Use of FPGA, Pros & Cos vs. use of Arduino

FPGA advantages

One of the main disadvantages can be complexity.

Supervisor meeting, new milestones

New calculations for positioning

Update : 06:01, 18.03.201, I am almost done with the C code on Arduino ... Too sleepy, going back home now ...

I should write a program that can simulate the workspace as I have no idea what are the valid points on workspace that are reachable by the feet.

----------------------

New calculations for positioning, the whole thing could not be easier than this ...

I2C Inter Board communication, Arduino

http://www.arduino.cc/playground/Learning/I2C
http://en.wikipedia.org/wiki/I%C2%B2C
http://www.lammertbies.nl/comm/info/I2C-bus.html
http://absences.sofianaudry.com/en/node/10

Kinematic Calculations #2

No results yet ...

OpenCV, finally configured ...

After 3 days struggling and working to make OpenCV to work with any possible programming language on Windows 7, I gave up. Today I thought to try it on my Ubuntu and after couple of hours struggling finally I got it. Now I should learn how to code with processing for image processing, as a possible decision making base for the robot and of course streaming ...

this is a demo from OpenCV C++ sample library...

Challenges ...

New challenges with the robot arm, while I am working with positioning. The prototype(robot arm) is not totally functional as just one of the three motors work the way it should. Problems with mechanic design, and the motor axle is worn away(3D printer product in plastic) ...

OpenCV & Positioning; Today's focus

Today I'll be focusing on Positioning of a point and OpenCV(Computer Vision) with Processing. I will start to work on positioning and hope to have my first streaming ready by today or early tomorrow morning(before 7:00 a.m.), as I work usually at nights.

Zero positioning, EEPROM implementation

Today I am planning to finish this one, Will come up here with code.

04:34, 11.03.2011 : I am totally finished with current positioning & Zero Positioning of the robot. I can start to call Walloid a smart system ... Even in case of loosing power, or sudden improper shutdown of program, Walloid will still be able to recover and send commands to the motors without ANY crashing fear. Very effective logging system is another specification of current system.

Java CP

Logging systems which logs everything with time in details(Translating Error codes which exist in my own defined Arduino-Java Protocol)

Arduino code :

/*
*Differences with previous code : 
* 1 - It stops when reaching negative values which result in preventing it to crash with the motor
* 2 - It stops when reaching MAX values which result in preventing the feet to go loose
* 3 - Error protocol ready
* 4 - Current positioning & Zero positioning in place :-)
*/

#include EEPROM.h


byte pinEncA[] = {3,5,7}; // digital inputs
byte pinEncB[] = {2,4,6}; // digital inputs

// MOTOR OUTPUTS
byte pinDir[] = {13,8,12}; // digital output, controls direction for motor nr. [x]
byte pinPwm[] = {10,11,9}; // analog output, controls motor speed, nr. [x]

//Global variables
int readValue;
int pwmValue;
int motorDir;
//int channelA = 2;
//int channelB = 3;
int cycle[] = {0, 0, 0};

boolean f = false, b = false, r = false, l = false;
int cyclecounter[] = {-1, -1, -1};
int cyclecounterold[] = {-1, -1, -1};

//13 , 10 right, down
//8 , 11 middle, top
//9, 12 left, down



void setup(){
  
  Serial.begin(115200);
  //Serial.print("WELCOME TO C1S0");  
  for (int i=0; i < 3; i++){
    pinMode(pinDir[i], OUTPUT);
    pinMode(pinPwm[i], OUTPUT);
    //in case, just to be sure ...
    digitalWrite(pinPwm[i], LOW);
    // just in case to be sure
    digitalWrite(pinDir[i], LOW);
    pinMode(pinEncA[i], INPUT);
    pinMode(pinEncB[i], INPUT);
    digitalWrite(pinEncA[i], LOW);
    digitalWrite(pinEncB[i], LOW);
    //cyclecounter[i] = -1;
    //cyclecounterold[i] = -1;
  }//end of for
  //findCurrentPosition();

}//end of setup()

void loop(){
    commandCenter();
    checkEncoder();
}//end of loop
int value;
void commandCenter(){
  //variables
  int temp = 0;
  if ( Serial.available() > 0 ){
    readValue = Serial.read();
  //delay(50);
    switch (readValue){
      case 'h' : //handshake
        Serial.print("h");
        delay(50);
        break;
      case 'P' : //handshake
        findCurrentPosition();
        delay(50);
        break;        
      case '0' ://motor #0
        int temp__;
        temp__ = 0;
        if(Serial.available() < 0)
          ;
        delay(500);
        temp__ = Serial.read();
        if (temp__ == 102){// -f -> forward
          //Serial.print("*** Right forward ***");
          digitalWrite(pinDir[0], LOW);
          digitalWrite(pinPwm[0], HIGH);
        }//end of if
        else if(temp__ == 98){// -b -> backward
          //Serial.print("*** Right backward ***");
          digitalWrite(pinDir[0], HIGH);
          digitalWrite(pinPwm[0], HIGH);
        }
        else{
          Serial.println("E00");
          //Serial.print(temp__);
        }
        f = false;
        b = false;
        l = true;
        r = false;
        break;
      case '1' ://motor #1
        int temp_;
        if(Serial.available() < 1)
          ;
          delay(500);
          temp_ = Serial.read();
        if (temp_ == 102){// -f
          //Serial.print("*1FW*");
          digitalWrite(pinDir[1], LOW);
          digitalWrite(pinPwm[1], HIGH);
        }//end of if
        else if(temp_ == 98){// -b
          //Serial.print("*1BW*");
          digitalWrite(pinDir[1], HIGH);
          digitalWrite(pinPwm[1], HIGH);
        }
        else{
         
