate_spin_time(velocity, degree) else time_in_seconds = (distance.to_f / velocity.to_f).abs end Friday, April 27, 2012

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High Byte, Low Byte # distance is in mm # velocity is in mm/s (-500 to 500) def move(distance, degree=0, velocity=200) distance = distance.to_i.abs #distance can never be negative if distance == 0 #not moving, just spinning on axis # time = wheelbase * PI / 360degrees * degrees / velocity ABS # wheelbase might be different for different roombas time_in_seconds = calculate_spin_time(velocity, degree) # now that we know how long to spin, set degree to 1 so it will spin roomba instead of put it on an arc degree = 1 else time_in_seconds = (distance.to_f / velocity.to_f).abs end set_velocity(velocity) set_degree(degree) Friday, April 27, 2012

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Move! api_drive(@velocity_high, @velocity_low, @radius_high, @radius_low) start_moving = Time.now until (start_moving - Time.now).abs >= time_in_seconds sensors = get_readings(:bumps_and_drops, :wall) break if sensors[:bumps_and_drops][:formatted].to_i(2) > 0 end api_drive(0,0,0,0) sensors Friday, April 27, 2012

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‘Move’ Demo Friday, April 27, 2012

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L...a...te..n....c..y Pitfall #2 ... no! no! yes! no! ... Friday, April 27, 2012

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Cut out the Middle Men *Arduino is still awesome, and I encourage you to try it. Friday, April 27, 2012

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What Freedom Looks Like Friday, April 27, 2012

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Logic Level Converter http://www.sparkfun.com http://www.sparkfun.com Friday, April 27, 2012

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Prototyping! Friday, April 27, 2012

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SerialPort || TCPSocket All we need is an IP address and a Port! Friday, April 27, 2012

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Connected and then... ............................never ending silence.......... Friday, April 27, 2012

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UART Universal Asynchronous Receiver (RX) Transmitter (TX) Friday, April 27, 2012

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UART an Angel Friday, April 27, 2012

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All you get is #$@#! Pitfall #3 .4....U. ......V. .-....L. .7....T. ./....S. .0....O. .4....V. .-....S. .0....Y. .*....V. .-....U. ......R. .1....W. .,....R. .1....V. .-....S. .0....N. .5....[. .(....M. .6....R. .1....Q. .2....V. .-....P. .3....Y. .*....S. .0....U. ......L. .7....T. ./....R. .1...... ......+. .`....N. .=...... ........ ......H. .B...... ........ ........ ......e. .!...... ........ .l....,. .W....V. .-....R. .1....M. .6....B. .A....V. .-....V. .-....N. .5....H. .;....T. ./....L. .7....M. .6....H. .;....K. .8....S. .0....U. ......O. .4....U. ......Q. .2....P. .3....R. .1....W. .,....U. ......I. .:....T. ./....L. .7....M. .6....Q. .2....L. .7....U. ......P. .3....O. .4....W. .,....L. .7....U. ......V. .-....Z. .)....Q. .2....V. .-....^. .%....Q. .2....O. .4....M. .6....Q. .2....T. ./....M. .6....X. .+....N. .5....N. .5....U. ......R. .1....`. .#....Q. .2....U. ......R. .1....J. .9....P. .3....O. .4....[. .(....R. .1....X. .+....Y. .*....S. .0....T. ./....Y. .*....Y. .*....\. .'....T. ./....W. .,....U. ......Q. .2....L. .7....T. ./....[. .(....V. .-....N. .5....Q. .2....U. ......N. .5....V. .-....Q. .2....T. ./....O. .4....U. ......Q. .2....O. .4....W. .,....N. .5....W. .,....S. .0....X. .+....S. .0....Q. .2....T. ./....L. .7....T. ./....V. .-....N. .5....S. .0....O. .4....N. .5....N. .5....P. .3....O. Friday, April 27, 2012

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All you get is #$@#! Pitfall #3 Solution #1: RTFM Friday, April 27, 2012

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All you get is #$@#! Pitfall #3 Solution #2: Factory Defaults Friday, April 27, 2012

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All you get is #$@#! Pitfall #3 Solution #3: RTFM, again... Friday, April 27, 2012

