Swarm Robot Project Documentation - Revision history

NealEhardt: /* Simulator */

2009-11-18T20:53:15Z

Simulator

← Older revision		Revision as of 15:53, 18 November 2009
Line 145:		Line 145:

	==Simulator==		==Simulator==
			A MATLAB simulation of the swarm can be found here: [[Swarm Robot Project Simulator]].
	The simulator attempts to model the robots in MATLAB.

	~~Download~~ the ~~files~~ ~~here~~: [[Image:swarm_robot_simulation.zip]]		Here's early version implementing the formation control algorithm: [[Image:swarm_robot_simulation.zip]].

	==Analysis Tools==		==Analysis Tools==

Jonathan Lee at 18:05, 4 September 2009

2009-09-04T18:05:45Z

Show changes

Jonathan Lee: /* The E-puck */

2009-09-04T17:47:07Z

The E-puck

← Older revision		Revision as of 12:47, 4 September 2009
Line 5:		Line 5:
	To quickly get a grasp of how to run the '''Swarm Consensus Estimation Project''', refer to the '''[[Swarm_E-puck_Quickstart_Guide\|Swarm e-puck Quickstart Guide]]'''. This guide provides instruction on setting up the computer systems, what programs to run, and how to configure the e-pucks. For more detailed information about each step, such as program configuration, etc, please read through this article.		To quickly get a grasp of how to run the '''Swarm Consensus Estimation Project''', refer to the '''[[Swarm_E-puck_Quickstart_Guide\|Swarm e-puck Quickstart Guide]]'''. This guide provides instruction on setting up the computer systems, what programs to run, and how to configure the e-pucks. For more detailed information about each step, such as program configuration, etc, please read through this article.

	=The E-puck=		=The e-puck=
	The E-puck is a cylindrical robot from EPFL with a diameter of 70 mm and a height of 53 mm, with a stepper motor driven wheel mounted on each side of the body. The size of the E-puck made it ideal for the project, and the stepper motor driven wheels offered consistency and accuracy, both of which are highly desirable features for experiments requiring motion planning and dead reckoning. In order to address the requirement for wireless communication, the original extension module on the e-puck which contained peripherals including a speaker, infrared receiver, and mode selection switch, was replaced by a custom-made extension module that held an XBee radio module which connected to the serial port of the microcontroller.		The e-puck is a cylindrical robot from EPFL with a diameter of 70 mm and a height of 53 mm, with a stepper motor driven wheel mounted on each side of the body. The small size of the e-puck made it ideal for the project, and the stepper motor driven wheels offered consistency and accuracy, both of which are highly desirable features for experiments requiring motion planning and dead reckoning. In order to address the requirement for wireless communication, the original extension module on the e-puck which contained peripherals including a speaker, infrared receiver, and mode selection switch, was replaced by a custom-made extension module that held an XBee radio module which connected to the serial port of the microcontroller.

	Information about the e-puck can be found at [http://www.e-puck.org/ http://www.e-puck.org/], and additional documentation by going to '''Download>Documentation'''.		Information about the e-puck can be found at [http://www.e-puck.org/ http://www.e-puck.org/], and additional documentation by going to '''Download>Documentation'''.

	==[[Swarm_Project_E-puck_Code\|E-puck code]]==		==[[Swarm_Project_E-puck_Code\|e-puck code]]==
	The Swarm Consensus Estimation Project E-puck code can be downloaded here: '''[[Media: Swarm_epucks_code.zip\|Swarm Consensus Project E-puck Code]]'''		The Swarm Consensus Estimation Project E-puck code can be downloaded here: '''[[Media: Swarm_epucks_code.zip\|Swarm Consensus Project e-puck Code]]'''

	Documentation of the code can be found at '''[[Swarm_Project_E-puck_Code\|Swarm Consensus Project E-puck Code Documentation]]'''.		Documentation of the code can be found at '''[[Swarm_Project_E-puck_Code\|Swarm Consensus Project e-puck Code Documentation]]'''.

	The E-puck code was written in C and compiled using Microchip's ''MPLAB C Compiler for dsPIC DSCs'' (student version). The student version can be downloaded from [http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en535363 Microchip's website]. When you set up the project, be sure to add the linker library file (libp30F6014A-coff.a) and linker script (p30f6014A.gld) in the project.		The e-puck code was written in C and compiled using Microchip's ''MPLAB C Compiler for dsPIC DSCs'' (student version). The student version can be downloaded from [http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en535363 Microchip's website]. When you set up the project, be sure to add the linker library file (libp30F6014A-coff.a) and linker script (p30f6014A.gld) in the project.