          Serial.println("E00");
          //Serial.print(temp_);
        }
        f = true;
        b = false;
        l = false;
        r = false;
        break;
      case '2' ://l -> left
        temp_ = 0;
        if(Serial.available() < 1)
          ;
          delay(500);
          temp_ = Serial.read();
        if (temp_ == 102){//motor #2
          //Serial.print("*2FW*");
          digitalWrite(pinDir[2], LOW);
          digitalWrite(pinPwm[2], HIGH);
        }//end of if
        else if(temp_ == 98){// -b
          //Serial.print("*2BW*");
          digitalWrite(pinDir[2], HIGH);
          digitalWrite(pinPwm[2], HIGH);
        }
        else{
          Serial.println("E00");
          //Serial.print(temp_);
        }        
        f = false;
        b = false;
        l = false;
        r = true;
        break;
      case 82 : //R->RESET
        Serial.println("R");
        resetAll();
        f = false;
        b = false;
        l = false;
        r = false;
        break;
    }//end of switch  
  } 
  /*
  if (f || b || r || l){
    Serial.print("cycle[i]: ");
    convertToThreeDigits(cycle[i]);
  }//end of if
  */
}//end of commandCenter

//int angleMaalt;

void checkEncoder(){
  int A;
  int B;
  int i;
  for (i = 0; i < 3; i++){
      cyclecounterold[i] = cyclecounter[i];
      A = digitalRead(pinEncA[i]);
      B = digitalRead(pinEncB[i]);
    
      if ( (A==LOW) && (B==LOW) )
        cyclecounter[i] = 0;
      else if ( (A==LOW) && (B==HIGH) )
        cyclecounter[i] = 1;
      else if ( (A==HIGH) && (B==HIGH) )
        cyclecounter[i] = 2;
      else if ( (A==HIGH) && (B==LOW) )
        cyclecounter[i] = 3;   
    
      switch (cyclecounter[i]){
        case (0) : {
           if ( cyclecounterold[i] == 0){
              ;//Do nothing
           }
           else if ( cyclecounterold[i] == 1){
             if (cycle[i] + 1 > 213){
                 criticalSituation(i, 1);
             }
             else{
                cycle[i]++;
                saveCurrentPosition();
                Serial.print("C");
                Serial.print(i);
                Serial.print("*");            
                convertToThreeDigits(cycle[i]);
             }
           }
           else if ( cyclecounterold[i] == 2){
                Serial.println("E01");//Error reading from Encoder-
            }
           else if ( cyclecounterold[i] == 3){
             if (cycle[i] -1 < 0){
                 criticalSituation(i, 0);
             }
             else{
                cycle[i]--;
                saveCurrentPosition();
                Serial.print("C");
                Serial.print(i);
                Serial.print("*");            
                convertToThreeDigits(cycle[i]);
             }
            }
            else 
                ;//Serial.print("ERROR");
            break;
        }//end of case-0
        case (1) : {
            if ( cyclecounterold[i] == 0){
               if (cycle[i] -1 < 0){
                 criticalSituation(i, 0);
             }
             else{
              cycle[i]--;
              saveCurrentPosition();
              Serial.print("C");
              Serial.print(i);
              Serial.print("*");            
              convertToThreeDigits(cycle[i]);            
             }
            }
            if ( cyclecounterold[i] == 2){
             if (cycle[i] + 1 > 213){
                 criticalSituation(i, 1);
             }
             else{
                cycle[i]++;
                saveCurrentPosition();
                Serial.print("C");
                Serial.print(i);
                Serial.print("*");            
                convertToThreeDigits(cycle[i]);
             }
            }
            else if ( cyclecounterold[i] == 3){
                Serial.println("E01");//Error reading from Encoder-
            }
            else 
                ;//Serial.print("ERROR");
            break;
        }
        case (2) : {
            if ( cyclecounterold[i] == 1){
             if (cycle[i] -1 < 0){
                 criticalSituation(i, 0);
             }
             else{              
              cycle[i]--;
              saveCurrentPosition();
              Serial.print("C");
              Serial.print(i);
              Serial.print("*");            
              convertToThreeDigits(cycle[i]);
             }
            } 
            else if ( cyclecounterold[i] == 2)
              ;
            else if ( cyclecounterold[i] == 3){
             if (cycle[i] + 1 > 213){
                 criticalSituation(i, 1);
             }
             else{
                cycle[i]++;
                saveCurrentPosition();
                Serial.print("C");
                Serial.print(i);
                Serial.print("*");            
                convertToThreeDigits(cycle[i]);
             }
            }
            else if ( cyclecounterold[i] == 0){
                Serial.println("E01");//Error reading from Encoder-
            }
            else 
                ;//Serial.print("ERROR");
            break;
        }//end of case-2
        case(3) : {
            if (cyclecounterold[i] == 0){
             if (cycle[i] + 1 > 213){
                 criticalSituation(i, 1);
             }
             else{
                cycle[i]++;
                saveCurrentPosition();
                Serial.print("C");
                Serial.print(i);
                Serial.print("*");            
                convertToThreeDigits(cycle[i]);
             }
            }
            else if (cyclecounterold[i] == 1){
              Serial.println("E01");//Error reading from Encoder-
            }
            else if ( cyclecounterold[i] == 2){
             if (cycle[i] -1 < 0){
                 criticalSituation(i, 0);
             }
             else{              
              cycle[i]--;
              saveCurrentPosition();
              Serial.print("C");
              Serial.print(i);
              Serial.print("*");            
              convertToThreeDigits(cycle[i]);
             }
            }
            else if ( cyclecounterold[i] == 3)
              ;
            else 
              ;//Serial.print("ERROR");
            break;
        }//end of case-3
      }
  }//end of for
}//end of checkEncoder()

