ROBOTICS 101

ANDREW NESBITT

MY ROBOT STORY

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BEng Robotics & Automated Systems University of Plymouth

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Advanced Mathematics Mechanical Engineering Digital Electronics Analogue Electronics Computer Science Control Theory Neural Networking Microprocessor Design Playing with Robots LEARNING ROBOTICS

Advanced Mathematics Advanced Mathematics Advanced Mathematics Advanced Mathematics Advanced Mathematics Advanced Mathematics Advanced Mathematics Advanced Mathematics Observing Robots behind glass LEARNING ROBOTICS

Robotics was expensive, complicated and not fun

APIs Open Source Hardware Smart phones Dynamic Programming Languages GitHub Mobile Internet 3D Printing 2014

robot /ˈrəʊbɒt/ a machine capable of carrying out a complex series of actions automatically, especially one programmable by a computer.

FICTIONAL ROBOTS ENTERTAINMENT ROBOTS

INDUSTRIAL ROBOTS

DOMESTIC ROBOTS

MEDICAL ROBOTS

HOBBY ROBOTS

EDUCATIONAL ROBOTS

MILITARY ROBOTS

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It's a UNIX system! I know this!

LEGO

EV3

ROBOT RABBIT FEEDER

! var Ev3 = require ("ev3-nodejs-bt");
 var Ev3_base = Ev3.base;
 
 var XboxController = require('xbox-controller');
 var xbox = new XboxController;
 
 var robot = new Ev3_base("/dev/tty.EV3-SerialPort");
 
 var maxAngle = 32768;
 var maxSpeed = 100;
 
 var speeds = { a: 0, b: 0, c: 0, d: 0 };

! robot.connect(function(){
 robot.start_program(function(ev3){
 var setSpeed = function(){
 var output = ev3.getOutputSequence(speeds.a,speeds.b,speeds.c,speeds.d);
 ev3.sp.write(output);
 }
 
 setInterval(setSpeed, 100)
 
 xbox.on('left:move', function(position){
 var x = -(position.x / maxAngle)*-maxSpeed
 var y = (position.y / maxAngle)*-maxSpeed
 
 var left = y-x
 var right = y+x
 
 speeds.b = left
 speeds.a = right
 })
 
 xbox.on('a:press', function(){
 speeds.d = 100
 })
 
 xbox.on('a:release', function(){
 speeds.d = 0
 })
 });
 });


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github.com/andrew/node-ev3-robot

github.com/clebert/ev3

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ARDUINO

FIRMATA

Cat Laser Toy

Cat Laser Toy Rabbit | v

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! var five = require("johnny-five"),
 board = new five.Board();
 
 function randomFromInterval(from,to){
 return Math.floor(Math.random()*(to-from+1)+from); 
 }
 
 board.on("ready", function() {
 var servoX = new five.Servo(10);
 var servoY = new five.Servo(9);
 var laser = new five.Led(8);
 
 laser.on()
 
 setInterval(function(){
 x = randomFromInterval(80, 120)
 y = randomFromInterval(95, 145)
 servoX.move(x)
 servoY.move(y)
 }, 400)
 }) 


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hobbytronics.co.uk/sparkfun-inventors-kit-v3 Sparkfun Inventors Kit

node-ardx.org

hobbytronics.co.uk/zumo-robot-kit

var five = require("johnny-five"), board = new five.Board(); ! var Zumo = function(){ this.leftMotor = new five.Motor({ pins: { pwm: 10, dir: 8 } }); ! this.rightMotor = new five.Motor({ pins: { pwm: 9, dir: 7 } }); ! this.move = function(x,y){ var left = y-x var right = y+x ! if(left > 0){ this.leftMotor.reverse(left) } else { this.leftMotor.forward(-left) } ! if(right > 0){ this.rightMotor.reverse(right) } else { this.rightMotor.forward(-right) } } }

var XboxController = require('xbox-controller'), xbox = new XboxController; ! maxAngle = 32768 maxSpeed = 255 ! board.on("ready", function() { var zumo = new Zumo ! var x = 0 var y = 0 ! xbox.on('left:move', function(position){ x = (position.x / maxAngle)*-maxSpeed zumo.move(x,y) }) ! xbox.on('lefttrigger', function(position){ y = -position zumo.move(x,y) }) ! xbox.on('righttrigger', function(position){ y = position zumo.move(x,y) }) })