	*Note that the ~~robots~~ will start out in 'sleep' mode. Use the [[Machine_Vision_Localization_System#Commands\| '~~Wake~~' command]] in the ~~Machine~~ ~~Vision Localization System~~ command window to ~~start~~ the ~~robots~~.		*Note that the e-pucks will start out in 'sleep' mode, meaning they do not send out packets, nor do they move. Use the [[Machine_Vision_Localization_System#Commands\|'wake' command]] in the vision system command window to wake the e-pucks.

	=Packet Structure=		=Packet Structure=

Jonathan Lee: /* Overview */

2009-09-04T17:45:06Z

Overview

← Older revision		Revision as of 12:45, 4 September 2009
Line 3:		Line 3:
	Nullam tincidunt, tellus sit amet elementum imperdiet, nunc arcu imperdiet nisl, vitae hendrerit erat nulla eu erat. Vivamus suscipit ante quis leo volutpat mollis. Proin placerat dui id arcu fringilla aliquam. In nec felis a ligula molestie ultrices. Curabitur dapibus vulputate nulla fermentum sollicitudin. Mauris id dui neque, et ultricies ante. Maecenas ac arcu at mauris posuere ultricies at sit amet magna. Etiam eu eros nunc, non hendrerit dui. Morbi blandit dui sed orci euismod eget dignissim purus fermentum. Curabitur nunc arcu, auctor et semper eu, aliquet a odio. Nam ut leo at sapien dictum luctus eu non nibh.		Nullam tincidunt, tellus sit amet elementum imperdiet, nunc arcu imperdiet nisl, vitae hendrerit erat nulla eu erat. Vivamus suscipit ante quis leo volutpat mollis. Proin placerat dui id arcu fringilla aliquam. In nec felis a ligula molestie ultrices. Curabitur dapibus vulputate nulla fermentum sollicitudin. Mauris id dui neque, et ultricies ante. Maecenas ac arcu at mauris posuere ultricies at sit amet magna. Etiam eu eros nunc, non hendrerit dui. Morbi blandit dui sed orci euismod eget dignissim purus fermentum. Curabitur nunc arcu, auctor et semper eu, aliquet a odio. Nam ut leo at sapien dictum luctus eu non nibh.

	To quickly get a grasp of how to run the '''Swarm Consensus Estimation Project''', refer to the '''[[Swarm_E-puck_Quickstart_Guide\|Swarm E-puck Quickstart Guide]]'''. This guide provides instruction on setting up the computer systems, what programs to run, and how to configure the E-pucks. For more detailed information about each step, such as program configuration, etc, please read through this article.		To quickly get a grasp of how to run the '''Swarm Consensus Estimation Project''', refer to the '''[[Swarm_E-puck_Quickstart_Guide\|Swarm e-puck Quickstart Guide]]'''. This guide provides instruction on setting up the computer systems, what programs to run, and how to configure the e-pucks. For more detailed information about each step, such as program configuration, etc, please read through this article.

	=The E-puck=		=The E-puck=

Jonathan Lee: /* e-pucks */

2009-09-04T17:43:45Z

e-pucks

← Older revision		Revision as of 12:43, 4 September 2009
Line 5:		Line 5:
	To quickly get a grasp of how to run the '''Swarm Consensus Estimation Project''', refer to the '''[[Swarm_E-puck_Quickstart_Guide\|Swarm E-puck Quickstart Guide]]'''. This guide provides instruction on setting up the computer systems, what programs to run, and how to configure the E-pucks. For more detailed information about each step, such as program configuration, etc, please read through this article.		To quickly get a grasp of how to run the '''Swarm Consensus Estimation Project''', refer to the '''[[Swarm_E-puck_Quickstart_Guide\|Swarm E-puck Quickstart Guide]]'''. This guide provides instruction on setting up the computer systems, what programs to run, and how to configure the E-pucks. For more detailed information about each step, such as program configuration, etc, please read through this article.

	=e-~~pucks~~=		=The E-puck=
	The e-puck is a cylindrical robot from EPFL with a diameter of 70 mm and a height of 53 mm, with a stepper motor driven wheel mounted on each side of the body. The e-~~puck’s~~ ~~size~~ ~~was~~ ideal for the project, and ~~its~~ stepper motor driven wheels offered consistency and ~~accuracy—highly~~ desirable features for motion planning and dead reckoning. In order to address the requirement for wireless communication, the original extension module on the e-puck which contained peripherals including a speaker, infrared receiver, and mode selection switch, was replaced by a custom-made extension module that held an XBee radio module which connected to the serial port of the microcontroller.		The E-puck is a cylindrical robot from EPFL with a diameter of 70 mm and a height of 53 mm, with a stepper motor driven wheel mounted on each side of the body. The size of the E-puck made it ideal for the project, and the stepper motor driven wheels offered consistency and accuracy, both of which are highly desirable features for experiments requiring motion planning and dead reckoning. In order to address the requirement for wireless communication, the original extension module on the e-puck which contained peripherals including a speaker, infrared receiver, and mode selection switch, was replaced by a custom-made extension module that held an XBee radio module which connected to the serial port of the microcontroller.