int criticalSituation(int motorNumber, int type){
      digitalWrite(pinPwm[motorNumber], LOW);//Setting all PWM's to LOW
      if (type == 0)
        Serial.println("E02");//*** FATAL ERROR, CRASH POSSIBLE, STOPPING MOTOR ***
      else if (type == 1)
        Serial.println("E03");//*** FATAL ERROR, ROBOT ARM MIGHT GO LOOSE, STOPPING MOTOR ***
      //Serial.print(motorNumber);
      return 0;
}//end of criticalSituation

int resetAll(){
  for (int i=0; i < 3; i++){
          digitalWrite(pinPwm[i], LOW);//Setting all PWM's to LOW
          Serial.print("C");
          Serial.print(i);
          Serial.print("=");
          convertToThreeDigits(cycle[i]);
        }//end of for
        return 0;
}//end of resetAll()


void convertToThreeDigits(int input){
  if (input >= 0 && input < 10){
    /*switch (input){
      case 0 :
        Serial.print("00");
        break;
      case 1 :
        Serial.print("01");
        break;      
      case 2 :
        Serial.print("02");
        break;      
      case 3 :
        Serial.print("03");
        break;      
      case 4 :
        Serial.print("04");
        break;      
      case 5 :
        Serial.print("05");
        break;      
      case 6 :
        Serial.print("06");
        break;      
      case 7 :
        Serial.print("07");
        break;      
      case 8 :
        Serial.print("08");
        break;      
      case 9 :
        Serial.print("09");
        break;      
      default :
        Serial.print("00");
        break;      
    }//end of switch
    */
    Serial.print("00");
    Serial.print(input);
  }
  else if ( input >= 10 && input < 100){
    Serial.print("0");
    Serial.print(input);
  }
  else{
    Serial.print(input);    
  }
}//end of convertToThreeDigits()

void saveCurrentPosition(){
  for (int i = 0; i < 3; i++){
    EEPROM.write(i, cycle[i]);
  }  
}//end of saveCurrentPosition

void findCurrentPosition(){
  for (int i = 0; i < 3; i++){
    value = EEPROM.read(i);
    cycle[i] = value;
    Serial.print("P");
    Serial.print(i);
    Serial.print("*");
    convertToThreeDigits(value);
  }
}//end of findCurrentPosition

My status on the 6th day of my holidays that I use for working on my thesis

• Counter code fixed in Arduino C code
• Problems with wrong usage of RxTxLibrary(mis match which wasted enough of my time during 6 days ago; unstable connection from Arduino to Java Control System)
• Java Simulator works fine, just need to finish the fancy java demonstration
• Logging system works very good
• Help through HTML file, online
• Java & Arduino are communicating perfectly
• Some problems with the prototype feet I have as just one motor functions
• Working on positioning & zero positioning
• Safety system for preventing the motor to crash backwards or too much forward

Prevention of motor crash in C, offline Robot

Prevention of motor crash in Java, online Robot, Simulation & Real world

Positioning calculations, Walloid

Update 17.03.2011 : These calculations are totally wrong ... The whole concept is much easier than these things. See the new post about the positioning calculations.

-----------------------------------

Although my supervisor meant that the positioning is happening through very easy geometrical calculation but I struggled a lot to find these equations. I am soon going to code this in my program for Walloid and come up with practical results. I should thank my dear friend Puya Afsharian who helped me a lot in figuring out some of the details.

Robot ideas

http://www.newscientist.com/article/mg20928015.000-sticky-feet-send-insectbot-climbing-up-the-walls.html