ViRHaS - Revision history

MicheleBertoni at 21:09, 8 July 2017

2017-07-08T21:09:03Z

MicheleBertoni at 16:17, 8 July 2017

2017-07-08T16:17:04Z

MicheleBertoni at 16:11, 8 July 2017

2017-07-08T16:11:40Z

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MicheleBertoni at 15:38, 8 July 2017

2017-07-08T15:38:55Z

MicheleBertoni at 14:51, 8 July 2017

2017-07-08T14:51:35Z

MicheleBertoni at 13:47, 8 July 2017

2017-07-08T13:47:31Z

MicheleBertoni at 11:12, 8 July 2017

2017-07-08T11:12:19Z

MicheleBertoni at 09:49, 8 July 2017

2017-07-08T09:49:33Z

MicheleBertoni: /* ViRHaS App */

2017-07-08T08:39:21Z

‎ViRHaS App

MicheleBertoni: /* ViRHaS controller */

2017-07-08T07:39:41Z

‎ViRHaS controller

@@ Line 21: / Line 21: @@
 Source code: https://github.com/michele-bertoni/ViRHaS
-Video demo: --SOON AVAILABLE
+Video demo: https://youtu.be/8FnhCosYoxI
 Pdf documentation: https://github.com/michele-bertoni/ViRHaS/blob/master/ViRHaS_doc.pdf
@@ Line 184: / Line 184: @@
 - find a way to use UDP without losing many packets so that I can use multicast and access the same camera from different devices at the same time
-. improve robot appearance
+- improve robot appearance
 - add sensors for collision avoidance

@@ Line 23: / Line 23: @@
 Video demo: --SOON AVAILABLE
-Pdf documentation: --SOON AVAILABLE--
+Pdf documentation: https://github.com/michele-bertoni/ViRHaS/blob/master/ViRHaS_doc.pdf
 ==Structure==

@@ Line 10: / Line 10: @@
 |start=2016/10/20
 |end=2016/07/07
-|status=Completed
+|status=Closed
 |level=Bs
 |type=Course

@@ Line 20: / Line 20: @@
 Source code: https://github.com/michele-bertoni/ViRHaS
 ==Structure==
@@ Line 162: / Line 166: @@
 - ViRHaS controller must be executed on boot: type "crontab -e", then add a line on the bottom of the file as follows (controller executable is inside /home/pi/controller directory)
    @reboot /home/pi/controller/controller

← Older revision		Revision as of 13:47, 8 July 2017
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	[[File:virhas_layer2.jpg]]		[[File:virhas_layer2.jpg]]
		+
		+
		+	== Configurations ==
		+	Robot, for working fine, needs some additional settings:
		+
		+	- Arduino and drivers wirings - Arduino has 9 output, 6 input and 2 power pins: outputs are pins from 4 to 12, inputs are all interrupt pins (2, 3, 18-20) and power pins are 5V and GND; the following schema describes completely all wirings
		+
		+	[[File:Virhas_pins_connections_rid.png]]
		+
		+	(higher resolution here: https://github.com/michele-bertoni/ViRHaS/blob/master/pins_connections.pdf)
		+
		+	- Arduino must be connected to the master Raspberry Pi via USB: this both gives power to Arduino and allows serial communication
		+
		+	- Motor drivers must be directly connected to the 12V battery: the two driver must be connected in parallel, with a switch between battery and drivers
		+
		+	- Raspberry Pis and router must be connected to the 5V USB powerbank
		+
		+	- Raspberries must be connected to the router with ethernet cables: IP address of the master Pi must be set to 192.168.1.3, while the one of the slave Pi must be set to 192.168.1.4; for doing this, open router settings and in LAN page pair each MAC address with the right LAN IP
		+
		+	- Raspberries must have a power-off button: since unplugging before shutting them down could cause errors, a switch is necessary; I recommend following instructions in this video: https://www.youtube.com/watch?v=Ns0JdZrXwdk
		+
		+	- Raspberry may be set to CLI Autologin mode tospeed up boot: type "sudo raspi-config", then edit the settings from that menu
		+
		+	- ViRHaS controller must be executed on boot: type "crontab -e", then add a line on the bottom of the file as follows (controller executable is inside /home/pi/controller directory)
		+	@reboot /home/pi/controller/controller

← Older revision		Revision as of 11:12, 8 July 2017
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	To compile ViRHaS_ino.ino, add all necessary libraries and then just compile for Arduino Mega 2560.		To compile ViRHaS_ino.ino, add all necessary libraries and then just compile for Arduino Mega 2560.
		+
		+	== ViRHaS Robot ==
		+	The ViRHaS robot is built on the base of a Triskar model, an holonomic three-wheeled robot. ViRHaS is actually bigger than Triskar, because of the space occupied by Raspberry Pi, cameras and router.
		+	ViRHaS has three layers:
		+
		+	- the bottom layer is the actual robot base and hangs motors, drivers, Arduino and all wires between them
		+
		+	[[File:virhas_layer0.jpg]]
		+
		+	- the middle layer is made of foam rubber and is fixed to the layer 0: foam is necessary for isolation and is also good for hiding cables and bolts under it; this layer hangs 2 Raspberrries and the router
		+
		+	[[File:virhas_layer1.jpg]]
		+
		+	- top layer is fixed to bottom layer with three threaded rods and some dice; the bottom face of this layer hangs cameras support and hides power cables, while the top face hangs the two
		+	batteries, the LiPo buzzer and two buttons (motors and raspberries' switches).
		+
		+	[[File:virhas_layer2.jpg]]