	Information about the e-puck can be found at [http://www.e-puck.org/ http://www.e-puck.org/]		Information about the e-puck can be found at [http://www.e-puck.org/ http://www.e-puck.org/], and additional documentation by going to '''Download>Documentation'''.
⚫	==[[Swarm_Project_E-puck_Code\|e-puck code]]==
⚫	The ~~code on the e~~-puck was written in C and compiled using Microchip's ''MPLAB C Compiler for dsPIC DSCs'' (student version). The student version can be downloaded from [[http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en535363 Microchip's website.]] When you set up the project, be sure to add the linker library file (libp30F6014A-coff.a) and linker script (p30f6014A.gld) in the project.

		⚫	==[[Swarm_Project_E-puck_Code\|E-puck code]]==
⚫	Note that the robots will start out in 'sleep' mode. Use the [[Machine_Vision_Localization_System#Commands\| '~~wake~~' command]] on the ~~visualization~~ ~~system~~ to start the robots.
			The Swarm Consensus Estimation Project E-puck code can be downloaded here: '''[[Media: Swarm_epucks_code.zip\|Swarm Consensus Project E-puck Code]]'''

	~~The~~ ~~documentation for~~ the code can be found at [[Swarm_Project_E-puck_Code]].		Documentation of the code can be found at '''[[Swarm_Project_E-puck_Code\|Swarm Consensus Project E-puck Code Documentation]]'''.

		⚫	The E-puck code was written in C and compiled using Microchip's ''MPLAB C Compiler for dsPIC DSCs'' (student version). The student version can be downloaded from [http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=1406&dDocName=en535363 Microchip's website]. When you set up the project, be sure to add the linker library file (libp30F6014A-coff.a) and linker script (p30f6014A.gld) in the project.

		⚫	*Note that the robots will start out in 'sleep' mode. Use the [[Machine_Vision_Localization_System#Commands\| 'Wake' command]] in the Machine Vision Localization System command window to start the robots.

	=Packet Structure=		=Packet Structure=

Jonathan Lee: /* Getting Started */

2009-09-04T17:27:16Z

Getting Started

← Older revision		Revision as of 12:27, 4 September 2009
Line 1:		Line 1:
	__TOC__		__TOC__
			=Overview=
	=Getting Started=
			Nullam tincidunt, tellus sit amet elementum imperdiet, nunc arcu imperdiet nisl, vitae hendrerit erat nulla eu erat. Vivamus suscipit ante quis leo volutpat mollis. Proin placerat dui id arcu fringilla aliquam. In nec felis a ligula molestie ultrices. Curabitur dapibus vulputate nulla fermentum sollicitudin. Mauris id dui neque, et ultricies ante. Maecenas ac arcu at mauris posuere ultricies at sit amet magna. Etiam eu eros nunc, non hendrerit dui. Morbi blandit dui sed orci euismod eget dignissim purus fermentum. Curabitur nunc arcu, auctor et semper eu, aliquet a odio. Nam ut leo at sapien dictum luctus eu non nibh.
	[[Swarm_E-puck_Quickstart_Guide\|e-puck Quickstart Guide]]

			To quickly get a grasp of how to run the '''Swarm Consensus Estimation Project''', refer to the '''[[Swarm_E-puck_Quickstart_Guide\|Swarm E-puck Quickstart Guide]]'''. This guide provides instruction on setting up the computer systems, what programs to run, and how to configure the E-pucks. For more detailed information about each step, such as program configuration, etc, please read through this article.
	You can see the official documentation at [http://www.e-puck.org www.e-puck.org] and going to '''Download>Documentation'''.