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AUTONOMOUS ROBOTS

CONTROL LOOPS

INPUTS ! PROCESSING ! OUTPUTS

AUDIO, VISION, MOTION, TEMPERATURE, POSITION, DISTANCE, TOUCH, FORCE, MAGNETIC, LIGHT, VIBRATION, MOISTURE, PRESSURE, PROXIMITY, CHEMICAL, ELECTRICAL, COLOR AND MORE INPUT SENSORS

WHEELS, GRIPPERS, ARMS, ROTORS, SERVOS, LIGHTS, SOUNDS,VISUALS, SWITCHES, RELAYS OUTPUTS

ELECTRICAL CIRCUITS, MICROCONTROLLERS, COMPUTERS, SERVER FARMS PROCESSING

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npm install cylon

var Cylon = require('cylon'); ! Cylon.robot({ connection: { name: 'sphero', adaptor: 'sphero', port: '/dev/cu.Sphero-GGP-AMP-SPP' }, device: { name: 'sphero', driver: 'sphero' }, ! work: function(my) { var color = 0x00FF00, bitFilter = 0xFFFF00; ! after((1).seconds(), function() { console.log("Setting up Collision Detection..."); my.sphero.detectCollisions(); my.sphero.setDataStreaming(['locator', 'accelOne', 'velocity'], { n: 200, m: 1, pcnt: 0,}); my.sphero.setBackLED(255); my.sphero.setRGB(color); my.sphero.stop(); every(5..seconds(), function() { my.sphero.roll(128, Math.floor(Math.random() * 360)); }); }); ! my.sphero.on('data', function(data) { app.io.broadcast('draw', {color:color.toString(16), x:data[0], y:data[1]}) }); ! my.sphero.on('collision', function(data) { color = color ^ bitFilter; my.sphero.setRGB(color); my.sphero.roll(128, Math.floor(Math.random() * 360)); app.io.broadcast('collision', {color:color.toString(16)}) }); ! } }).start();

// Input my.sphero.on('collision', function(data) { // Processing color = color ^ bitFilter; direction = Math.floor(Math.random() * 360) // Output my.sphero.roll(128, direction); my.sphero.setRGB(color); app.io.broadcast('collision', {color:color.toString(16)}) }); ! ! ! // Input my.sphero.on('data', function(data) { ! // Processing if(Math.abs(data[0]) > 1000 || Math.abs(data[1]) > 1000) { // Output my.sphero.roll(128, Math.abs(direction - 180)); } ! // Output app.io.broadcast('draw', {color:color.toString(16), x:data[0], y:data[1]}) });

var express = require('express.io') var app = express().http().io() ! app.get('/', function(req, res) { res.sendfile(__dirname + '/client.html') }) ! app.listen(7076)

App = {} App.socket = io.connect() ! var startX = 950; var startY = 500; ! var previousX = 950; var previousY = 500; ! App.draw = function(data) { App.ctx.beginPath() App.ctx.moveTo(previousX, previousY); App.ctx.lineWidth = 5; App.ctx.lineTo(data.x+startX,data.y+startY) App.ctx.strokeStyle = "#" + data.color App.ctx.stroke() previousX = data.x+startX; previousY = data.y+startY; } ! App.socket.on('draw', App.draw) ! $(function() { App.ctx = $('canvas')[0].getContext("2d") })

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ARDRONE AUTONOMY

PID CONTROLLER KALMAN FILTER CAMERA PROJECTION MISSION PLANNER

PID CONTROLLER

// Plan mission mission.takeoff() .zero() .hover(500) .altitude(3) .forward(2) .right(2) .backward(2) .go({x:0, y:0}) .hover(500) .land(); ! // Execute mission mission.run(function (err, result) { if (err) { console.trace("Oops: %s", err.message); mission.client().stop(); mission.client().land(); } else { console.log("We are done!"); process.exit(0); } });

! // Land on ctrl-c var exiting = false; process.on('SIGINT', function() { if (exiting) { process.exit(0); } else { console.log('Landing, Control-C again to force exit'); exiting = true; mission.control().disable(); mission.client().land(function() { process.exit(0); }); } }); !

NoDebots.io

robotsconf.com

No animals were harmed in the making of this presentation Thanks!

github.com/andrew Thanks!

Thanks! @teabass