← Older revision		Revision as of 09:49, 8 July 2017
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	Before launching the controller, a few more steps are necessary: on Raspberry Pi, camera and serial are not enabled by default, so type "sudo raspi-config", then enable both camera and serial; then add the module "bcm2835-v4l2" with "sudo nano /etc/modules" and, after reboot, everything should work fine.		Before launching the controller, a few more steps are necessary: on Raspberry Pi, camera and serial are not enabled by default, so type "sudo raspi-config", then enable both camera and serial; then add the module "bcm2835-v4l2" with "sudo nano /etc/modules" and, after reboot, everything should work fine.
	Now navigate to the directory where you compiled the controller executable and type "./controller -c" if this Raspberry is connected to the Arduino Mega, otherwise "./controller -s": this process is reversible and you can change mode in any moment. Finally type "./controller" to launch ViRHaS controller.		Now navigate to the directory where you compiled the controller executable and type "./controller -c" if this Raspberry is connected to the Arduino Mega, otherwise "./controller -s": this process is reversible and you can change mode in any moment. Finally type "./controller" to launch ViRHaS controller.
		+
		+	== ViRHaS Arduino ==
		+	ViRHaS_ino software is really simple: on boot, the Arduino instantiates 3 Encoder objects (library Encoder.h), 2 MR001004 objects (library MR001004.h, written by me for motor drivers MR001-004) and from these objects instantiates a ViRHaS object (library ViRHaS.h, created by me, modifying the Triskar.h library); setup() opens serial connection, then loop() reads serial connection and computes PID.
		+
		+	[[File:Virhas_ino.png]]
		+
		+	To compile ViRHaS_ino.ino, add all necessary libraries and then just compile for Arduino Mega 2560.

← Older revision		Revision as of 08:39, 8 July 2017
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	Connect page is the one used for playing with the robot: the entire page is filled with 2 canvases, inside which streaming is displayed. To return the main menu and close connections, user must click or tap any part of the screen, then a small arrow button is displayed in the bottom left angle for a few seconds: by clicking that button the game returns to the main menu and all open sockets are closed.		Connect page is the one used for playing with the robot: the entire page is filled with 2 canvases, inside which streaming is displayed. To return the main menu and close connections, user must click or tap any part of the screen, then a small arrow button is displayed in the bottom left angle for a few seconds: by clicking that button the game returns to the main menu and all open sockets are closed.

		+	To compile and install ViRHaS application, you need QtCreator, which can be downloaded here: https://www.qt.io/download-open-source/ . During installation process, select all libraries, otherwise, something should not work fine when compiling project. To compile an apk file for Android, you need the Android version of QtCreator (https://www.qt.io/download-open-source/#section-2); then, after setting up Android compiler, plug the smartphone to the computer usb (debug mode) and run compiler.

	== ViRHaS controller ==		== ViRHaS controller ==

@@ Line 87: / Line 87: @@
 == ViRHaS controller ==
-This Qt command line application is not as multiplatform as the application, because it uses some libraries available only on Linux distribution: one of these libraries is v4l2 (Video4Linux2), which is not available, for example, on Windows .
+This Qt command line program is not as multiplatform as the application, because it uses some libraries available only on Linux: one of these libraries is v4l2 (Video4Linux2), which is not available, for example, on Windows .
-When program starts with no parameters, it reads settings to understand if the Raspberry is the master or the slave. This setting is automatically setted permanently by running once the program with the parameter "-c" for the master and "-s" for the slave.
+When program starts with no parameters, it reads settings to understand if this Raspberry is the master or the slave one. This setting is automatically setted permanently by running once the program with the parameter "-c" for the master and "-s" for the slave.
-If Raspberry is slave, the program creates only one server for the video, while if it's master, the program creates one more server to handle controls reception. When a socket is opened between client and server, if it's a video socket, camera starts shooting and ByteArrays containing frames are sent over the socket.
+[[File:Virhas_controller.png]]
-On the control socket, ViRHaS controller receives default commands, then elaborates them and sends them to the Arduino, as described before.
+If Raspberry is slave, the program creates only one server for the video, while if it's master, the program creates one more server to handle controls reception. When a socket is opened between client and server, if it's a video socket, camera starts shooting and ByteArrays containing frames are sent over the socket; instead, on the control socket, ViRHaS controller receives default commands, then elaborates them and sends them to the Arduino, as described before.