	=e-pucks=		=e-pucks=

Jonathan Lee: /* Board In Development */

2009-08-25T19:16:49Z

Board In Development

← Older revision		Revision as of 14:16, 25 August 2009
Line 126:		Line 126:

	===Board In Development===		===Board In Development===
	[[Image:epuck_xbee_board_v2.gif\|thumb\|left]]A version of the e-puck with a color sensor circuit built in can be downloaded here: [[Media:epuck_xbee_board_v2.~~PCB~~]]. This version uses a high-impedance op-amp to amplify signals from three photodiodes (for red, green, and blue), and feeds the outputs into the ADC channels formerly used by the X,Y, and Z axis accelerometers. A 10k potentiometer adjusts the sensitivity for each channel of the amplifier. The RTS flow control line on the XBee is connected to the sel3 line of the e-puck. The CTS line is not hardwired to the sel2 pin, but can easily be connected with a jumper.		[[Image:epuck_xbee_board_v2.gif\|thumb\|left]]A version of the e-puck with a color sensor circuit built in can be downloaded here: [[Media:epuck_xbee_board_v2.zip\|Xbee Interface Extension Board Version 2]]. This version uses a high-impedance op-amp to amplify signals from three photodiodes (for red, green, and blue), and feeds the outputs into the ADC channels formerly used by the X,Y, and Z axis accelerometers. A 10k potentiometer adjusts the sensitivity for each channel of the amplifier. The RTS flow control line on the XBee is connected to the sel3 line of the e-puck. The CTS line is not hardwired to the sel2 pin, but can easily be connected with a jumper.
	<br clear='all'>		<br clear='all'>

Sam Bobb at 19:15, 18 August 2009

2009-08-18T19:15:31Z

← Older revision		Revision as of 14:15, 18 August 2009
Line 263:		Line 263:

	To use VirtualDub, select '''Video>Full Processing Mode''', go to '''Video>Compression''' and select the compression you want to use (you must have the codecs installed on your system), and the go to '''File>Save as AVI'''.		To use VirtualDub, select '''Video>Full Processing Mode''', go to '''Video>Compression''' and select the compression you want to use (you must have the codecs installed on your system), and the go to '''File>Save as AVI'''.

			[[Category:SwarmRobotProject]]

Jonathan Lee: /* Data Frame */

2009-08-06T15:53:33Z

Data Frame

← Older revision		Revision as of 10:53, 6 August 2009
Line 39:		Line 39:
	#Robot right wheel speed		#Robot right wheel speed

	Each number is a 32-bit floating point, which means that the data frame is 60 bytes long, although it could be longer if escape characters are needed (see ''API Operation'' in the XBee Manual).		Each individual number is a 32-bit floating point value, or 4 bytes each, which means that the data frame is 60 bytes long (15 x 4 = 60), although it could be longer if escape characters are needed (see ''API Operation'' in the XBee Manual).

			Additional values may be added to the packet data frame. For example, the e-pucks currently are fitted with a color sensor board, allowing the e-puck to detect the color of the environment it is in. Tracking and logging these values (red, green, blue) is important, and thus three additional values are added to the data frame. Consequently in the packet handling (XBeePacket) code, the "additional_num" value must be changed from 5 to 8 to accommodate three additional values. This change must be made across all the packet handling code, on both the computers and e-pucks, as an e-puck will not be able to read code with 15 values if its own code is changed to send/receive 18 value packets. The resulting packet data frame would contain the same values 1 - 15 as above, but also 16, 17 and 18, which would represent the R, G, and B values from the color sensor.

	=XBee Radios=		=XBee Radios=

Jonathan Lee: /* Packet Structure */

2009-07-22T18:10:37Z

Packet Structure

← Older revision		Revision as of 13:10, 22 July 2009
Line 17:		Line 17:

	=Packet Structure=		=Packet Structure=
	The send and receive packets (for the XBee radios using their proprietary API mode) are different, e.g. the packet received by one PIC is not the exact copy of the packet what was sent out of the other PIC's serial port. The data frame, or payload, is unchanged, although it may be reformatted in the presence of escape characters. ~~See~~ ~~the~~ ~~XBee~~ ~~manual~~ ~~for~~ ~~detailed~~ information on ~~XBee~~ API ~~packets~~.		The send and receive packets (for the XBee radios using their proprietary API mode) are different, e.g. the packet received by one PIC is not the exact copy of the packet what was sent out of the other PIC's serial port. The data frame, or payload, is unchanged, although it may be reformatted in the presence of escape characters. Using API 2 packets is important in order to ensure that corrupted or incomplete packets are dropped. For more information about the API modes (1 and 2), and their uses, refer to [http://www.digi.com/support/kbase/kbaseresultdetl.jsp?kb=184 this] and [http://www.digi.com/support/kbase/kbaseresultdetl.jsp?id=2199 this] as well as the XBee [http://www.digi.com/products/wireless/point-multipoint/xbee-series1-moduledocs.jsp manual and datasheets].

	==Data Frame==		==Data Frame==