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All you get is #$@#! Pitfall #3 Solution #3: RTFM, again... Friday, April 27, 2012

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Wiﬂy Conﬁguration P195:~ charles$ telnet 169.254.1.1 2000 Trying 169.254.1.1... Connected to 169.254.1.1. Escape character is '^]'. *HELLO* $$$ CMD set comm close 0 AOK <2.23>set comm open 0 <2.23>set sys printlvl 0 <2.23> save Storing in config <2.23> reboot Friday, April 27, 2012

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Pretty Prototype... Friday, April 27, 2012

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Roomba Wiﬁ Friday, April 27, 2012

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Roomba Wiﬁ Friday, April 27, 2012

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3 Final Hurdles nope nope huh? Friday, April 27, 2012

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Wiﬂy Option (a) Hurdle 1 Friday, April 27, 2012

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“Hold, hold,... Hurdle 1 Friday, April 27, 2012

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Wiﬂy Option (b) Hurdle 1 Friday, April 27, 2012

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The Stateless Web Tax def initialize(port, baud=115200) sleep 0.2 api_setup_start sleep 0.1 api_setup_control Hurdle 2 Friday, April 27, 2012

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Device Busy OK Errno::EBUSY: Resource busy CONCURRENT REQUESTS Hurdle 3 Friday, April 27, 2012

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Socket Server Roomba Socket Server start server = TCPServer.open(port) # Socket to listen on roomba = Roomba.new(location) Thread.abort_on_exception = true loop do puts "Roomba Socket Server Running! (15 second timeout)" Thread.start(server.accept) do |client| # => Read the incoming TCP Socket request # => Pass the command to the roomba client.close # Disconnect from the client end end Pseudocode Hurdle 2 & 3 Friday, April 27, 2012

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Extended Demo “Coding Ain’t Done ‘Til All The Tests Run” - Tip 63, The Pragmatic Programmer Friday, April 27, 2012

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Looking Forward Friday, April 27, 2012

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Testing Drones • How do you run software tests on something in the physical world? Friday, April 27, 2012

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Roomba Simulator Friday, April 27, 2012

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Test the Simulation Friday, April 27, 2012

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Compare with Live Test Bring it! Friday, April 27, 2012

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Simulator Scenarios Friday, April 27, 2012

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Challenges If i tape a marker on Roomba... Map out a room... Friday, April 27, 2012

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Physical Computing? Jeremiah Palecek http://nerdkore.com Why you should care. Friday, April 27, 2012

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By 2020 Ericsson White Paper 284 23-3149 Uen | February 2011 Friday, April 27, 2012

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Already http://techcrunch.com/2012/02/14/the-number-of-mobile-devices-will-exceed-worlds- population-by-2012-other-shocking-ﬁgures/ “By 2016, there will be 1.4 mobile devices per capita. That year, there will be over 10 billion mobile- connected devices, including machine-to-machine (M2M) modules.” Friday, April 27, 2012

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People then Things Ericsson White Paper 284 23-3149 Uen | February 2011 Friday, April 27, 2012

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People and Things https://trandi.wordpress.com/2011/09/26/vfd-clock-connects-to-the-internet/ Friday, April 27, 2012

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People and Things http://lifeboat.co.nz/the-ﬁnished-wireless-water-sensor/ Friday, April 27, 2012

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Just Getting Started Friday, April 27, 2012

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“A Pragmatic Philosophy” Invest Regularly in Your Knowledge Portfolio - Tip 8, The Pragmatic Programmer “Simon Stevin!” Friday, April 27, 2012

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An Eccentric Friday, April 27, 2012

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Who is Simon Stevin? •waterway, spillways, sluices •navigation, steering •interest rate tables •The Art of Fortiﬁcation •Copernican system •treatise on perspective •musical tuning •civil unrest handbook •Trigonometry •hydrostatic paradox •optics, geography, philosophy •and more... Friday, April 27, 2012

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1585, De Thiende “The Tenths” 35pg Friday, April 27, 2012

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Changes the World “What seems a wonder, is not really a wonder.” - Simon Stevin Friday, April 27, 2012

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Fork it! github.com/tokyorails Charles Abbott www.forthecode.org Friday, April 27, 2012

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RoRoRoomba Friday, April 27, 2012